Beruflich Dokumente
Kultur Dokumente
A particle has a mass but negligible size and shape this type of
approach is used when the dimensions of the object are negligible.
Examples of particles are rockets and chicles provided that only
motion of mass center is considered and any rotation is neglected.
Rectilinear Motion
Position
The displace,ent is the change of the particle's position ,when the particle moves from " p " to " p' ".
The displacememnt =
When moving to the right .
But while moving to the left .
. ,
Positive.
Velocity
Vavg=\
:
:
Vins= lim \=ds\dt
0
:
The sign of (V)carresponds to the sign of ds(to the right is always +ve,to the left always -ve)
V:Is the vector with it's magnitude called speed.
Acceleration
Acc(avg)= \
:
:
Acceleration
Instantaneous Acceleration:
lim = = = .
2
= = =
2
If:
= 0
> 0
< 0
Constant Acceleration
Constant Acceleration:
Velocity as function of time, can be obtained by integration:
= = , = = 0
=
=
0
] = ]0
= 0 = = +
2 2 = 2 2 = = + ( )
To obtain Position:
v = =
= 0
= + 0
Acceleration
Acceleration as function of velocity, a = :
= ==
= 0
=
()
= = ()
= 0
= ()
()
Plane Curvilinear Motion
Describes the motion of a particle along a curved path that lies in a single
plane.
Where:
=
=
=
= lim = =
0
Speed = = =
= lim = =
0
Rectangular coordination
= +
= = +
= = = +
From the figure:-
= +
= +
tan =
= +
= +
If x= & =
Projectile motion
Rectangular coordination are used for the trajectory analysis of a projectile motion.
= = ( )
= Integration Integration
= ( )
X= + ( ) t = ( ) ( )
Y= + ( ) +
t: tangent , n: normal
Normal and tangential coordinates
ds = df
V= =
=V t
= t
( t )
= = = v (et)`+(v)` et
Direction of det is given by en :
et
det=en d =en
=( )en (t)` = en
V= =v (et)`+(v)` et
v (et)`=v ( en)
=
2
V( n)= en
2
= en + t
Page 9 :
2
2
v v
an p p v
2
p p
at v s
a an at
2 2
Circular motion
v = v
2 2
v
ar r
.
v
n
at v r
Ex :
problem 2/3 page 27
3
Velocity of a particle is given by : v 2 4t 5t 2
Evaluate : position
( s ) ?
v?
a ?
at
t 3s
when
t 0 s s0 3m
5
2 2
3 4t 16t
s 2 vdt (2 4t 5t )dt 2t
2
c
2 8
5
s (t ) 2t 2t 2t
2 2
c
s (0) c s0 3m
5
s (3) 2(3) 2(3) 2(3)
2 2
3
6 18 31.2 3 22.2m
3
v(3) 2 4(3) 5(3) 2
15.98m / s
dv 3 1 2 15 1
a 4 (5)( )t (t ) 2 4
dt 2 2
15 1
a (3) (3) 2 4 8.99m / s
2
Example 2-15. Page 29#
A particle is fired vertically with = m/s. What is the max altitude h reached by the projectile and
the time after firing for it to return to ground. Neglect air drag and take g as constant at 9.81 m/ .
Sol:
= + +
= + + = + + .
, = , = + = = + .
= .
= . . . =
= = .
Example 2-25. Page 30#
Distance s, when he overtake the blue car? M C
= = /
= / =
= /
Sol:
= + + = . + +
2 = 0 2 +2am( Sm1 Sm1 )
(1501000m)=0+2(6
6060
m/ 2 )(Sm1-0)=(12 m/ 2 ) Sm1
Sm1=(1736/12)=144.7m
Sm2=Sm1+Vm1 t2=144.7+41.7(t-6.9 s)
V=V+at t= tm1=
41.70
tm1= = 6.94 s
6
Sm1=41.7t-144.7m=Sc=(33.3)t+66.7m
t(8.4)-211.4=0 t=22.5 sec
Sc=(33.3)(25.2)+66.7=905.9m
Sm2=(41.7)(25.2)-144.7=906.1m
Relative motion (translating axes)
Fixed reference axes absolute coordinates
Morning reference axes relative motion
Translation of axes will be discussed for plane motion:
RELATIVE-MOTION OF TWO PARTICLES (CONTINUED)
14
Solution :
Ax=0 Ay=-g
Vx=(vx) u=constant
Vy=(vy) -gt = 0 gt = -gt
X= X + (vx) t
Y= y + (vy) t- 2 gt
Vy=(vy)-2g(y-y)
= 0 +2(9.81m \ s)+(10m + 0 )
= 196.2m\s vy =14 m\s
14\s
T= = = 1.43sec
9.81\s
X = 0 + u (1.43sec) = 40 m u=27.97 m\s
U28 m\s 14
Example:
A race car C travels around the horizontal circular track that has a radius
of 300 ft , if the car increases its speed at a constant rate of 7 ft/s,
starting from rest ,
Determine :
*the time needed for it to reach an acceleration of 8 ft/s .
*what is its speed at this instant .
Solution :
a = ( at + an )
at = 7 ft/s
an = v/ ** hint :- v = v+(at)c .t **
an = ( 7t )/ 300 = 0.163t ft/s
t= 4.87 sec
r = r er
= (r er)
Radial & Transverse (r - ) coordinates cont.
velocity should be
expressed in terms of
er and e.
= = (r+r )=
=+ ++ +
=er+e+2e+re+r
=e+r +[2+r]
Example:
The park ride shown consists of a chair that
is rotating in a horizontal circular path of
radius r such that the arm OB has an
angular velocity and angular
acceleration ,determine the radial and
transverse components of velocity and
acceleration of the passenger .
Solution :
r=r =0 =0
Space curvilinear motion
Cylindrical coordinates (r , , z)
Spherical coordinates(R ,,):
R=R*eR.
V=R'* eR+R*'*cos()* e + R*'* e .
a=aR* eR +a* e +a* e
aR=R''-R*'-R*'*cos().
a=cos()/R *d/dt(R^2*'(-2*R* '*'*sin().
a= 1/R * d/dt(R^2*'(+R* '*sin()*cos().
Kinetic of particles:
-Kinetic is the study of the relations between
unbalanced forces and the changes in motion they
produce.
-Kinetic problem can be solved using three
approaches:
Newton's 2nd low (F=m*a).
Work & Energy.
Impulse & Momentum.
Newtons 2nd law:
F=m*a
F :is the magnitude of the resultant force acting on
the particle.
m: is a quantitative measure of inertia (mass) of the
particle.
a:is the magnitude of the resulting acceleration of
the particle.
There are two types of motion; constrained such as
atrain or unconstrained such as airplane.
Motion in space has a three degrees of
freedom(DOF).
Motion in a plane has a 2 DOF.
Motion in a linear path has 1 DOF.
DOF : is the #coordinates needed to describe
the position in vector newton F=m*a.
Construction of a free body diagram (FBD) is
an important step in the solution of mechanics
problems. The +ve sign directions should be
indicated cleary.
For rectilinear motion in the x-direction:
Fx = m*a.
Fy=0.
Fz=0.
The three components of equation motion are:-
when
EXAMPLE
75 KG man stands in an elevator.during the 1st 3 sec of motion from rest,tention (T)in the cable is 8300
N and the upward velocity V of the elevator at the end of the 3 sec total mass of elevator man and scale is
750k
Solution
Since F=ma m is the coust during the 3 sec F=T = 8300 N =constant a is also
constant .. For elevator scale and man the FBD gives :
8300-7360=750 ay . ay=1257 m/ 2
Equ of motion for man
R-763=75*1257 R=830 N
Example:
Passengers of plane A observe plane B passing
under plane A in a horizontal flight. Plane B apears
to the passengers in plane A as moving away from A
at . Find ( Velocity of plane B).
Solution:
2) Trigonometric method:
=
sin 60 sin 75
sin
= = /
sin
= /
= /
Find / , / .
Solution:
1. Velocity
(+) = / +
= + /
/ = =
2. Acceleration
( /) = + /
( ) = =
= / To be continued..
D.O.Maaitah 28
(continued)
x
60
Example solution :
aA=2 /
VB = VA + VB/A
60
-12 j =(-18cos 60 18 sin 60) + VB/A aB=3 /
VB/A ={9i + 3.588j} m/s VA
|VB/A|= 92 + 3.5882 = 9.69 m/s
/ 3.588
tan = =
/ 9 VB
So = 21.7
-Acceleration :
2
= +
6 2
2
= + = 2 +
28.28
= 2 + 1.273 m/ 2
2 2
= 2 + 1.273 = 2.37 2
1 2
= tan = 57.5
1.273
57.5 45 = 12.5
= 2.37 / 2
12.5
A disk rotates about z with w= =3 rad/sec, Arm OB is elevated
2
at = 3
at t=0 : =0 and =0
P slides along the rod according to
R(in mm)= 50 + 200 2
Find:
1
, , at t= ?
2
Solution:
= = 400|=1 = 200 mm/s = 0.2 m/s
2
=
= 0.5 = 50 + 200 0.5 2 = 100 = 0.1
2
(t=0.5)= (0.5)( ) =
3 3
V = 0.1 cos = 0.052 m/s
3 3
V = = 0.1 = 0.209 m/s
3
V = 2 + 2 + 2
= 0.2 2 + 0.052 2 + 0.209 2 = 0.294 m/s
aR = Rcos
= 400 mm = 0.4m
2 34
2 2 2
= 0.4 0.1 0.1 cos( )
3 3 3
= 0.4 0.44 0.0274 = 0.0674 \ 2
cos
= 2 + 2 2 sin
cos 3 2
= 0.1 2 0 + 2 0.1 0.2 2 0.1 sin( )
0.1 3 3 3 3
= 8.66 0.042 0.38 = 0.0163 \ 2
1 2
= + 2 + 2 sin cos
1 2
2 2
= 0.1 0 + 2 0.1 0.2 + 0.1 sin cos
0.1 3 3 3 3
= 0.84 + 0.0475 = 0.887\ 2
= 0.9\ 2
Any questions on the exam material?
= 10 = 20 = 2 \ = 0.2
33
Find when A has moved 4 meters. Take = 10 \ 2
Solution: FBD for A:
= =
= 0 = =
= = = 10
(0.2)(10) 2000
= = = =
FBD for B: = = 2 + = 2 + = 2
+ 20 = 2 + 20000
2 + 20000
=
10000
= = = = 1000
10 \ 2
20000
= = = = 2000
10 \ 2
2000
= = 2
1000 1000
2 + 20,000 2 20,000
= = + = + 10
2000 2000 2000 1000
Let L= , = 2 , = + 10
1000
= 2 = + 2 = 0 = 2
2 = 2 + 10 = 2 + 20 = 2
2 1 = 2 + 20 = = 18
, T = 1000L = 1000 18 = 18000
= 2 = 18 2 = 16 / 2
2 = . 2 + 2 . = (2 /)2 +2(16/ 2 ) *(4m)
= 4 2 / 2 +128 2 / 2 = 132 2 / 2 = 11.5/
35
EX:
Find min stopping distance S from a speed of (70 Km/h)
with constant deceleration if the box is not to slip ..
SOL: = 0.3
. = 70 Km/h a= constant =
= = =
2 2 , 2
. = 2 = 2 = 2
(70Km/h)2
S= = 64.2
20.39.81 / 2
36
37
= 40
= 0.4
= ?
(Neglect masses of pulleys)
Solution:
= 0
+ 2 30 = 0
= 2 30
= 40 Kg 9.81/ 2 2 100N 0.5
= 292.4
2 30 =
2 100 cos 30 (292.4)(0.4)
= = 1.406 / 2
40
Work and energy 38
Work:
= F. dr = + + =
Spring-Mass System :-
Tension Compression
=
. = work done on the body by the spring.
[Work done is negative because the direction of force is opposite to the displacement]
. =
. = k [ () () ] = Area Under The Curve
Work done on the body by the spring would be positive if the directions of force and displacement are the
same (e.g: relaxing tension or compression).
F=k x is a linear static relationship which holds when the mass of the spring itself is relatively small and not
accounted for.
Work done on a particle:
Work done by
F during a finite
movement of
the particle from
1 to 2 is :
2 S2 Final point
Substitute F = m a
2 2
U1-2 = ma.dr =
1
m a tds
1
ds dv
Recall that v and a
dt dt
dv ds
v av a vdv = ads = atds
dt dt
2
v1
U1-2 = matds = mvdv= m(v 2-v12)
2
v2
1
Kinetic energy (T):
T=1
2
mv^ 2
Efficiency (em):
Mechanical Efficiency (em) is the ratio of the work
done by a machine to the work done on the machine
Poutput
em= em 1
Pinput
R: Earths Radius
r: Distance from Earths center
Vg: for large altitudes
The change in Vg from r1 to r2 is:
B) Elastic Potential Energy:
Work done to deform an elastic body such as
a spring is stored in the body and is called its
elastic potential energy Ve .
where
150J=5V+58.9J+86.4J
V=0.974 m/s
Impulse And Momentum
The equs of impulse and momentum are obtained by integrating
the equ of motion wrt time ,whereas, the work-energy equ
were obtained by integrating the equ of motion wrt
displacement.
Impulse and momentum equs are used to solve problems in
which forces act over specified periods of time
Linear Impulse And Linear Momentum
47
F = mv = d/dt(mV) = G F = G
-The resultant force F and G directions coincide with the direction of acceleration
F , G and (V=a) have the same direction scalar equations of G
47
Fx = Gx Fy = Gy Fz = Gz
-To find the effect of F over a fiuire period of time , integrate F = G wrt time .
F = d/dt (G ) F dt = dG
F dt = dG = G1 G2 = G
G2 = G1 + F dt
G2 G2
= mV2
= mV2 G1 G1
= mV1
= mV1
-Linear Impulse is determined as the product of force and time . The total linear impulse on an m
equals the corresponding change in linear momentum of m .
-The scalar equations of G = F dt are :- 48
Fx dt = (mVx)2 - (mVx)1
t1=4+2.46 = 6.46s
8
b) 0 = m => 2*0.5*4*600+2*(8-4)*600-150*9.81*cos 60*8
=150(v (-4)) =>
150 v =714 => V=4.76 m/s
8
1
= m => (2*600*(8-6.46)-150*9.81* cos 60 *(8-6.46)) =>
150(v-0)=150v {same result }
=
=m
Linear Momentum
The angular momentum
is defined as the
moment of the linear
momentum m
For particle P: =
Cross product
is a vector perpendicular
to plane A , right hand rule is
used to determine
the sense of
= = m (x + y + z)*( x + y + z)
= m [x x +y + z ]
= > = m
= ( ) = ( )
= ( )
0 = X =Xm =(Xm)
0 =X :: 0 = X + X
= X
Acceleration
The moment of all forces equals the rate of change of angular momentum:
Scalar components:
= = =
2 2
2 = 1 + 2 1 =
1 1
Constant Acceleration
X- component equation:
=
=
For the figure in page (51)
2 2
1
. = H.2 H.1 1
= mv2 d2 mv1d1
M.=0 Ma =-Mb
The principle of conservation of angular momentum :
2
Ha = Ha2 Ha1 = 1
add the two equations to get
2
Hb = Hb2 Hb1 = 1
Ha + Hb =
2
1
+
2
1
= 0
(Ma = -Mb )
Ha + Hb = 0
H. = 0 H.1 = H.2
total
Kinetics of Particles
Special Applications
Impact
It refers to the collision between two bodies .
a) Direct central impact :
Before Impact
Maximum deformation
During impact
After Impact
Apply the law of conservation of linear momentum :
m1v1 + m2v2 = m1v1 + m2v2
Deformation period
0 0
m1 m2 Restoration period
FOR PARTICLE 2 : 1 2
0
. 2 2 0 2 0
= 0 = =
. 2 0 2 0 2
0
The change of momentum (and hence V) should be in the same direction as the impulse (and hence the force)
0 1 2 0 0 1 + 2 0 2 1
= (2) = = =
1 0 0 2 1 0 + 0 2 1 2
2 1
= =
1 2
Impact force
( 1) n 1sin 1 ( 1) n 1cos 1
Unknowns:
( 1 ) n ,( 1 )t ,( 2) n ,( 2 )t
Equs:
Conservation of momentum in the n-direction
m 1( 1) n m 2( 2) n m 1( 1 ) n m 2( 2) n
Conservation of momentum in the (t) direction
1 1 = 1 1
2 2 = 2 2
Relative motion
* Its the consideration of a moving reference system*
= + /
= m *
= m * ( + / )
Problem 3/74
The cars of an amusements park have a speed ( A = 22m/s)
at A, and a speed ( B =12 m/s ) at B. If a ( 75-kg ) rider sits
on a spring scale (which registers the normal force exerted on
it). Determine the scale readings as the car passes points A and
B, assume that the persons arms and legs do not support
appreciable forces.
Solution :
At point A : At point B :
=m* =m*
75(9.81)N 75(9.81)N
222 122
75(9.81) = 75 + 75(9.81) = 75
t(s)
40 t(s)
20
= 1643 (N) = 195.8 (N)
NA NB
Note: static normal force equals the weight (75).(9.81) and it equals 736(N)
Problem 3/129 :
The ball is released from position A with a velocity of (3 m/s) and swings in a vertical plane at the bottom
position , the cord strikes the fixed bar at B , and the ball continues to swing in the dashed arc .
Calculate the velocity Vc of the ball as it passes position C.
Solution :
U1-2 = T ;
Vc = 12.92 ;
Vc = 3.59 m/s .
Problem 3/123:
A (40 Kg ) boy starts from rest at the bottom A of a 10 percent incline and increases his speed at a constant rate to 8
km/h as he passes B , 15m along the incline from A .
Determine his power output as he approaches B .
Solution :
F = ma
F 40 (9.81) sin (5.71) = 40 (0.1646)
F = 45.6 N
P = FV = 45.6 (2.22)
P = 101.4 W
Problem 3/150 :
The springs are undeformed in the position shown . If the 6 Kg collar is released from rest in the position where the lowest
spring is compressed 125 mm .
Determine the maximum compression XB of the upper spring .
Solution :
XB = 0.1766m = 176.6 mm
250mm 8400 N/m
The 3 Kg sphere moves in the x-y plane and has the indicated velocity at a particular instant .
Determine its:- (a) linear moment .
(b) angular momentum about point O.
(c) kinetic energy .
Solution :
(a) G = m v
= 3.4 (cos(45)i + sin (45)j )
= 8.49i 8.49j Kg.
(b) H = r * m v = r * G
= 2(cos(60)i + sin(60)j ) x (8.49i - 8.49j )
= 2 [ -4.25 k - 7.35 k ]
= -23.2 Kg.m/s
The steel ball strikes the heavy steel plate with a velocity v.= 24 m/s at angle of 60* with the
horizontal . If the coefficient of restitution is e=0.8 . Compute the velocity v and its direction 0
with which the ball rebounds from the plate .
*Solution*
*component.
In y - diriction
#chapter 4
(Kinetics of systems of particles)
*the principles applied to a single particle will be extended to a system of participles.
*A rigid body is defined as a solid system of particles , where in the distance between participles
remain unchanged .
*A non-rigid body could be a solid body which changes shape with time due to deformation . It
could also be a liquid or gas.
G > Envelope of
mass system
ri
System
boundary
0
where
+ =
External Internal
Since = =
Total mass Position vector of Position vector of
Mass of particle
the center of mass particle
= = =
Work Energy :
2
12 = 1
2
For the entire system : =1 12 = =1
Work done by internal forces is zero because it cancels out .
If gravity and elastic energy is included [non-rigid body]:
12 = + +
+ +
E
E:chang in mechanical energy .
OR
12 + 1 + 1 + 1 = 2 + 2 + 2
Kinetic energy revisited :
From relative motion:
= +
: velocity of mass center
: velocity w. r. t G
since 2 = . 1
= 2
2
1 1
= . = ( + )( + )
2 2
2
1 1
= + ||2 +
2 2
= = = 0
= 0 : measured form mass center
1 2 1
= + ||2
2 2
1 1
= 2 + ||2
2 2
1 1
2: T of the mass center G
2
||2 : energy of particles relative to mass center.
2
Kinetics of system of particles cont
Impulse-Momentum
(a) Linear momentum (G)
Parallel=0
H about P (arbitrary point)
H P Pi mi ri ( P Pi ) mi ri
H P P mi ri Pi mi ri
H p P mi vi H G P mv H G
H p H G P mv
H G Pi mi ri
M M
P G P F
M H
P G P ma
When a point P whose acceleration is known
is used as a moment center ;
P
M (
H P ) relative P maP
M P ( H P ) rel If :- 1. aP 0
2. P 0
3. P and a P are parallel
Conservation of Energy and Momentum
Since if =0
G1 = G2 principle of conservation of Linear Momentum for a mass system (no linear
Impulse)
since if
Principle of conservation of angular moment for General mass system (no angular Impulse)
EX
Rigid equiangular frame of negligible mass ,
resting on a horizontal surface
F is suddenly applied
Find
A- a0
B-
Solu
a) F1= 3m = a0 =
b) v = r H0= HG = 3r m v = 3 r m (r ) =3 m
Chapter - 5
a) Rectilinear translation :
d
w
dt
dw
w
dt
d d d 2
( ) 2
dt dt dt
d d
w dt
dt w
dw dw d dw
dt
dt w
wdw d d d
For constant :
w wo t
w w 2 ( o ) at t=0
2 2
o
1 2
o wot t
2
B) Rotation about a fixed axis
v rw
v 2 r 2 w2
an rw2 vw
r r
at r
In vector form :
v w r
an w ( w r )
at r
Example :-
A right-angled bar ; if :
4 rad s 2
2 rad s
Find :-
vA ?
aA ?
Solution :-
2k rad s
4 rad s 2 k
4k rad s 2
v r
v 2k 0.4i 0.3 j 0.6i 0.8 j m s
a A an at
an r
an k 0.6i 0.8 j 1.2i 1.6 j m s
2
at r
at 4k 0.4i 0.3 j 1.2i 1.6 j m s 2
a A 2.8i 0.4 j m s 2
v (0.6) 2 (0.8) 2 1 m s
a 2.8 0.4
2 2
2.83 m s 2
Absolute Motion
The use of geometric relations which define the
configuration of the body to derive velocities and
acceleration.
Example :-
Equilateral triangular plate ABC is controlled by hydraulic
cylinder D.
Find :-
1. v and a of the center of B
2. and of the edge CB
Solution:-
v A y 0.3 m s
a A y 0
From the geometry;
x2 y 2 b2
d
( x2 y 2 b2 )
dt
2 xx 2 yy 0
xx yy 0
yy y
x y
x x
d
( xx yy 0) xx xx yy y y xx x 2 yy y 2 0
dt
x 2 yy y 2 x 2 y 2 y
x y
x x x
But
y b sin
x b cos
y 0
y b sin
vB x y vA
x b cos
vB v A tan
(v A tan ) 2 0 v A2 v A2 tan 2 v A2
aB x
b cos b cos
v A (tan 1) v A (sec ) v A sec
2 2 2 2 2 3
aB
b cos b cos b
with
v A 0.3 m s
and
30
1
A 0.3 tan(30) 0.3( ) 0.173m / s ()
3
y b sin( ) y b (cos )
y 0.3
w
A sec sec(30) 1.73rad / s (ccw )
b cos( ) b 0.2
A A A
w sec tan sec tan [ sec ]
b b b
A2 0.32
2 sec tan
2
2
sec 2 (30) tan(30)
b 0.2
0.32 2 1
( ) 1.73rad / s 2
(ccw )
0.22 3 3
Relative Velocity ( of rigid body )
A B A / B OR A / B A B
For a rigid body , A / B rw
In vector form A / B r w
Power screw
EX: The power screw gives the collar C a velocity of
Vc=0.25m/s find w of the arm when =30.
VB=Vc
VA=VB cos = 0.25 cos 30=0.217 m/s
V=wr w=v/r = =0.417 rad/ccw
Instantaneous Center of zero velocity
(ICZV)
It is a unique reference point which momentarily has a zero
velocity.
VA=w rA VB=w rB
VB= (rB/rA) VA
EX .. The wheel rolls to the right without slipping.
Locate the 1 czv ? find VA ?
Solu: A
0 = 200
30 = 3/
o
= = R=200m
3
= = = 10
0.3
= 0.32 + 0.22 2(0.3)(0.2)120
= 0.436
A
= = (10)(0.436) = 4.36
.3 m
c
No velocity point (1czv)
Relative Acceleration (of a rigid body)
(aA/B)n=
(aA/B)t =
EX:
6 3
= 2 , = 7 , = 7 , =?, =?
Solution:
= + (/ ) +(/ )
= +
3 3 3 2
= 100 + 100 = 100 100 / 2
7 9 7
= + = 0 + 2 2 75 = 300 2
6 6 6 2
= ( ) = 7 7 175 + 50 = (175 50)
7 2
= = 175 + 50 = 50 175
2
100 = 429 50
18.37 = 36.7 175
= 0.1050 ( ( )) & = 4.34
2 2
Motion Relative to Rotating Axes:
,,
Wx=w
Wx=-w
=w =wx
and
Relative velocity:
= + + + 2 +
Coriolis Acceleration
acceleration of relative to
rotates axis
General vector expression for the absolute acceleration of a particle A in terms of its
acceleration measured relative to a moving coordinate system which rotates with an
angular velocity w and angular acceleration
Coriolis Acceleration
It equal 2 .
It represent the difference between the acceleration
of A as measured from non-rotating axes and from
rotating axes
If P is a coincident point with A on a rigid body. We can wrtie
the following relation:
= + 2 +
Example: Determine the velocity of a pin A (VA) and the velocity of A relative to the
rotating slot in OD (VA/P slop) .
2 equs 2 unknowns
Solution:
= 4 ;
= = 450 2 ;
= = 225 4 = 900 ;
= = 225 2 2 = 450 2 ;
/ = = 450 2 ;
Check :
/ =
450 2 = 900 450 2
900 = 2 450 2 = 900
Should add vectors and not magnitudes.
CHAPTER 16
Plane Kinetics Of Rigid Bodies
Force , Mass and Acceleration
1
4
G G
a
2
Kinetic Diagram
3
FBD Equivalent force-
couple system
y
1 w =
Position vector
G x
= ( )
2
4
2 =
2
3
=
Mass moment
= of inertia
=
= = =
( = )
Ch-6 plane kinetics of Rigid Bodies
Force, Mass and Acceleration
General Eqns of Motion
Fixed-Axis Rotation
Q is called 'center of percussion.
Because
As the resultant force pass through it
General plane motion
f = ma
MG = I
MP = I+mad
Ex.
Metal hoop is released from rest find and time to move 3 m ,
Assume the hoop rolls without slipping.
solu
a = r
fx = max
mg sin 20 f = ma
N mg cos 20 = 0
Fr = mr^2 f= mr^2/r = mr
fy = may =0
MG = I
f = mg sin 20 ma m(g sin 20 a) = mr
a= g sin 20 r = g sin 20 a 2 a = g sin 20
a= (g sin 20)/2 = (9.81/2)(0.342) = 1.678 /s^2
= a/r = (1.678 m/s^2)/(150*10^-3 m) = 11.2 tad/s^2
x = (a t^2) t= (2x/a)^1/2 = (2(3m)/1.678 m/s^2)^1/2 = 1.89 s
Work and Energy./Rigid bodies.
Work Energy Relations
(a) Work of forces and couples:
U F .dr F cos .ds Force in the direction of displacement.
U M .d
Couple
T Iow
Fixed- axis rotation: 1
2
2
2
General plane Motion: T 1 mv 1 Iw
2
2 2 Angular velocity
181
182
Fixed-axis Rotation
Parallel velocities
184