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i 0: SYLLABUS ME 206: Dynamics, Fall 2009 (Day)
TABLE OF CONTENTS
TABLE OF CONTENTS ........................................................................................................................................... i
0: SYLLABUS ................................................................................................................................................. ii
1: INTRODUCTION ......................................................................................................................................... 1
2: PARTICLE KINEMATICS ................................................................................................................................ 4
3: CONSTANT ACCELERATION .......................................................................................................................... 7
4: PROBLEM SOLVING .................................................................................................................................. 10
5: VARIABLE ACCELERATION .......................................................................................................................... 11
6: GRAPHICAL SOLUTIONS ............................................................................................................................ 13
7: PATH COORDINATES ................................................................................................................................ 14
8: RECTANGULAR COORDINATES .................................................................................................................... 17
9: POLAR COORDINATES ............................................................................................................................... 20
10: RELATIVE MOTION ................................................................................................................................... 23
11: DEPENDENT MOTION ............................................................................................................................... 25
12: PARTICLE KINEMATICS REVIEW .................................................................................................................. 26
13: PARTICLE KINETICS................................................................................................................................... 27
14: RECTILINEAR EOM .................................................................................................................................. 30
15: FRICTION................................................................................................................................................ 32
16: SPRINGS ................................................................................................................................................. 34
17: CURVILINEAR EOM.................................................................................................................................. 36
18: WORK & KINETIC ENERGY......................................................................................................................... 38
19: POTENTIAL ENERGY.................................................................................................................................. 41
20: IMPULSE & MOMENTUM .......................................................................................................................... 44
21: IMPACT .................................................................................................................................................. 47
22: ANGULAR MOMENTUM............................................................................................................................ 49
23: PARTICLE KINETICS REVIEW ....................................................................................................................... 52
24: RIGID BODY MOTION ............................................................................................................................... 53
25: ROTATION: FIXED AXIS ............................................................................................................................. 56
26: ABSOLUTE ANALYSIS ................................................................................................................................ 58
27: RELATIVE ANALYSIS: VELOCITY ................................................................................................................... 59
28: RELATIVE ANALYSIS: ACCELERATION ........................................................................................................... 61
29: INSTANTANEOUS CENTER .......................................................................................................................... 62
30: RIGID BODY KINEMATICS REVIEW............................................................................................................... 63
31: MOMENTS OF INERTIA ............................................................................................................................. 64
32: TRANSLATIONAL MOTION ......................................................................................................................... 67
33: FIXED AXIS ROTATION .............................................................................................................................. 68
34: GENERAL PLANE MOTION ......................................................................................................................... 69
35: RIGID BODY WORK-ENERGY ...................................................................................................................... 70
36: RIGID BODY IMPULSE-MOMENTUM ........................................................................................................... 72
37: RIGID BODY KINETICS REVIEW ................................................................................................................... 74
ii 0: SYLLABUS ME 206: Dynamics, Fall 2009 (Day)
0: SYLLABUS
INSTRUCTOR
Dr. Michael Day, P.E., Professor of Mechanical Engineering, Associate Dean of Academic Affairs
Office Address: J.B. Speed Building, Room 212; J.B. Speed School of Engineering
Office Phone: 502-852-6195
Email address: day@louisville.edu
INSTRUCTOR AVAILABILITY
The instructor has an open office or appointments can be arranged by email. A Discussion
Board is available through Blackboard for posting general questions or asking for homework
assistance. Fellow students are free to offer assistance, but the instructor will monitor nightly
(typically 9:00 PM Sunday through Thursday). On occasion the instructor may start a DyKnow
session to facilitate discussion.
TABLET PC REQUIREMENT
This section of dynamics requires the daily use of a tablet PC, both in and outside of class.
Tablets should be configured for wireless access to the ulsecure network using either
the client-less built-in feature (PEAP) or the Odyssey client. Detailed configuration
instructions are available at http://louisville.edu/it/services/network/wireless.
The DyKnow Client 5.2 (Vision & Monitor) and DyKnow Writer 5.1 should both be
installed; download from http://dyknow.com/download/. DyKnow is used interactively
in the classroom by connecting to the DyKnow server at dyknow.spd.louisville.edu.
Internet access to the Blackboard Academic Suite is needed and is available at
https://blackboard.louisville.edu/. The Respondus Lockdown Browser is also used for
quizzes and tests taken via Blackboard.
Microsoft OneNote is also used for homework assignments. OneNote and other useful
software can be downloaded from http://louisville.edu/it/services/software/.
Download Microsofts Physics Illustrator for Tablet PC for illustrative examples.
It is recommended to create desktop shortcuts to Blackboard, DyKnow, and OneNote as
they will be used often.
COURSE PREREQUISITES
The prerequisites for this course are ENGR 102 (Engineering Analysis II), PHYS 298 (Introductory
Mechanics), and CE 205 (Mechanics I: Statics). Transfer students should have taken equivalent
courses. This course relies heavily on the use of computer tools and statics.
TEXTBOOK
Day, Michael. ME 206, Mechanics II: Dynamics. Course Notes. University of Louisville. August
2009. The textbook is available free as an eBook in pdf format. It may be downloaded from
Blackboard and read using Adobe Reader or Adobe Digital Editions software. Schaums Outline
of Engineering Mechanics, Fifth Edition is also required for homework problems. The other
sections of ME 206 use Engineering Mechanics: Dynamics (5th Edition) by Bedford & Fowler it
will not be used in this section but could serve as a reference book.
iii 0: SYLLABUS ME 206: Dynamics, Fall 2009 (Day)
ATTENDANCE
Daily attendance in the classroom and preparation are essential. Students are responsible for
all content and assignments (or changes to assignments) presented in class. Be punctual and
participate actively in class activities. Be sure to bring the tablet PC to every class. The
instructors DyKnow session will be made available later in the day via Blackboard however do
not miss class without a valid reason and not use these notes as a substitute for coming to
class.
ASSIGNMENTS
There is an assignment due every day, the only exceptions being the days after the test review
and the test. The assignment schedule is available from Blackboard. Students are responsible
for adhering to any additional details or requirements/modifications that may be given during
the preceding class. If there is difficulty with completing the assignment, dont hesitate coming
for help or posting to the Discussion Board. These assignments should be prepared according
to any given guidelines and procedures using OneNote and written to DyKnow. The completed
assignment should be submitted at the beginning of the next class meeting via DyKnow.
Assignments not turned in at the beginning of class may be submitted at the next class meeting
with a 25 point decrease. Assignments later than one class are not accepted. The total
homework grade accounts for 25% of the semester grade. The lowest assignment grade is
dropped. Deadline extensions for homework assignments are granted for situations similar to
excused absences. Average time spent outside of class is expected to be about 6 to 7 hours per
week.
QUIZZES
Daily quizzes will be given, typically over the current assignment or the material covered in the
last class. The quizzes are closed-book and closed-notes and will be taken via Blackboard. The
questions are predominantly multiple choice, fill in the blanks, true/false, etc. You must be
present for the entire class in order to receive credit for the quiz. Make-up quizzes are not
given, no matter what the situation. If there is an excused absence, the quiz is also excused.
The lowest quiz grade will be dropped. The total quiz grade is 15% of the semester grade.
TESTS
Four tests and a comprehensive final are given. The tests are closed-book, closed-notes, and
consist of 25 multiple-choice questions (the final exam has 50 similar questions) and will be
taken via Blackboard. Test questions from previous semesters will be made available for
review. Unless agreed upon before the scheduled date, no make-up will be given if a test is
missed. No make-ups are given for poor performance and no test scores are dropped. Each
test is 10% of the semester grade and the final exam is 20%.
iv 0: SYLLABUS ME 206: Dynamics, Fall 2009 (Day)
GRADING SYSTEM
A total of 1000 points may be earned throughout the semester. These come from:
Daily Homework........ 250
Daily Quizzes ............. 150
Hourly Tests .............. 400
Final Exam ................. 200
Total ...................... 1000
The final grade is then assigned according to the total number of points accumulated. There is
no curving of grades.
1000 - 934 A+ 933 - 900 A 899 - 867 A-
866 - 834 B+ 833 - 800 B 799 - 767 B-
766 - 734 C+ 733 - 700 C 699 - 667 C-
666 - 634 D+ 633 - 600 D 599 - 567 D-
566 - 0 F
If the course is being taken Pass/Fail, 567 points are required to pass.
PROJECT
An optional computer project will be assigned about a month into the course, to be due on the
last day of classes. This will require the use of a software package (Excel, Maple, Mathcad, and
MATLAB). The points received on the project are considered to be extra credit. A maximum of
33 points may be added to your semester total. Although the project is optional, everyone is
strongly encouraged to do it as it will raise your grade one level if maximum points are
obtained.
ACADEMIC INTEGRITY
Do not copy or let your work be copied, as neither will be accepted. Although working together
in a group is encouraged, do not even look at another persons work for help. If you wish to
help someone on a homework problem, verbally explain the steps involved do not show or
send the solution. First offense in sharing homework solutions is a zero grade for the
homework to all involved. This includes copying a homework solution from another source
(e.g., work obtained from students in previous classes). Second offense is a failing grade and
dismissal from the course. Obtaining assistance in any manner on quizzes and tests is strictly
prohibited and will result in a failing grade and submission of charges to the Academic Integrity
Review Committee. Academic dishonesty and its consequences are discussed further in the
Universitys Code of Student Rights and Responsibilities.
CLASS SCHEDULE
Class meetings: MWF 8:00 8:50, Sackett Hall 208
1: INTRODUCTION
MECHANICS
As indicated by the course title, Dynamics is just one of several areas of Mechanics, which is a
branch of physics dealing with the behavior of systems subjected to forces.
SYSTEMS
Structural systems may be modeled as:
Particles ...................................... Dimensions unimportant, rotation neglected
Rigid Bodies................................. Do not change shape, rotation considered
Deformable bodies ...................... Change shape
The way a system is modeled does not depend on size, but on the situation. For example:
a tennis ball with no spin can be modeled as a particle,
with spin as a rigid body,
and at impact as a deformable body.
In this course, only particles and rigid bodies are studied.
BEHAVIOR
The behavior of a system is based on Newtons laws of motion (1687):
If in equilibrium, then .....................Resultant force = 0
If in motion, then ............................Resultant force Change in motion
For every action there is an ............Equal and opposite reaction
Behavior is determined if the position of the system is known at all times.
DYNAMICS
The study of mechanics is normally subdivided into two areas:
Statics.............For systems at rest or moving with constant velocity (non-accelerating).
Statics uses Newtons 1st and 3rd laws.
Dynamics .......For systems with accelerated motion.
Dynamics uses Newtons 2nd and 3rd laws.
Dynamics, the study of systems in motion, is then also split into two sections:
Kinematics .....Studies motion without reference to the forces.
The basic kinematic quantities are position, velocity, and acceleration.
Kinetics ...........Studies the relation between the forces and motion.
The three methods commonly used in kinetics are equations of motion,
work energy, and impulse momentum.
2 1: INTRODUCTION ME 206: Dynamics, Fall 2009 (Day)
HISTORICAL DEVELOPMENT
Compared to Statics, the study of Dynamics is relatively recent!
MECHANICS
TYPE OF MODEL STATICS DYNAMICS
Particles & Rigid Bodies CE 205 (Statics) ME 206 (Dynamics)
Deformable Bodies ME 323 (MOM) ME 421 (Vibrations)
APPLICATIONS
Dynamics is applied in many areas of engineering work:
Astronautics
Biomechanics
Large Structures
Machinery
Sports
Transportation
3 1: INTRODUCTION ME 206: Dynamics, Fall 2009 (Day)
COURSE DESCRIPTION
Study of the motions and forces of engineering systems. Kinematics and kinetics of particles
and rigid bodies. Engineering applications using equations of motion and the work-energy and
impulse-momentum methods.
COURSE OUTLINE
This course is divided into 4 sections:
Particle Kinematics
Particle Kinetics
GOALS
The goals of this course are to:
Practice solving engineering problems in a logical and orderly manner.
Understand the basic concepts of moving systems.
2: PARTICLE KINEMATICS
PARTICLE KINEMATICS
In particle dynamics, the dimensions of the body are unimportant since the effects of rotation
are neglected. All bodies are assumed to be modeled as a single point. Kinematics is the study
of geometry with respect to time, without regard to the forces causing the movement.
Therefore, particle kinematics reduces to the investigation of the motion of a point with
respect to time.
ABSOLUTE ANALYSIS
The measured values of a physical quantity depend on the reference frame of the observer.
When the measurements are made from an inertial reference, absolute analysis is being used.
To apply the laws of physics, quantities must be absolute!
An inertial reference frame (also called a Newtonian reference frame) satisfies one of the two
following conditions:
Fixed
Non-rotating and moving with constant velocity
For most problems, a reference frame attached to the earth is considered an inertial frame.
All three are vector quantities, having both magnitude and direction. When representing a
vector, make sure to include an arrowhead over the symbol. A vector can never equal a scalar,
e.g., 3 m/s!
POSITION
The position vector defines the location of the particle as a function of time. Coordinates are
used to describe this location. There are three different sets of coordinates that are used in this
course:
Rectangular (x, y, z)
Useful whenever quantities are given in fixed directions.
Commonly, but not necessarily, the horizontal and vertical directions.
Cylindrical (r, , z) or Polar (r, )
Useful whenever angular quantities are given.
Path (s)
Useful whenever path is known. Use this system whenever possible!
Does not need a reference frame, only a reference point.
5 2: PARTICLE KINEMATICS ME 206: Dynamics, Fall 2009 (Day)
The rectangular and polar coordinates are fixed coordinates. They are independent of
knowledge of the path, but depend on choice of reference frame.
VELOCITY
The velocity vector is defined as the change in the position vector with respect to time:
................................................................................................................. (1a)
Where is a shorthand expression for . The direction of is always tangent to the path
of motion. Its magnitude is referred to as the speed.
ACCELERATION
The acceleration vector is defined as the change in the velocity vector with respect to time:
................................................................................................................. (1b)
The direction of is, in general, not tangent to the path of motion. For a fixed reference
frame, both velocity and acceleration are independent of the origin.
The units of any physical quantity can be changed with the aid of conversion factors. These
conversion factors are numbers that are physically unity. Some useful conversion factors
between the two systems are:
6 2: PARTICLE KINEMATICS ME 206: Dynamics, Fall 2009 (Day)
Length Conversions
1 in = 2.54 cm (Exact) 1 cm = 0.3937~ in
1 ft = 0.3048 m (Exact) 1 m = 3.281~ ft
1 yd = 0.9144 m (Exact) 1 m = 1.094~ yd
1 mi = 1.609344 km (Exact) 1 km = 0.6214~ mi
Velocity Conversions
60 mph = 88 fps (Exact)
1 mph = 0.44704 m/s (Exact) 1 m/s = 2.237~ mph
SIGNIFICANT DIGITS
The significant digits in a number include the left-most, non-zero digits to the right-most digit
written (if there is not a decimal point present, the right-most zeros may or may not be
significant). Answers can be no more significant than the least accurate number in the data.
However, rounding off should be done only after the final calculation. In this course, give
answers to at least 3 significant figures.
7 3: CONSTANT ACCELERATION ME 206: Dynamics, Fall 2009 (Day)
3: CONSTANT ACCELERATION
RECTILINEAR MOTION
For rectilinear motion the path (a straight line) is known; therefore, PATH coordinates should
be used. Rectangular or polar coordinates could be used just as well resulting in similar
equations but in this class, path coordinates are used whenever possible.
When using path coordinates, a reference frame is not needed; only a reference point (O) is
required.
The unit vector is tangent to the path, in the direction of increasing s.
However, instead of working with these vectors, their scalar components are used in analysis.
The key in solving kinematic problems is determining the velocity and acceleration
components!
................................................................................................................. (2a)
................................................................................................................. (2b)
The components may be either positive or negative. Using these components, the vectors and
their magnitudes can be easily determined!
......................................................................................... (3a)
......................................................................................... (3a)
The magnitude must always be positive. For rectilinear motion, the subscripts on the
components are often omitted. In such cases, the components and their magnitudes will both
8 3: CONSTANT ACCELERATION ME 206: Dynamics, Fall 2009 (Day)
be represented by the same symbols. Therefore, the symbol | |is typically used to indicate
magnitude.
DISPLACEMENT
The displacement of a particle is a vector defined as the change in the position vector. For
rectilinear motion it has a magnitude of |s|. s is found by subtracting the initial position )
from the final position :
....................................................................................................... (4)
DISTANCE TRAVELED
The distance traveled ) by a particle is the total length of the path, and is always positive.
To determine this distance, it is necessary to determine if the particle changes directions (the
speed will be zero at such a point).
If the particle does not change directions, the distance traveled will be equal to the
magnitude of the displacement.
= -
If the particle changes directions, find out where it changes, and then add together the
length of the segments (a diagram is very useful).
= - + -
AVERAGE VALUES
In some cases, average values (instead of instantaneous values) are of interest. For rectilinear
motion these are:
Only as t approaches zero do the average velocity and acceleration give values similar to the
instantaneous velocity and acceleration.
9 3: CONSTANT ACCELERATION ME 206: Dynamics, Fall 2009 (Day)
CONSTANT ACCELERATION
If the acceleration is constant (make sure that it does not change with time, position, or
velocity), the two differential relations can be easily integrated (and, if necessary, you should be
able to do it to obtain the equations below). Assuming the initial conditions to be:
The integrations yield two relations (s t and v t); and by use of the chain rule or substitution,
a third relation is found (v s):
The t subscript (which stands for tangential, and not time) has been dropped on the velocity
terms (and sometimes it is also dropped on the accelerations). I dont particularly like to do
this, but it is common and convenient. Remember though, that and are still the
tangential components, and are not the magnitudes. Be very careful with signs! If the initial
conditions are at some time , then replace in the equations above with .
NOTE: These equations should be used for all homework problems in which the
acceleration is constant. (That means that you should not be doing the actual
integrations they have already been carried out for us)!
FREE FALL
A common example of constant acceleration occurs when a particle rises or falls freely, the only
force acting on the particle being its own weight (if air resistance is assumed negligible). The
particles acceleration will always be downward and constant (assuming that the distances are
short and g doesnt change):
If up is positive =- g
If down is positive =+g
The local gravitational acceleration, g, is always positive and has a standard value of:
g = 9.8067 m/ = 32.174 ft/
However, for this class we assume were on the planet M2D, where the values of g are:
g = 10.0 m/ for fps units, and g = 32.0 ft/ for SI units.
Unless otherwise stated, these values should be used for all homework and test problems! This
represents less than a 2% difference.
10 4: PROBLEM SOLVING ME 206: Dynamics, Fall 2009 (Day)
4: PROBLEM SOLVING
GUIDES
Solve each homework problem using the following GUIDES:
Name
ME 206 Problem Number
Date
I INITIAL, INTERMEDIATE AND FINAL CONDITIONS In tabular form, list the kinematic
quantities of position and velocity at the given times.
0 1
(s) 0 3
s (m) 0 -
(m/s) 5
D DIAGRAMS The necessary diagrams depend on the type of problem. In general these
are: 1) Reference frame 2) Kinematic diagram 3)Kinetic diagram (FBD)
E EQUATIONS AND EVALUATION Show and underline all basic equations. Evaluate
using at least significant figures. List all assumptions made!
= 5 + (-3) (3) = -4
5: VARIABLE ACCELERATION
VARIABLE ACCELERATION
In many practical cases, the acceleration is not constant and a mathematical relationship has
been developed between two of the four variables listed below:
.............................. Time
.............................. Position
.............................. Velocity
.............................. Acceleration
DIFFERENTIAL RELATIONS
Two differential relationships have already been developed for such cases:
................................................................................................................. (7a)
................................................................................................................. (7b)
Remember, the subscript has been dropped on the velocity terms since velocity is always in
the tangential direction (unlike acceleration in some motions). Since these expressions are
given as time derivatives, the chain rule should be used whenever derivatives of position are
involved. This gives:
................................................................................................................. (7c)
In summary, the differential relations available are listed below. Substitute the given
expression into the proper differential relation (one which contains both variables from the
given expression). This should then tell you whether to differentiate or integrate.
Variables Present
Differential
Equation
12 5: VARIABLE ACCELERATION ME 206: Dynamics, Fall 2009 (Day)
Differentiate Differentiate
Integrate Integrate
13 6: GRAPHICAL SOLUTIONS ME 206: Dynamics, Fall 2009 (Day)
6: GRAPHICAL SOLUTIONS
GRAPHICAL REPRESENTATION
When data is gathered experimentally, or when the particles path is erratic, it may be more
useful to represent the relations between , , and with graphics, instead of trying to
determine mathematical equations. When working problems graphically, do not write
equations for the kinematic variables!
GRAPHICAL DIFFERENTIATION
The differentiation process can be done graphically by measuring the slope at the point under
consideration:
......................................................................................... (8a)
......................................................................................... (8b)
......................................................................................... (8c)
GRAPHICAL INTEGRATION
The integration process is done graphically by measuring the area under the curve between
specified points:
..................................................... (9a)
..................................................... (9b)
.......................................... (9c)
14 7: PATH COORDINATES ME 206: Dynamics, Fall 2009 (Day)
7: PATH COORDINATES
CURVILINEAR MOTION
For curvilinear motion, the path a curved line may or may not be known. Therefore,
depending on the situation, the coordinates used should be either:
Path
Rectangular
Polar (Cylindrical)
PATH COORDINATES
Path coordinates ( ) are generally used whenever the path is known. These coordinates do not
use a reference frame, but utilize a stationary reference point.
The unit vectors for path coordinates vary with time (constant magnitude, but changing
direction.)
is tangent to the path in the direction of increasing ,
is normal to the path, always toward the instantaneous center of curvature.
where:
15 7: PATH COORDINATES ME 206: Dynamics, Fall 2009 (Day)
PATH COMPONENTS
The velocity and acceleration components for path components can then be written as:
............................................................................................................... (10a)
............................................................................................................... (10b)
............................................................................................................... (10c)
The velocity is always tangent to the path and therefore there is no normal velocity (and the t
subscript is often dropped but be careful since this is sometimes the same symbol used for
speed).
The tangential acceleration can be positive or negative. It represents the time rate of change
in the magnitude of velocity. The normal acceleration is always directed toward the center
of curvature and can never be negative. It represents the change in the direction of velocity.
............................................................... (11a)
............................................................... (11a)
RADIUS OF CURVATURE
If the path is expressed as a function , the radius of curvature ( ) at any point
can be found from:
............................................................... (12a)
............................................................... (12b)
Of the two acceleration components, the tangential acceleration is normally the more difficult
one to handle. This is due to it being a differential equation (D.E.), while the normal
acceleration is simply an algebraic equation.
17 8: RECTANGULAR COORDINATES ME 206: Dynamics, Fall 2009 (Day)
8: RECTANGULAR COORDINATES
RECTANGULAR COORDINATES
Use rectangular coordinates whenever quantities are given in fixed directions (such as the
horizontal and vertical directions).
The unit vectors for rectangular coordinates are constant with respect to time:
is in the direction of increasing ,
is in the direction of increasing ,
is in the direction of increasing .
RECTANGULAR COMPONENTS
In this class we work primarily with the scalar form (components). The components of the
position, velocity, and acceleration vectors are:
............................................................................................................... (13a)
............................................................................................................... (13b)
............................................................................................................... (13c)
............................................................................................................... (13d)
18 8: RECTANGULAR COORDINATES ME 206: Dynamics, Fall 2009 (Day)
If x and y are in the horizontal and vertical directions, the components are referred to as the
horizontal and vertical components. If not, they are simply the x and y velocities and
accelerations.
............................................................... (14a)
............................................................... (14b)
............................................................... (14c)
The direction of each vector can then be found by dividing the vector by its magnitude. The
direction of the velocity vector will always be tangent to the path. The acceleration vector will
not generally be tangent.
PROJECTILE MOTION
Rectangular coordinates are often used to study projectile motion free flight motion of a
particle (the only force acting on the particle is its weight).
Assume the X-axis to always be horizontal and the Y-axis always vertical and directed upwards.
Since the bodys acceleration will always be downward and constant, the acceleration
components can be written as:
Therefore, using the equations of constant acceleration, the horizontal motion is governed by:
....................................................................................... (15a)
....................................................................................... (15b)
....................................................................................... (15c)
....................................................................................... (15d)
....................................................................................... (15e)
If the axes are not horizontal and vertical, the acceleration components are not constant, and
these equations are not valid!
19 8: RECTANGULAR COORDINATES ME 206: Dynamics, Fall 2009 (Day)
Several common expressions (derived from the equations above) are used to find maximum
height ( ) and range ( ) from the given firing speed and firing angle (measured from the
horizontal).
The range is the horizontal distance traveled before returning to the same elevation.
Maximum range occurs when = 45.
20 9: POLAR COORDINATES ME 206: Dynamics, Fall 2009 (Day)
9: POLAR COORDINATES
POLAR COORDINATES
Use polar coordinates whenever angular quantities are given. Polar coordinates are fixed
coordinates: independent of knowledge of the path, but dependent on choice of reference
frame.
The unit vectors for polar coordinates vary with time (constant magnitude, but changing
direction).
is in the direction of increasing Radial direction
is in the direction of increasing and perpendicular to Transverse direction
POLAR COMPONENTS
The velocity and acceleration components are then:
21 9: POLAR COORDINATES ME 206: Dynamics, Fall 2009 (Day)
...................................................................................................... (16a)
...................................................................................................... (16b)
(16c)
...................................................................................................... (16d)
Each of these components (and their individual terms) are referred to by specific names. These
names are listed in the table on the next page.
............................................................... (17a)
............................................................... (17b)
CYLINDRICAL COORDINATES
For 3-D problems the z-coordinate (axial direction) is also needed to specify the position:
z Axial position L m
Axial speed ( ) L/T m/s
Axial acceleration ( ) L/T2 m/s2
................................................................................................... (18a)
................................................................................................... (18b)
................................................................................................... (18c)
If quantities are given in reference to still air or still water, these are relative quantities. The
absolute (actual) quantities can be determined by vectorially adding the air or water velocity or
acceleration.
24 10: RELATIVE MOTION ME 206: Dynamics, Fall 2009 (Day)
On occasion, a purely trigonometric solution is convenient. This type of solution would make
use of the law of sines and cosines.
Law of sines:
Law of cosines:
25 11: DEPENDENT MOTION ME 206: Dynamics, Fall 2009 (Day)
1. Measuring from a fixed point, define the position of each particle using path
coordinates. It is not necessary that the same point be used for each particle.
2. In terms of the coordinates, show changes in cable length for each section:
(+) .......if length of section increases
(-) ........if length of section decreases
3. ............... Relate these changes to changes in total cable length (assuming cable to be
inextensible). Write the following equation for each cable:
............................................................................. (19)
L (0) .......if cable length is unchanged
L (+) .......if cable is being unwound
L (-) ........if cable is being unwound
4. Differentiate to find relations for velocity and acceleration.
These results do not depend on the amounts of cable wrapped around the pulleys, so these
portions can be omitted from the analysis.
When carrying out the differentiations to obtain the velocities and accelerations, make sure to
take time derivatives (which will require use of the chain rule).
26 12: PARTICLE KINEMATICS REVIEW ME 206: Dynamics, Fall 2009 (Day)
DEPENDENT MOTION
27 13: PARTICLE KINETICS ME 206: Dynamics, Fall 2009 (Day)
..................................................................................................... (20)
The equation of motion is a vector equation. It is valid only when the acceleration is measured
with respect to an inertial reference frame. There are several limitations on the use of the
second law:
Relativity (Einstein) .....................................High speeds (speed of light)
Quantum Mechanics (Schrodinger) ............Atomic distances
Under these conditions, certain modifications need to be made to the second law.
In the SI system of units, mass is taken as the base dimension (force is a derived dimension).
This is referred to as an absolute system. In the U.S. system of units, force is taken as the base
dimension (mass is a derived dimension). This is referred to as a gravitational system.
28 13: PARTICLE KINETICS ME 206: Dynamics, Fall 2009 (Day)
Mass Conversions
1 lbm = 0.45359237 kg (Exact) 1 kg = 2.205~ lbm
1 slug = 32.17~ lbm = 14.59~ kg
Force Conversions
1 lbf = 4.448~ N 1 N = 0.2248~ lbf
..................................................................................................... (21)
The force of the earths gravitational attraction (weight) on a body of mass is:
= 6.67E-11 = 3.44E-8
= 5.98E24 kg = 4.10E23 slug
= 6.38E6 m = 2.09E7 ft = 3960 mile
Therefore, the standard acceleration due to gravity at the earths surface is taken as:
= 9.81 = 32.2
29 2: PARTICLE KINEMATICS ME 206: Dynamics, Fall 2009 (Day)
..................................................................................................... (22)
By definition the standard value of is defined as exactly 9.80665 (32.174~ ). The value of
actually varies from approximately 9.78 (32.1 ) at the equator to 9.83 (32.2 ) at the
poles.
NOTES
Unless instructed differently, in this class the following will be assumed in order to simplify
calculations:
For problems using FPS units:
Use the standard value of value of = 32.2 .
Therefore a block with a mass of 100 lbm will weigh 100 lbf.
For problems using SI units:
Use a value of = 10.0 .
Therefore a block with a mass of 100 kg will weigh 1000 N.
30 14: RECTILINEAR EOM ME 206: Dynamics, Fall 2009 (Day)
DIAGRAMS NEEDED
The diagrams to be always shown are:
Kinematic diagrams
Outlined shape of the body
Reference frame or point
Coordinates
Unit vectors
Kinetic diagrams (Free Body Diagrams FBDs)
Outlined shape of the body, isolating it from its surroundings
All forces that act on the body
Active forces.........Weight and applied
Reactive forces .....Constraints and supports
Labels for all forces (numerical values if know, appropriate symbols if not )
Necessary angles
EVALUATION NEEDED
The evaluation normally includes both:
Kinematics
Kinetics
Write down the equations of motion in component form. Substitute into these
equations the force components (determined from the FBD) and the
acceleration components (determined in the kinematics section).
RECTILINEAR MOTION
Kinematics
The kinematic relations for rectilinear motion have already been developed. If the acceleration
(or forces) is constant then use the constant acceleration equations:
s-t relation
v-t relation
v-s relation
If the acceleration is variable, than the general differential equations must be used:
Kinetics
For rectilinear motion, the equations of motion are written in path coordinates. Always write
down the vector equation, and then (right below it) show the scalar component equations.
If there is more than one particle, also indicate the particle for which the equations are being
written.
In order to relate the tensions of two cables connected to a pulley, a FBD of the pulley must be
drawn and an equation of motion be written.
32 15: FRICTION ME 206: Dynamics, Fall 2009 (Day)
15: FRICTION
TYPES OF FRICTION
Friction is a resistance force which inhibits or prevents slipping between bodies. It always acts
tangent to the surfaces of contact. When the surfaces have no film or fluid separating them,
dry (or Coulomb) friction occurs. This should be in the form of:
.............................. Static friction No relative motion between the bodies
.............................. Kinetic friction Bodies moving relative to each other
..................................................................................................... (23)
where is the static coefficient of friction. Hardly ever is this the actual friction force occurring
between the two surfaces. The actual force depends on the particular situation.
The direction of this force is unknown and must be determined from the equations of
motion. (Assume a direction and then check the sign).
The force must be shown in its proper direction, opposing the impeding relative motion.
Relative Motion................ )
After relative motion is started, the frictional forces are less than the maximum:
..................................................................................................... (24)
where is the kinetic coefficient of friction, with < . The frictional force on each
body is in a direction opposite to its motion relative to the other body.
33 15: FRICTION ME 206: Dynamics, Fall 2009 (Day)
16: SPRINGS
VIBRATIONS
Vibrations is the study of oscillatory motion. The vibration may be either free or forced.
.............................. Free Vibrations Motion is maintained by weight or spring
forces
.............................. Forced Vibrations Motion is caused by external forces.
Free, undamped vibrations will be studied in this section, and the solutions will only involve
velocity and position (relations involving time requires solving a 2nd order D.E.)
HOOKES LAW
Springs are assumed to be massless and linear. They can either be in tension (causing
elongation) or compression (causing contraction). In either case, the force and deflection are
related by Hookes Law:
..................................................................................................... (25)
where:
........Spring force (Tension or Compression)
.........Spring stiffness (Force/Length)
.........Total spring deflection
Even though Hookes Law is a static equation, it can be used in dynamics since the springs mass
is negligible.
SPRING DEFLECTION
The length of a spring at any time can be written as:
............................................................................................................... (26a)
............................................................................................................... (26b)
where:
.......Initial length of the spring (free length)
..........Displacement variable, measured from equilibrium
EQUATION OF MOTION
By defining the displacement variable ( ) to be zero at equilibrium, rather than at the position
of zero deflection, the equation of motion for a spring-mass system becomes:
with:
(The weight of the mass and the initial spring force cancel each other.) Using this expression for
acceleration (instead of using the time derivative) allows the use of separation of variables to
find a position velocity relation.
36 17: CURVILINEAR EOM ME 206: Dynamics, Fall 2009 (Day)
RECTANGULAR COORDINATES
Rectangular coordinates are commonly used when the path is given in the form: or
for problems involving projectile motion. Remember, in this case, choose the X-axis to be
horizontal and the Y-axis to be vertical.
Kinematics Kinetics
POLAR COORDINATES
Polar coordinates are used when the path is given in the form: . Due to the nature of
the kinematic relations, these coordinates are generally the most complex to use. However, for
circular paths, the equations greatly simplify (although path coordinates would still be the
choice). In such cases, the radial direction is positive away from the center.
Kinematics Kinetics
PATH COORDINATES
Path coordinates are the coordinates of choice whenever the path is known. Remember that
the normal direction always points toward the center of curvature. This can be somewhat
tricky for 3-D type problems (conical pendulum) just make sure that the center of curvature is
in the plane of motion.
Kinematics Kinetics
37 17: CURVILINEAR EOM ME 206: Dynamics, Fall 2009 (Day)
GENERAL NOTES
If a change in speed is to be found, the equations of motion must be integrated. To do
this properly, the equations must be written as a function of position (requiring that the
FBD be drawn at an arbitrary position). If the conditions at a given speed are desired,
the equations of motion may be written at the specific point.
If there is loss of contact with a surface or when in a zero-g environment (apparent
weightlessness), the normal force is zero.
For 3-D type problems (a car on a banked track), be careful with the normal force it
may not necessarily be in the normal direction
38 18: WORK & KINETIC ENERGY ME 206: Dynamics, Fall 2009 (Day)
Kinetics ...........
Kinematics ......
KINETIC ENERGY
Kinetic energy ( ) is the particles energy (capacity to do work) due to its motion. It is
defined as:
................................................................................................... (27a)
Kinetic energy is a scalar quantity and is always positive. The change in kinetic energy ( )
from its initial position to its final position is given as:
WORK
The work ( ) done by a force in moving a particle from its initial position to its final position is:
................................................................................................... (27b)
The initial position is the lower limit, and the final position the upper limit. Work is also a scalar
quantity. The work done by a system of forces is equal to the scalar sum of the work done by
each force. Several points to consider in the determination of the work are:
If force and displacement are in the same direction .......... = +
If force is applied at a fixed point ....................................... = 0
If force is normal to the direction of motion ...................... = 0
If force is constant...............................................................
If a curve is given ..................................................... = Area under curve
39 18: WORK & KINETIC ENERGY ME 206: Dynamics, Fall 2009 (Day)
................................................................................................... (27c)
This is a scalar equation; it replaces only the tangential equation of motion (the normal
equation may still have to be used). This equation can also be applied to systems of particles
one equation can be written for the entire system (work done by internal forces sum to zero).
However, this equation cannot be used when there are energy losses due to heat, noise,
deformation, vibration, etc. When these are accounted for, the principle of work and energy is
equivalent to the 1st Law of Thermodynamics.
Diagram
Show a free body diagram at an arbitrary position.
Table
Include a coordinate for each force which does work.
The magnitude for velocity is used, and not its components.
The table cannot contain more than one unknown.
0 1
Equations
Always write the following equations:
Evaluation
Simply substitute known values directly into the main equation.
POWER
The capability of a machine is measured by the amount of work it can do per unit time. This is
referred to as power (P).
................................................................................................... (28a)
40 18: WORK & KINETIC ENERGY ME 206: Dynamics, Fall 2009 (Day)
By using the definitions of work and velocity, power can also be measured in terms of the
particles speed:
................................................................................................... (28b)
EFFICIENCY
The ratio of the work done by a machine (output) to the work done on a machine (input) is
called the mechanical efficiency ( ) of the machine.
..................................................................................................... (29)
Since frictional forces will always be developed within the machine, extra power is needed to
overcome these forces. Therefore the mechanical efficiency is always less than one.
The corresponding SI and English units for work, energy, and power are given below:
The ability of a conservative force to do work can be measured by its change in potential
energy (PE):
....................................................................................... (30a)
This is the most useful form of the work energy principles and is the one commonly
employed.
Note: Some books use different symbols for work ( ), kinetic energy ( ), and potential energy
( ) and therefore write the equation above as:
....................................................................................... (30a)
POTENTIAL ENERGY
The potential energies due to weight and spring force can be found by determining the work
done by these forces.
42 19: POTENTIAL ENERGY ME 206: Dynamics, Fall 2009 (Day)
Weight
The potential energy due to a constant weight is:
....................................................................................... (30b)
where is the elevation above an arbitrary datum (positive if above, negative if below).
The datum must be horizontal.
Spring Force
The potential energy stored in a spring is determined by:
....................................................................................... (30c)
......................................................................................... (31)
This means that the sum of kinetic and potential must remain constant (or conserved). This is
usually referred to as Conservation of Mechanical Energy.
Diagram
Show and mark the datum.
Show initial and final positions.
Show a free body diagram at an intermediate position.
Pt. 1
mg
Datum
Pt. 0
43 19: POTENTIAL ENERGY ME 206: Dynamics, Fall 2009 (Day)
Table
Include a coordinate for each force which does work.
The magnitude of velocity is used, and not the components
The table cannot contain more than one unknown.
0 1
Equations
Always write the following equations:
Evaluation
Simply substitute known values directly into the main equation.
44 20: IMPULSE & MOMENTUM ME 206: Dynamics, Fall 2009 (Day)
Kinetics ...........
Kinematics ......
LINEAR MOMENTUM
The linear momentum ( ) of a particle is defined as:
............................................................................................................... (32a)
Linear momentum is a vector quantity. The change in linear momentum ( ) from its initial
position to its final position is given as:
LINEAR IMPULSE
The linear impulse ( ) acting on a particle from its initial position to its final position is:
................................................................................................... (32b)
The initial time is the lower limit, and the final time the upper limit. Impulse is also a vector
quantity. The total impulse caused by a system of forces is equal to the vector sum of the
impulse caused by each force. Several points to consider in the determination of the impulse
are:
................................................................................................... (32c)
This is a vector equation. However, in an analysis this equation is split into scalar equations.
Only rectangular coordinates should be used (they remain constant with respect to time)! The
unit vectors for the other coordinates change with time, making the integration of forces with
respect to time very difficult.
DIFFERENTIAL FORM
The impulse momentum principle can also be written in differential form as:
..................................................................................................... (33)
This means that the sum of forces acting on a particle is equivalent to the change in linear
momentum.
=0 ..................................................................................................... (34)
Note: Some books use a different symbol for linear momentum ( ) and therefore write the
equation above as:
=0 ..................................................................................................... (34)
The corresponding SI and English units for impulse and momentum are given below:
Diagram
Include x y unit vectors or directions.
Show free body diagrams of one or both particles at an arbitrary position.
Table
The velocity components must be used, being very careful with signs.
If two particles are involved, two tables should be used.
0 1
Equations
Always write the following equations:
Evaluation
Simply substitute known rectangular components directly into the two scalar
equations
47 21: IMPACT ME 206: Dynamics, Fall 2009 (Day)
21: IMPACT
TYPES OF IMPACT
Impact occurs when two bodies collide during a very short time period, causing large impulsive
forces. Non-impulsive forces (such as weight) are commonly neglected during an impact
analysis.
The line connecting the mass centers and the point of contact is called the line of impact. If all
three points lie on the same line, this is called central impact. If the points are not on the same
line, eccentric impact occurs and must be studied by rigid body dynamics.
Central impacts can be classified based on whether the velocity vectors lie along the line of
impact or at an angle to the impact line. These different types are:
Direct Impact ..........motion is a long line of impact
Oblique Impact .......motion at an angle to the impact line
COEFFICIENT OF RESTITUTION
The coefficient of restitution ( ) is a measure of the deformation process, being a ratio of the
restoration impulse to deformation impulse. Letting the x-axis lie along the line impact, the
coefficient is defined as:
................................................................................................... (35a)
................................................................................................... (35b)
Mechanical energy ( ) is lost during all but a perfectly elastic impact. The energy is
transferred to heat, sound, and deformation energy.
48 21: IMPACT ME 206: Dynamics, Fall 2009 (Day)
IMPACT ANALYSIS
The equations which can be used in impact analysis come from:
Direct Impact
Use if impact line known
Use for A+B
Oblique Impact
Use if impact line known
Use for A+B
Use for A
Use for B
For a stationary mass, the mass is considered infinite and its velocity after impact is considered
zero. However, its change in momentum is not zero and cannot be neglected.
49 22: ANGULAR MOMENTUM ME 206: Dynamics, Fall 2009 (Day)
Kinetics ...........
Kinematics ......
Moments ........
ANGULAR MOMENTUM
The angular momentum ( ) of a particle is defined as:
................................................................................................... (36a)
where is the moment arm of the momentum vector (perpendicular distance from point O
to the line of action of the velocity vector). The proper sign is determined from the right hand
rule.
ANGULAR IMPULSE
The angular impulse ( ) is also a vector quantity, and is defined as:
................................................................................................... (36b)
50 22: ANGULAR MOMENTUM ME 206: Dynamics, Fall 2009 (Day)
For 2-D motion (x-y plane), the scalar form is again used. This gives the same equation as above
(except for the vector symbols removed), with all terms being computed about the z- axis.
................................................................................................... (36c)
This is a vector equation. However, in 2-D analysis (x-y plane) this equation is used only in the
z-direction.
DIFFERENTIAL FORM
The angular momentum principle can also be written in differential form as:
..................................................................................................... (37)
This means that the sum of moments (about a point O) is equivalent to the change in angular
momentum (about the point O).
..................................................................................................... (38)
This is referred to as the Conservation of Angular Momentum. For example, this occurs when
a particle is subjected only to central forces (forces always directed toward point O). In this
case, angular momentum is conserved, but linear momentum is not!
The corresponding SI and English units for angular impulse and momentum are given below:
Diagram
Include X-Y reference frame, be careful with the placement of the origin.
Show free body diagram at an arbitrary position.
Table
The magnitude of velocity is used along with the proper moment arm.
If more than one particle is being considered in the system, use another table.
0 1
Equations
Always write the following equations:
Evaluation
Simply substitute known values directly into the scalar equation in the z-direction.
52 23: PARTICLE KINETICS REVIEW ME 206: Dynamics, Fall 2009 (Day)
In rigid body kinematics, the same relations used for particles are needed, but the rotational
motion must also be accounted for. Therefore, both linear and angular quantities are involved.
TYPES OF MOTION
For plane motion, the path of each point on the rigid boy lies in one plane (planes for all points
are parallel). There are four main types of plane motion:
Rectilinear Translation:
Direction of body axes: constant
Origin: moves in a straight line
Curvilinear Translation:
Direction of body axes: constant
Origin: moves in a curved line
GENERAL MOTION
General motion is a superposition of:
Translational motion
Rotational motion
Different points on a rigid body in general motion have different velocities and accelerations.
The velocities and accelerations of any two points on the same rigid body can be compared by
using the relative equations:
................................................................................................... (39a)
................................................................................................... (39b)
................................................................................................... (39c)
The relative velocities and accelerations (with respect to point B) are determined by assuming
point B to be stationary (pinned).
TRANSLATION
For rigid bodies, the magnitude of is constant (distance between particles does not
change); however, the direction may or may not change. If in translation, the direction does
not change.
=0 =
=0 =
All points on a rigid body in translation move with the same velocities and accelerations.
Therefore, particle kinematics may be used to study this type of motion.
55 24: RIGID BODY MOTION ME 206: Dynamics, Fall 2009 (Day)
ROTATION
The rotation of a rigid body is described by its angular motion. All lines in a rigid body in plane
motion have the same angular displacement ( ), angular speed ( ), and angular acceleration
( ). The equations relating these angular kinematic variables are similar to those previously
given for the translational variables simply replace ( , , and with , , and :
The positive directions (rad/s) and (rad/s2) are the same as that chosen for (rad). The
corresponding table for use in rotational problems is:
0 1
The techniques used in solving the angular equations are the same as those used for
translation. For example, if the angular acceleration is variable, the differential equations
shown above must be used. If a graph is given, graphical solutions are generally used.
Dropping the subscripts and substituting and for the angular speed and acceleration, the
equations for a rigid body rotating about a fixed axis become:
............................................................................................................... (42a)
............................................................................................................... (42b)
............................................................................................................... (42c)
These equations are valid only for rotation about a fixed axis (the axis may not be moving) and
the distance is measured from the fixed axis to the point of interest. In using these equations,
the directions of and most correspond. The velocity will be directed perpendicular to a
line drawn from the fixed point to the point under consideration in the direction of . Similarly
with and . The normal component is always directed inward.
57 25: ROTATION: FIXED AXIS ME 206: Dynamics, Fall 2009 (Day)
VECTOR ANALYSIS
In most cases the velocity and the two acceleration components can be determined from the
scalar equations. However, if the geometry is difficult to visualize (e.g., 3-D), the following
vector equations should be used:
....................................................................................... (43a)
....................................................................................... (43b)
For 2-D motion, the angular velocity and acceleration are simply: and , where
and are both measured positive in the CCW direction (using the right-hand rule). Also, the
triple cross product can be expressed as:
NO SLIP CONDITION
If two bodies contact one another without slipping, and the points in contact move along
different paths (e.g., gears), the velocities and the tangential acceleration accelerations are
the same, but the normal accelerations are not.
................................................... (44a)
................................................... (44b)
58 26: ABSOLUTE ANALYSIS ME 206: Dynamics, Fall 2009 (Day)
Absolute analysis is straight-forward to use if the geometry is not overly complex. However,
for more complex problems, relative analysis is almost always used.
ABSOLUTE ANALYSIS
In an absolute analysis, the motion is described only with respect to a set of fixed axes and
involves the use of time derivatives. The procedure for such an analysis is:
Choose a set of fixed axes
Relate the position ( ) of a point to the angular position ( )
Take the first time derivative to get a relation
Take the second time derivative to get an relation
GEOMETRIC CONSTRAINTS
Occasionally, conditions are put on the systems motion by the geometry of the design. For
example, in the diagram below, the velocity and acceleration of point A must be vertical,
whereas the velocity and acceleration of point B must be horizontal.
MECHANICAL LINKAGES
Points which coincide at a pin have identical paths and therefore have the same velocities and
accelerations. This is illustrated in the diagram by examining point B, which is common to
both links.
59 27: RELATIVE ANALYSIS: VELOCITY ME 206: Dynamics, Fall 2009 (Day)
A A A
B
B
B
To the non-rotating observer attached to B, the body appears to undergo fixed-axis rotation
about B. The diagram above can be represented mathematically by the relative velocity
equation.
................................................................................................... (45a)
POINTS TO CONSIDER
The relative velocity equation can be applied to any two points on the same rigid
body.
The relative velocities (wrt B) are determined by assuming B to be pinned and then
using:
....................................................................................... (45b)
Points which coincide at a pin have the same velocities.
Conditions put on the systems motion by the geometrical design should be included
in the absolute diagram (e.g., the directions of the velocities of certain points may be
known).
61 28: RELATIVE ANALYSIS: ACCELERATION ME 206: Dynamics, Fall 2009 (Day)
A
A A
B
B
B
To the non-rotating observer attached to B, the body appears to undergo fixed-axis rotation
about B. The diagram above can be represented mathematically by the relative velocity
equation.
................................................................................................... (46a)
POINTS TO CONSIDER
The relative acceleration equation can be applied to any two points on the same rigid
body.
The relative accelerations (wrt B) are determined by assuming B to be pinned and
then using:
....................................... (46b)
Points which coincide at a pin have the same accelerations.
Conditions put on the systems motion by the geometrical design should be included
in the absolute diagram (e.g., the directions of certain accelerations may be known.)
62 29: INSTANTANEOUS CENTER ME 206: Dynamics, Fall 2009 (Day)
...................................................................................... (47a)
....................................................................................... (47b)
The IC may change with time. It is used only for computing velocity, and is not used for
acceleration calculations since it is not actually a fixed point.
LOCATION OF THE IC
The IC is generally located by a graphical means. There are 3 common cases:
INSTANTANEOUS CENTER
For 2-D analysis: .....................
64 31: MOMENTS OF INERTIA ME 206: Dynamics, Fall 2009 (Day)
................................................................................................... (49a)
................................................................................................... (49b)
Notice that the acceleration is the acceleration of point (the mass center) there is no
exception to this. The moments and the mass moment of inertia are also about the
mass center this is always valid, but in the case of rotation about a fixed axis, the fixed point
may also be used.
MASS CENTER
Mass is a measure of resistance to acceleration. If the body has a constant mass density, the
center of mass is located at its centroid. For a composite body (one which is constructed of
several simple shapes), the mass center can be found by summing up the first mass moments
and dividing by the total mass :
................................................................................................... (50a)
................................................................................................... (50b)
................................................................................................... (50c)
..................................................................................................... (51)
Notes:
For a body of uniform density, the mass moment of inertia can be found from the area
moment of inertia by multiplying by: .
If the moment of inertia is known about the mass center , the moment of inertia
about any parallel axis can be found by using the parallel axis theorem:
......................................................................................... (52)
where is the perpendicular distance between the two parallel axes.
In some handbooks the radius of gyration is given and is used to calculate the
moment of inertia:
....................................................................................... (53)
For a composite body, the moment of inertia about any axis can be found by
algebraically adding the individual moments of inertia about the same axis. This
requires use of the parallel axis theorem:
66 31: MOMENTS OF INERTIA ME 206: Dynamics, Fall 2009 (Day)
Values of mass moments of inertia about the mass center for common geometries are given in
the following table:
Name Figure
y
a
Rectangular
Parallelepiped b z x
c
y
L
Slender Rod ---
z x
y
Right Circular L
Cylinder z x
y
R
Thin Circular
Disk x
z
y
R
Sphere
x
z
67 32: TRANSLATIONAL MOTION ME 206: Dynamics, Fall 2009 (Day)
................................................................................................... (54a)
................................................................................................... (54b)
If possible, path coordinates are generally used as they are the most convenient.
A common application of these equations concerns the impending tipping problem. When it
is not known whether an object is tipping or not, assume no tipping and check for the location
of the normal force.
68 33: FIXED AXIS ROTATION ME 206: Dynamics, Fall 2009 (Day)
In summary, the equations of motion for a rigid body rotating about a fixed axis are:
................................................................................................... (55a)
................................................................................................... (55b)
For the translational equations, path coordinates are used to find the acceleration of the mass
center.
69 34: GENERAL PLANE MOTION ME 206: Dynamics, Fall 2009 (Day)
................................................................................................... (56a)
................................................................................................... (56b)
Normally it is most convenient to use rectangular coordinates for the force equations.
If NO SLIP occurs:
The direction of the friction force may be assumed in either direction. The magnitude of
the friction is solved from the EOM. Make sure that the positive directions of the
translational and angular accelerations correspond.
If SLIP occurs:
The direction of the friction force must oppose relative motion. The translational and
angular accelerations are unrelated.
....................................................................................... (30a)
The same equation is also valid for rigid bodies as long as certain additions are made. This
principle involves force, velocity, and displacement and may be applied to the entire system or
to individual members.
KINETIC ENERGY ( ):
Kinetic energy is a scalar quantity, always positive. The total kinetic energy for a rigid body
consists of the sum of the bodys translational and rotational kinetic energies. For a system
of connected rigid bodies, the total kinetic energy is found by adding the of all moving
parts. The for each type of motion can be expressed as follows:
....................................................................................... (57a)
Translational Motion:
Since
....................................................................................... (57b)
....................................................................................... (57c)
WORK ( ):
The work due to force has already been covered during the treatment of particle kinetics. The
same expression holds for rigid bodies. In addition, there may now be work due to a couple.
Again, work is a scalar quantity with its sign depending on whether the force or couple is in the
same direction as the displacement or rotation. The work expressions are summarized below:
71 35: RIGID BODY WORK-ENERGY ME 206: Dynamics, Fall 2009 (Day)
................................................................................................... (58a)
If force is a constant:
................................................................................................... (58b)
POTENTIAL ENERGY ( ):
Only conservative forces have potential energy. This includes the weight and spring forces.
Both of these have already been discussed and are the same as before, with the exception that
the height must be measured vertically from the datum to the mass center.
PE due to a Weight:
................................................................................................... (59a)
PE due to a Spring:
................................................................................................... (59b)
................................................................................................... (60a)
This equation is also valid for rigid bodies, and as before, should be broken down into X and Y
components. For rigid bodies, the principle of angular impulse and momentum is also used:
................................................................................................... (60b)
If there is rotation about a fixed axis (through point 0), then the above equation can be
replaced by:
................................................................................................... (60c)
The angular momentum and impulse (like the linear momentum and impulse) are vectors.
However, for plane motion, only their z-components are of interest.
LINEAR MOMENTUM ( ):
For rigid bodies, the velocity of the mass center must be used:
................................................................................................... (61a)
ANGULAR MOMENTUM ( ):
The angular momentum is also known as the moment of momentum as it is defined as:
................................................................................................... (61b)
LINEAR IMPULSE ( ):
The linear impulse is defined as before:
..................................................................................................... (62)
73 36: RIGID BODY IMPULSE-MOMENTUM ME 206: Dynamics, Fall 2009 (Day)
ANGULAR IMPULSE ( )
The angular impulse is defined similarly:
................................................................................................... (63a)
................................................................................................... (63b)