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Ninth Edition Vector Mechanics for Engineers: Dynamics

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

11 DYNAMICS Ferdinand P. Beer

E. Russell Johnston, Jr.
MC 322A – Dynamics of Rigid Bodies

Kinematics of Particles
Lecture Notes:
J. Walt Oler
Texas Tech University Engr. Albert Grino Jr

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Vector Mechanics for Engineers: Dynamics Ninth Vector Mechanics for Engineers: Dynamics
•
Course Title: Dynamics of Rigid Bodies

Course Description: The course deals with the study of

Kinematics and Kinetics of a particle; Kinematics and Kinetic
of Rigid Bodies; Work-energy method; Impulse and
Momentum.

Grading System
Requirements Equivalent Percentage

Class Standing(LQ, A, SW/HW) 60%

Major Exams 40%
Total 100%

PASSING : > 70
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Vector Mechanics for Engineers: Dynamics Vector Mechanics for Engineers: Dynamics
Introduction
• Dynamics includes:
- Kinematics: study of the geometry of motion. Kinematics is used to
relate displacement, velocity, acceleration, and time without reference to
the cause of motion.
- Kinetics: study of the relations existing between the forces acting on a
body, the mass of the body, and the motion of the body. Kinetics is used
to predict the motion caused by given forces or to determine the forces
required to produce a given motion.

• Rectilinear motion: position, velocity, and acceleration of a particle as it

moves along a straight line.

• Curvilinear motion: position, velocity, and acceleration of a particle as it

moves along a curved line in two or three dimensions.

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Vector Mechanics for Engineers: Dynamics Vector Mechanics for Engineers: Dynamics
Rectilinear Motion: Position, Velocity & Acceleration Rectilinear Motion: Position, Velocity & Acceleration
• Particle moving along a straight line is said • Consider particle which occupies position P
to be in rectilinear motion. at time t and P’ at t+Dt,
Dx
• Position coordinate of a particle is defined Average velocity 
by positive or negative distance of particle Dt
Dx
from a fixed origin on the line. Instantaneous velocity  v  lim
Dt 0 Dt
• The motion of a particle is known if the
position coordinate for particle is known for • Instantaneous velocity may be positive or
every value of time t. Motion of the particle negative. Magnitude of velocity is referred
may be expressed in the form of a function, to as particle speed.
e.g., • From the definition of a derivative,
x  6t 2  t 3 Dx dx
v  lim 
or in the form of a graph x vs. t. Dt 0 Dt dt
e.g., x  6t 2  t 3
dx
v  12t  3t 2
dt
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Vector Mechanics for Engineers: Dynamics Ninth Vector Mechanics for Engineers: Dynamics
Rectilinear Motion: Position, Velocity & Acceleration Rectilinear Motion: Position, Velocity & Acceleration
• Consider particle with velocity v at time t and
v’ at t+Dt, • Consider particle with motion given by
Dv
Instantaneous acceleration  a  lim x  6t 2  t 3
Dt 0 Dt
dx
• Instantaneous acceleration may be: v  12t  3t 2
dt
- positive: increasing positive velocity
dv d 2 x
or decreasing negative velocity a   12  6t
moving more slowly in the negative direction dt dt 2
- negative: decreasing positive velocity
or increasing negative velocity. • at t = 0, x = 0, v = 0, a = 12 m/s2
moving faster in the negative direction
• at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0
• From the definition of a derivative,
Dv dv d 2 x
a  lim   • at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2
Dt 0 Dt dt dt 2
e.g. v  12t  3t2 • at t = 6 s, x = 0, v = -36 m/s, a = -24 m/s2
dv
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a  12  6t 11 - 9 © 2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 10
dt
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Vector Mechanics for Engineers: Dynamics Vector Mechanics for Engineers: Dynamics
Determination of the Motion of a Particle Determination of the Motion of a Particle
• Recall, motion of a particle is known if position is known for all time t. • Acceleration given as a function of time, a = f(t):
• Typically, conditions of motion are specified by the type of acceleration v t  t t
 a  f t  dv  f t  dt  dv   f t  dt vt   v0   f t  dt
dv
experienced by the particle. Determination of velocity and position requires
two successive integrations. dt v0 0 0
x t  t t
 vt  dx  vt  dt  dx   vt  dt xt   x0   vt  dt
• Three classes of motion may be defined for: dx
- acceleration given as a function of time, a = f(t) dt x0 0 0
- acceleration given as a function of position, a = f(x) • Acceleration given as a function of position, a = f(x):
- acceleration given as a function of velocity, a = f(v)
dx dx dv dv
v or dt  a or a  v  f  x 
dt v dt dx
v x  x x
v dv  f  x dx  v dv   f  x dx 1 v x 2
2
 12 v02   f  x dx
v0 x0 x0

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Vector Mechanics for Engineers: Dynamics Vector Mechanics for Engineers: Dynamics
Determination of the Motion of a Particle Sample Problem 11.2
SOLUTION:
• Acceleration given as a function of velocity, a = f(v):
• Integrate twice to find v(t) and y(t).
v t  t
dv dv dv
 a  f v   dt    dt • Solve for t at which velocity equals
dt f v  v0 f v  0
zero (time for maximum elevation)
v t  and evaluate corresponding altitude.
dv
 f v   t
v0 • Solve for t at which altitude equals
x t  v t  Ball tossed with 10 m/s vertical velocity zero (time for ground impact) and
dv v dv v dv
v  a  f v  dx   dx  
f v  f v 
from window 20 m above ground. evaluate corresponding velocity.
dx x0 v0
v t 
Determine:
v dv
xt   x0   • velocity and elevation above ground at
v0 f v  time t,
• highest elevation reached by ball and
corresponding time, and
• time when ball will hit the ground and
corresponding velocity.
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Vector Mechanics for Engineers: Dynamics Ninth Vector Mechanics for Engineers: Dynamics
Sample Problem 11.2 Sample Problem 11.2
SOLUTION: • Solve for t at which velocity equals zero and evaluate
• Integrate twice to find v(t) and y(t). corresponding altitude.
m  m
vt   10
dv
 a  9.81 m s 2   9.81 2  t  0
dt s  s 
v t  t t  1.019 s
 dv    9.81 dt vt   v0  9.81t
v0 0

m  m • Solve for t at which altitude equals zero and evaluate

vt   10   9.81 2  t corresponding velocity.
s  s 
dy  m  m
 v  10  9.81t y t   20 m  10 t   4.905 2 t 2
dt  s  s 
y t  t
 m  m
 dy   10  9.81t dt y t   y0  10t  12 9.81t 2 y  20 m  10 1.019 s    4.905 2 1.019 s 2
y0 0  s  s 
 m  m y  25.1 m
yt   20 m  10 t   4.905 2 t 2
 s  s 
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Vector Mechanics for Engineers: Dynamics Vector Mechanics for Engineers: Dynamics
Sample Problem 11.2 Sample Problem 11.3
• Solve for t at which altitude equals zero and SOLUTION:
evaluate corresponding velocity.
a  kv • Integrate a = dv/dt = -kv to find v(t).
 m  m
yt   20 m  10 t   4.905 2 t 2  0
 s  s  • Integrate v(t) = dx/dt to find x(t).
t  1.243 s meaningles s  • Integrate a = v dv/dx = -kv to find
t  3.28 s Brake mechanism used to reduce gun
v(x).
recoil consists of piston attached to barrel
m  m moving in fixed cylinder filled with oil.
vt   10   9.81 2  t
s  s  As barrel recoils with initial velocity v0,
piston moves and oil is forced through
m  m
v3.28 s   10   9.81 2  3.28 s  orifices in piston, causing piston and
s  s  cylinder to decelerate at rate proportional
to their velocity.
m
v  22.2
s Determine v(t), x(t), and v(x).

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Vector Mechanics for Engineers: Dynamics Vector Mechanics for Engineers: Dynamics
Sample Problem 11.3 Sample Problem 11.3
SOLUTION: • Integrate a = v dv/dx = -kv to find v(x).
• Integrate a = dv/dt = -kv to find v(t). dv v x
av  kv dv  k dx  dv  k  dx
v t 
dv dv t
vt  dx v0 0
a  kv   k  dt ln  kt
dt v0 v 0 v0 v  v0  kx
v  v0  kx
vt   v0 e  kt

• Integrate v(t) = dx/dt to find x(t). • Alternatively,

vt  
dx
 v0 e  kt with
v
k

xt   0 1  e kt 
dt
vt 
x t  t
 1 
t
and vt   v0 e kt or e  kt 
 kt
 dx  v0  e dt xt   v0  e  kt  v0
 k 0
0 0 v0  vt  
xt   1  
k  v0 
then
v

xt   0 1  e kt
k
 v  v0  kx

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Vector Mechanics for Engineers: Dynamics Ninth Vector Mechanics for Engineers: Dynamics
Uniform Rectilinear Motion Uniformly Accelerated Rectilinear Motion
For particle in uniformly accelerated rectilinear motion, the acceleration of
For particle in uniform rectilinear motion, the acceleration is zero and
the particle is constant.
the velocity is constant.
v t
dv
dx  a  constant  dv  a  dt v  v0  at
 v  constant dt v0 0
dt
x t v  v0  at
 dx  v  dt
x0 0 x t
dx
x  x0  vt dt
 v0  at  dx   v0  at dt x  x0  v0t  12 at 2
x0 0
x  x0  vt
x  x0  v0t  12 at 2

v 2  v02   ax  x0 
v x
dv
v  a  constant  v dv  a  dx 1
2
dx v0 x0

v 2  v02  2a x  x0 
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Vector Mechanics for Engineers: Dynamics
Motion of Several Particles: Relative Motion
• For particles moving along the same line, time
should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.
x B A  x B  x A  relative position of B
with respect to A
xB  x A  xB A
v B A  v B  v A  relative velocity of B
with respect to A
vB  v A  vB A
a B A  a B  a A  relative acceleration of B
with respect to A
aB  a A  aB A
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Vector Mechanics for Engineers: Dynamics
Sample Problem 11.4
Ball thrown vertically from 12 m level
in elevator shaft with initial velocity of
18 m/s. At same instant, open-platform
elevator passes 5 m level moving
upward at 2 m/s.
Determine (a) when and where ball hits
elevator and (b) relative velocity of ball
and elevator at contact.
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SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
• Substitute initial position and constant
velocity of elevator into equation for
uniform rectilinear motion.
• Write equation for relative position of
ball with respect to elevator and solve
for zero relative position, i.e., impact.
• Substitute impact time into equation
for position of elevator and relative
velocity of ball with respect to
elevator.
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Vector Mechanics for Engineers: Dynamics Vector Mechanics for Engineers: Dynamics
Sample Problem 11.4 Sample Problem 11.4
SOLUTION:
• Write equation for relative position of ball with respect to
• Substitute initial position and velocity and constant elevator and solve for zero relative position, i.e., impact.
acceleration of ball into general equations for
uniformly accelerated rectilinear motion. yB E  
 12  18t  4.905t 2  5  2t   0
m  m
v B  v0  at  18   9.81 2 t t  0.39 s meaningles s 
s  s  t  3.65 s
 m  m
y B  y0  v0t  12 at 2  12 m  18 t   4.905 2 t 2 • Substitute impact time into equations for position of elevator
 s  s 
and relative velocity of ball with respect to elevator.
• Substitute initial position and constant velocity of y E  5  23.65
elevator into equation for uniform rectilinear motion. y E  12.3 m
m
vE  2 vB E  18  9.81t   2
s
 m  16  9.813.65
y E  y0  v E t  5 m   2 t m
 s v B E  19.81
s
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Vector Mechanics for Engineers: Dynamics

Seatwork

1. The motion of a particle is defined by the relation

x=t4-10t2+8t+12 where x and t are expressed in meters
and seconds, respectively. Determine the position,
velocity and acceleration of the particle when t=1 s.

2. The motion of a particle is defined by the relation

x=t3-6t2-36t-40, where x and t are expressed in meters
and seconds respectively. Determine (a) when the
velocity is zero (b) the velocity, acceleration and the
total distance traveled when x=0.

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