Beruflich Dokumente
Kultur Dokumente
in SI Units
CHAPTER
11
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell
Lecture Notes:
Brian P. Self
Kinematics of Particles
Sanjeev Sanghi
Indian Institute of Technology, Delhi
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Fdrag
Flift
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.
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in SI Units
x 6t t
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dt
t 0 t
e.g., x 6t 2 t 3
dx
v
12t 3t 2
dt
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in SI Units
2
a lim
dt dt
t 0 t
e.g. v 12t 3t 2
dv
12 6t
a
dt
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in SI Units
dx
12t 3t 2
dt
dv d 2 x
a
12 6t
2
dt dt
x = 16 m, v = vmax = 12 m/s, a = 0
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a spring
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drag
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Kinematic relationship
dv
a (t )
dt
dt
a a x
dx
dv
and a
v
dt
v dv a x dx
a a v
Integrate
dv
a (v )
dt
dv
v a v
dx
v0
dv a t dt
v0
x0
v dv a x dx
v
dv
v a v 0 dt
0
x
v dv
x dx v a v
0
0
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Determine:
velocity and elevation above ground at
time t,
highest elevation reached by ball and
corresponding time, and
time when ball will hit the ground and
corresponding velocity.
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in SI Units
vt 10
dy
v 10 9.81t
dt
y t
t
dy 10 9.81t dt
y0
m
m
9.81 2 t
s
s
y t y0 10t 12 9.81t 2
m
m
y t 20 m 10 t 4.905 2 t 2
s
s
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in SI Units
m
m
9.81 t 0
s
s2
t 1.019 s
m
y 20 m 10 1.019 s 4.905 2 1.019 s 2
s
s
y 25.1 m
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in SI Units
vt 10
m
m
9.81 t
s
s2
m
m
v3.28 s 10 9.81 3.28 s
s
s2
m
v 22.2
s
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dv
a
kv
dt
dv
v v k 0 dt
0
ln
v t
kt
v0
vt v0 e kt
Integrate v(t) = dx/dt to find x(t).
v t
dx
v0 e kt
dt
kt
dx
v
e
dt
0
x t v0 e kt
k
0
v0
xt
1 e kt
k
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in SI Units
dv k dx
v0
dv k dx
v v0 kx
v v0 kx
Alternatively,
with
and
then
v
xt 0 1 e kt
k
vt
kt
kt
v t v0 e
or e
v0 vt
xt 1
k
v0
v0
v v0 kx
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+y
(a)
(b)
dv a t dt
v0
v dv
x dx v a v
0
0
(c)
v0
x0
v dv a x dx
v
(d)
dv
v a v 0 dt
0
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+y
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a 3 0.001v 2
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Find:
v after lap
Maximum speed
dv
v a v
dx
v dv
a v
v0
dx
x0
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in SI Units
v dv
x dx v a v
0
0
628.32
v
dx
dv
2
0 3 0.001v
628.32
ln 3 0.001v
0
0.002
628.32(0.002) ln 3 0.001v 2 ln 3 0.001(0)
3 0.001v 2 e 0.15802
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3 0.001v 2 e 0.15802
3 e 0.15802
2146.2
v
0.001
2
v 46.3268 m/s
How do you determine the maximum speed the car can reach?
a 3 0.001v 2
0.001v 2 3
vmax
0.001
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dx
v constant
dt
x
x0
dx v dt
x x0 vt
x x0 vt
Careful these only apply to
uniform rectilinear motion!
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dv
a constant
dt
dx
v0 at
dt
dv a dt
0
v0
dx v0 at dt
x0
dv
v a constant
dx
v v0 at
x x0 v0t 12 at 2
v dv a dx
v0
v 2 v02 2a x x0
x0
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v B v A relative velocity of B
with respect to A
vB v A vB A
vB
a B a A relative acceleration of B
with respect to A
aB a A aB A
aB
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m
s
m
y E y0 v E t 5 m 2 t
s
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in SI Units
y B E 12 18t 4.905t 2 5 2t 0
t 0.39 s meaningless
t 3.65 s
y E 12.3 m
18 9.81t 2
16 9.813.65
vB
m
19.81
s
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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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in SI Units
2
vA 0
2a A x A x A 0
2
mm
300
2a A 200 mm
s
mm
a A 225 2
s
v A = (v A )0 + a At
300
mm
mm
= 225 2 t
s
s
t = 1.333 s
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xD = (xD )0 + vDt
mm
xD - (xD )0 = 75
(1.333s) = 100 mm
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 xD xB x A 0 2 xD 0 xB 0
x A x A 0 2 xD xD 0 xB xB 0 0
200 mm 2 100 mm xB xB 0 0
x B - (x B )0 = - 400mm
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in SI Units
300
2 75
vB 0
s
s
vB = - 450
mm
mm
= 450
s
s
a A 2aD aB 0
mm
225
2(0) aB 0
2
s
aB = - 225
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mm
mm
=
225
s2
s2
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Solution steps
Sketch your system and choose
coordinate system
Write out constraint equation
Differentiate the constraint equation to
get velocity
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x A 3 yB constants L
Differentiate the constraint equation to
get velocity
6 m/s + 3vB 0
v B 2 m/s
Note that as xA gets bigger, yB gets smaller.
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Acceleration data
from a head impact
during a round of
boxing.
140
Acceleration (g)
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in SI Units
120
100
80
60
40
20
0
47.76
47.77
47.78
47.79
47.8
47.81
Time (s)
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v0t1 t1 t dv
v0
using dv = a dt ,
v1
x1 x0 v0t1 t1 t a dt
v0
v1
v0
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av
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t 0 t
dt
Instantaneous speed
(scalar)
s ds
v lim
t 0 t
dt
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dP
P
Pu u Pu
lim
lim
du u 0 u u 0
u
du
du du
Delete or put in
bonus slides
d f P df dP
P f
du
du
du
Derivative of scalar product and vector product,
d P Q dP
dQ
Q P
du
du
du
d P Q dP
dQ
Q P
du
du
du
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ax i a y j az k
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v y v y gt
0
y v y y 12 gt 2
0
vz 0
z0
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(y)o =150 m
(a)x = 0 m/s2
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a)
b)
c)
d)
A launch angle of 45
A launch angle less than 45
A launch angle greater than 45
It depends on the launch velocity
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SOLUTION:
A baseball pitching machine
throws baseballs with a
horizontal velocity v0. If you
want the height h to be 1 m,
determine the value of v0.
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t 0.3193 s
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r
and
r
the fixed frame of reference Oxyz are A
B.
v B v A v B A v B A velocity of B relative to A.
a B a A a B A a B A acceleration of B relative
to A.
Absolute motion of B can be obtained by combining
motion of A with relative motion of B with respect to
moving reference frame attached to A.
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At t = 5 s
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At t = 5 s
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We can solve the problems geometrically, and apply the arctangent relationship:
vB vA vB/ A
6 j 10i v B/ A
v B/ A 6 j 10i (m/s)
aB a A aB / A
1.2 j 0i a B/ A
a B/ A 1.2 j (m/s 2 )
Physically, a rider in car A would see car B travelling south and west.
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a)
25o
c)
b)
25o
d)
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r= the instantaneous
radius of curvature
v v et
v= vt et
en
dv
v2
a e t en
dt
et
x
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et
sin 2
en en
lim
lim
0
0 2
de
en t
d
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v
With the velocity vector expressed as vet
the particle acceleration may be written as
dv dv de dv de d ds
a
et v
et v
dt dt
dt dt
d ds dt
but
det
ds
en
v
d ds
d
dt
After substituting,
dv
v2
dv v 2
a et en
at
an
dt
dt
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dv
at
dt
v2
an
en principal normal
eb binormal
Acceleration has no component along the binormal.
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et
en
km 1000 m 1 h
90 km/h = 90
25 m/s
h 1 km 3600 s
72 km/h = 20 m/s
Dv 20 m/s - 25 m/s
=
= - 0.625 m/s2
Dt
8s
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Some possibilities:
Reduce the allowed speed
Increase the turn radius
(difficult and costly)
Have the racers wear g-suits
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at 0.5 t (m/s 2 )
where t is in seconds and at is in
m/s2. If the centrifuge starts from
fest, determine the total acceleration
magnitude of the cab after 10
seconds.
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en
2 t
vt 0.5 t dt 0.25t
0.25t 2
Top View
vt 0.25 10 25 m/s
2
et
en
an
252
78.125 m/s 2
8
2
t
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a)
b)
c)
d)
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r re r
The particle velocity vector is
v = rer + rq eq
The particle acceleration vector is
) (
a = r- rq er + rq + 2rq eq
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r r er
der
e
d
d dr der dr d
v rer er r
e
er r
dt
dt
dt
dt
dt
rer re
de
er
d
der der d d
e
dt
d dt
dt
de de d
d
er
dt
d dt
dt
2
2
d r dr der dr d d d de
e r 2 e r
2 er
dt dt dt dt
dt dt
dt
dt
r r2 er r 2re
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dr
v
R e R R e zk
dt
Acceleration vector,
dv
a
zk
R R eR R 2 R e
dt
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0.15 t 2
30 0.524 rad
t 1.869 s
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v vr2 v2
v 0.524 m s
31.0
ar r r2
0.240 m s 2 0.481m 0.561rad s 2
0.391m s 2
a r 2r
a
tan 1
ar
a 0.531 m s
42.6
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q= 0.05q (rad/s2 )
where q is measured in radians. If the
centrifuge starts from rest, determine the
acceleration magnitude after the gondola
has travelled two full rotations.
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er
qdq = qdq
er
Top View
eq
0.05q dq = qdq
0
0.05q
2
2(2 p )
q
=
2
q
2
2
q = 0.052(2p )
0
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q = 0.052(2p )
q= 2.8099 rad/s
er
(
(
) (
a = r- rq er + rq + 2rq eq
2
= 0 - (8)(2.8099) er + (8)(0.6283) + 0 eq
)
) (
Magnitude:
amag a a (63.166 ) + 5.0265
2
r
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in SI Units
) (
a = r- rq er + rq + 2rq eq
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