Fundamentals of Engineering

Review for Dynamics

Dr.’s Yannitell (retired)
&
Dr Waggenspack
mewagg@me.lsu.edu
Review Notes available in PDF format @
http://www.eng.lsu.edu/students/current/feinfo.html

Last Revised: 02/14

__________________________________________________________
Louisiana State University

Dynamics Problem Decomposition

Dynamics!

Kinematics! Kinetics!
A
v!!,
A A
a P
m

r !
µk!= 0.4
O 30° L

!=5°
300 mm
m

Geometric descriptions Loading relationships which

of motion & constraints dictate CHANGES in motion

1
Dynamic Studies
Dynamics:!
(Kinematics & Kinetics)!

Particles! Rigid Bodies! !

x

y B
20 m
!
4 cm
v0
2.8 m h A = (x,y)
1m

•  M - mass •  M & I - both mass &

•  (x,y) - position in 2D rotational inertia
•  2 Degrees of Freedom •  (x,y,θ) - position &
(DOF) in the plane orientation in 2D (3DOF)

Getting Started => Particle Kinematics

•  Rectilinear Motion
–  Movement along a straight line in 1-2 or 3D
•  1 Degree of Freedom (DOF)* - s(t)
Y e
+s
Y
s p
pi
r ri
si
O
-s O s(t)
X
X s=0

•  Curvilinear Motion
–  Movement of particle along an arbitrary path
through space

2
Rectilinear Motion Overview (Calculus/Physics Review!):
+s

D
•  Position - s(t) I
+v
+a
dt
I N ds
F
F •  Speed - v(t) T
E s
E G a=0 t
R ds • R
A
v=0
E
N (1) v = =s T v
T dt E
-a
dv
dt
a
I smin
-v vmin
A
T •  Acceleration - a(t) -s
E •  Typical Functions ??
dv • d 2 s ••
(2) a = =v= 2 =s –  Polynomials
dt dt
–  Trigonometric
•  Basic Calculus!
–  Logarithms
–  Max’s & Min’s ?
–  Exponentials
–  Undo Differentiation?

Rectilinear Motion Summary:

+s
•  Position - s(t) I
+v
+a
D
N
I
T
F
F
E
•  Speed - v(t) E
G
s
a=0 t
R v=0
R
E ds • A
N (1) v = =s T
E -a
v
T
I
dt -v
a
vmin smin
A -s

•  Acceleration - a(t)
T
E •  Alternate form ?
2
dv • d s ••
(2) a = =v= 2 =s (2*) v dv = a ds
dt dt
a(t) => Solid Rocket Propulsion a(v) => aerodynamic drag

a(s) => Gravitational fields, springs, conservative forces etc.

3
Given: s =2t2 - 8t + 3
Find: Displacement from t = 1 to t = 3
Distance traveled from t = 1 to t = 3
s = 2t2 - 8t + 3 s(1) = -3 & s(3) = -3 s(2) = -5
v = s• = 4t - 8 v(2) = 0
a = ••
s=4 a(2) = 4
Since, s(3) - s(1) = 0 displacement = 0
Reversal @ v|t=2 = 0 distance traveled = | s(2) - s(1) | + |s(3) - s(2) |
= | -5 - (-3) | + | (-3) - (-5) |
3 = 2 + 2 = 4
s t
-3 -5 -3
4
v t
1 2 3

-8

Rectilinear Kinematics: Accel. a function of velocity – a(v)

Given:
•  A freighter moving at 8 knots when engines are stopped
•  Deceleration a= -kv2 v 0 = 8 knots a = - k v2
•  Speed reduces to 4 knots after ten minutes s
Find:
(A) Speed of the ship as a function of time v(t)
(B) How far does the ship travel in the 10 minutes it takes to
reduce the speed by 1/2 ?

Solution:
(A) With a, v & t parameters given/requested, use a=dv/dt form
vf dv vf dv
t f = t(v) = !v " t i = !8 +0
i a(v) "kv2
1 v f 1 #% 1 1 &( 8
!tf = = % " ( ! v f = v(t f ) = (knots)
kv 8 k $ v f 8' 8kt f + 1

4
Rectilinear Kinematics: Accel. a function of velocity – a(v)
•  Substituting BCʼs helps resolve the unknown constant k!

10 (min) 1 v 0 = 8 knots a = - k v2

t= = hr , v = 4 knots s
60 (min/hr) 6

8 3 "$ 1 %'
! v(1/ 6) = = 4 (knots) ! k =
8k(1/ 6) + 1 4 $# nm'&

and the resulting expression for speed of the ship as a function of

time v(t) is as follows

8
v f = v(t) = (knots)
6t + 1

•  From here, there are two alternatives for resolving the second question!

Rectilinear Kinematics: Accel. a function of velocity – a(v)

(B) !METHOD 1: Now, knowing the velocity as a function of time!
8 ds 3 2
v(t) = = v 0 = 8 knots a = -  v
4
6t + 1 dt s
!the boatʼs position can be found by integration!
sf tf 8
! ds = !0 dt
0 6t + 1
4 tf 4
sf ! 0 = ln (6t + 1) 0
= (ln (6t + 1) ! ln(1))
3 3
and the resulting expression for position of the ship as a function of time s(t)
4
s f = s(t) = ln(6t + 1)
3
can now be used to find the particular displacement/distance at t=1/6 hr !
4 4
s(1/ 6) = ln (6(1/ 6) + 1) = ln(2) (nautical miles)
3 3

5
 Rectilinear Kinematics: Accel. a function of velocity – a(v)
(B) !METHOD 2: With a, v & s parameters given/requested, use ads=vdv form!
3 2
v 0 = 8 knots a = -  v
4
vf vdv 4 vdv
s f = s(v) = !v + si " s(4 ) = !8 +0 s
i a(v) (#3/ 4v 2 )
!and the boatʼs displacement (position?) can again be found by integration!

!4 4 dv !4 4 !4 4 8
s( 4) = "
3 8 v
=
3
ln v 8
=
3
( )
ln 4! ln 8 = ln
3 4
and as was seen before

4
s(t = 1/ 6) ! s(v = 4) = ln(2) (nautical miles)
3

Q.E.D.

Curvilinear Kinematics Summary:

•  Position
r( t) = x( t)i + y(t)j + z(t)k v(t )
p
= r(t)e r + z ez
•  Velocity: v = d r / dt r(t) a(t )
• • • •
v( t) = r( t) = x i + y j + z k O

• • • •
= ve t = s e t = r e r + r ! e! + z ez

•  Acceleration: a = d v / dt
•2
• •• •• •• •• • •
v2
a( t) = v( t) = r( t) = x i + y j + z k = v e t + !" e n = v e t + e
! n
$ •• • 2' $ •• • • ' ••
= && r # r " )) e r + && r " + 2r ")) e " + z ez
& ) % (
% (

6
Curvilinear Kinematics Summary: en
e! a er
•  Position et
"
v(t )
r( t) = x( t)i + y(t)j + z(t)k !

= r(t)e r + z ez 2D
r(t) p

•  Velocity: v = d r / dt e! j
er
• • • •
v( t) = r( t) = x i + y j + z k
!
• • • • i ref. line
O
= ve t = s e t = r e r + r ! e! + z ez

•  Acceleration: a = d v / dt
•2
• •• •• •• •• •
v2 •
a( t) = v( t) = r( t) = x i + y j + z k = v e t + !" e n = v e t + e n
!
$ •• • 2' $ •• • • ' ••
& )
= & r # r " ) e r + & r " + 2r ") e " + z ez
& )
& ) % (
% (

2D Curvilinear Motion: Coordinates & Conversions

•  Cartesian <-> Polar <-> Path e! a

en
er
"
r(t) = xi + y j = re r et
x y v(t ) !
e r = cos !i + sin! j = i + j
r r r(t) p
e ! = k " e r = cos ! j # sin! i 2D
i = cos!e r " sin!e ! e! er
j
j = k ! i = cos"e " + sin"e r
!
• • • • i ref. line
v(t) = r(t) = x i + y j = ve t = s e t O
• •
i = cos !et " sin !e n
v x y
et = = i + j j = k ! i = cos "e n + sin "et
v v •v •
x y
en = k ! et = j " i
v v

7
Curvilinear Motion: Cartesian Coordinates!

•  Projectile Motion y v
–  Scale w.r.t. earth such that gravity
g is ~constant r=(x,y)
a=g

|g| = 32.2 ft/s2 = 9.81 m/s2
O
–  Neglect any air resistance x

–  Motion is PARABOLIC thus PLANAR!

–  Typically align
•  y-axis along gravity vector
•  x-axis horizontal in direction of motion
a(t) = 0i ! g j = [0, ! g]
•  z component drops out!
15

Curvilinear Motion: Projectile Motion!

–  Integrate rectilinear relations y

v = ( vx ,vy )
i i i

•  Two (2) scalar relations

•  One VECTOR relationship a = g = (0,-g )

a(t) = 0i ! g j = [ 0, !g] = a c r =(x ,y )

i i i
vf tf O x
! " vi
dv = " ti
a c dt
rf tf
( v f ! v i ) = a c ( t f ! ti ) ! " ri
dr = " ti
v(t)dt

! v f (t) = a c (t f " ti ) + v i ac 2
! rf =
2
( t f " ti ) + v i ( t f " ti ) + r i

vx f = 0 (t f ! ti ) + vxi = vxi x f = v x i (t f ! t i ) + x i

vy f = -g (t f ! ti ) + vyi -g 2
yf =
2
( t f ! ti ) + v y i (t f ! ti ) + yi
16

8
Curvilinear Kinematics: Projectile Motion example ref: Hibbler 12-104!

Given:! y
2 a = g = (0,- g )
–  Figure shown w/ ground ! y = !kx
–  t0=0, (x0,y0)=0, v0=v0 @ θ above horizon!
v = v0 @ θ
Find: In terms of v0 , θ & k
θ
–  (A) The location at impact (xI,yI) O x
–  (B) Velocity & Speed @ impact, vI, vI
–  (C) Elapsed time @ impact, tI 2
y = - kx (x ,y )
Solution: I I

–  2D projectile motion
–  Get expressions for vx(t),vy(t) then x(t), y(t)
–  Substitute into ground constraint expression
•  Solve for time of impact
–  With tI known, substitute & solve for (xI,yI)

! v f (t) = a c (t f " ti ) + v i ac 2
! rf =
2
( t f " ti ) + v i ( t f " ti ) + r i
17

Curvilinear Kinematics: Projectile Motion!

•  IC s => t0=0, (x0,y0)=0, v0=v0 @ θ! y
a = g = (0,-g )
a(t) = 0i ! g j = [0, ! g]

[
! (B) v I = a(t I " 0) + v 0 = vx I ,v yI ] v = v 0@ "
!
v x I = v0 cos! O x

v y = -gt I + v0 sin !
I 2
–  Speed
y = !kx (x ,y )
I I
•
2 2
s=v = v +v xI yI

= ( v0 cos! )2 + (-gt I + v 0 sin ! )2

2
= v0 2 " 2gv0 sin! tI + (gt I )

18

9
 Curvilinear Kinematics: Projectile Motion!

[
! (B) v I = a(t I " 0) + v 0 = vx I ,v yI ] y
a = g = (0,-g )
a
! (A) r I = (t I " 0)2 + v0 (t I " 0 ) + 0 v = v 0@ "
2
x I = v0 cos! t I O x
-g
y I = t I 2 + v 0sin! t I
2 2
y = !kx (x ,y )
2
y = !kx I I

-g 2 2
t I + v 0sin! t I = "k (v0 cos! t I )
2
2v0 sin"
! (C) t I = 2 , tI = 0 –  Substitute value for tI into
g # 2k (v 0 cos" ) position, velocity & speed
relations for solution
19

Curvilinear Motion: Projectile Motion!

–  Other typical P.M. queries y

v = ( vx ,vy )
i i i

•  Max Height
•  Max Range a = g = (0,-g )
•  Time @ some place along trajectory r =(x ,y )
i i i
•  Later w/ Path & Polar Coord O x
–  Velocity (speed,direction/tangent)
–  Curvature, rate of speed change ….

a(t) = 0i ! g j = [0, ! g]
a 2
! v f = a( t f " ti ) + vi ! rf = ( t f " ti ) + v i (t f " t i ) + r i
2

–  Reconsider problems w/ different axes placement

20

10
 Given: launch at 3600 m altitude vo = 180 m/s angle 30°

180 m/s
30° a=-gj

h
3600

T
.. ..
x. = 0 y. = -9.81
x = 180 (cos 30) = 156 y = 180 (sin 30)-9.81 t = 90-9.81 t
x = 156 t y = 90 t - 4.905 t2 +3600
.
for h set y = 0 t = 9.17 h = y = 4013 m
for tT set y = 0 t = 31.18
21

Path Coord. Example ref: Meriam&Kraige 2-8

Given: y cg
–  A rocket at high altitude with 15°
–  a0=6i-9j (m/s2)
–  v0=20 (km/hr) @ 15° below horizontal v = 15
20
km/hr
a = g = (6,-9)
Find: At instant given O x
(A) The normal & tangential
accelerations C
(B) Rate at which speed is increasing
(C) Radius of curvature of the path
(D) Angular rotation rate of the radial from CG to center of curvature
Solution:
–  “High altitude” means negligible air resistance
–  Interested only at this instant (NO Integration required)
–  V given is TANGENT TO THE PATH
•  Use this to relate path to cartesian coordinates

11
 Path Coord. Example ref: Meriam&Kraige 2-8

Solution (cont’d): cg
y
v v 15°
e t = = = cos15°i " sin15°j et
v v en
v = 15
20
km/hr
e n = ± (k " e t ) (2D shortcut!)
a = g = (6,-9)
= # cos15°j # sin15°i x
O
!
(A) an & at =?
C

!
( ) ( )
at = a • e t = 6i ! 9j • cos15°i ! sin15°j = 8.12 (m / s2 ) = at

a n = a • e n = (6i " 9j) • ("cos15°j " sin15°i) = 7.14 (m /s2 ) = an

• •
2
(B) v = ?? v = at = 8.12 (m / s )
! 2
v2 v2 (20 *103 km / hr )2 # 1hr 10 3 m& 6
(C) ρ=? an = " != = %
% * (
( = 4.32(10 )m
! an 7.14(m / s2 ) $ 3600s km '

Path Coord. Example ref: Meriam&Kraige 2-8

y cg
Solution (cont’d): 15°
et
• en
(D) ! = ?? v = 20

15 km/hr
–  Look either at an or velocity a = g = (6,-9)
x
O
•2
an = !" C
2
• an 7.14 (m / s ) 1
#" = = 6
= 12.9 *10$4
! 4.32 *10 (m) s
•
v = !"
• v 20*10 3 km/ hr $ 1hr 103 m'
# " = = &
& * )) = 12.9 *10 *4 m
! 4.32 *106 (m) % 3600s km (

12
 B
RELATIVE MOTION

rB = rA + rB/A rB
rB/A
vB = vA + vB/A
aB = aA +aB/A
A
rA

Special Case: Rigid Bodies

When A & B are two points on the B
same rigid body then: ωAB
vB = vA + ωAB k × ABuB/A (2D)
rB/A
•  i.e. the relative motion is circular A vB/A
•  vB/A is perpendicular (⊥) to rB/A &
•  | vB/A | = | ωAB AB |

Relative Motion: ref ~DWY FE Review

v  R = 5 m/s
Given:!
y
•  A river flows south at 5 m/s!
•  A boat can travel at 10 m/s relative
to the water.! A x B
Find:
•  In what direction should the boat
head from A, in order to reach point
B, directly across the river?
Solution:
•  Set up Cartesian Axes @A
v  = ?i
•  Write Relative Velocity expression Ov B

VB = VR + VB/R v  R = -5 j m/s

DM DM DM
!
•  Draw Velocity Polygon diagram v  B/R = 10 m/s @! ?
–  VR magnitude & direction known
–  VB direction known, not magnitude
–  VB/R magnitude known, not direction 26

13
Relative Motion: ref ~DWY/WNW FE Review
v  R = 5 m/s
Solution (cont d): y
VB = VR + VB/R
DM DM DM
vB i = vR j + vB/R (cos θ i + sin θ j) A x B
vB i = -5 j + 10 (cos θ i + sin θ j) (m/s)

•  Equating components:
i => vB = 10 cos θ (m/s)
j => 0 = -5 + 10 sin θ (m/s)
•  2 equations <-> two unknowns v  =
B ?i
Ov

sin θ = 5/10 = 1/2 (m/s)
v  R = -5 j m/s


=> θ = sin-1 (1/2) = 30° !
v  B/R = 10 m/s @!
•  Lagniappe


vB = 10 cos 30° (m/s)

27

Relative Motion: ref ~DWY/WNW FE Review

v  R = 5 m/s
Alternate Solution (cont d): y

•  With velocity polygon drawn, use the

Law of Sines A x B

sin! sin 90o

=
vR v B/R
v  =
B ?i
o Ov
vR sin 90 θ

! = sin"1 v  R = -5 j m/s
v B/R !
# & v  B/R = 10 m/s @!
"1 5 o
= sin %% (( = 30
10
$ '

28

14
Relative Motion: ref ~Meriam & Kraige 2/13 x
A

Given:!
•  Two cars A & B at the instant shown! y

vA= 72 i km/hr !aA= 1.2 i m/s2! 30°

vB= 54 et km/hr, constant speed! 150 m e
n
Find:
(A) vB/A =? (B) aB/A =? B
et

Solution:
•  Convert to consistent units
1 v A = 72(km / hr) = 20(m / s)
(km / hr)* = (m / s) !
3.6 vB = 54(km / hr) = 15(m / s)

•  Motion RELATIVE TO A of interest

•  Two coordinate axes are used
–  Simplifies v & a definitions
–  Illustrates coordinate conversion for
expressing answers in terms of a unified
set.
e n = cos30°i ! sin30°j
e t = k ! e n = cos30°j + sin 30°i
29

Relative Motion: ref ~Meriam & Kraige 2/13

x
A
(A) !Relative Velocity!
vA
v B/A = vB ! v A
y
= 15e t ! 20 i (m / s) 30°
= 15(sin30°i + cos30°j) ! 20 i (m / s) 150 m e
n
v B/A = !12.5i + 13.0j (m / s) = 18 (m / s)@! 46°
B
et
•  Velocity Polygon Approach (Graphical)
v B = v A + vB/A
vB
! vB/A = v B " vA v  = 20 m/s Ov
A
46°

30°

VB/A = 18 m/s! v  =

B
15 m/s

30

15
 Relative Motion: ref ~Meriam & Kraige 2/13
x
A
(B) Relative Acceleration
a  =
A 1.2 m/s 2
a A = 1.2 i (m / s2 ) y
2 2
• v (15 m / s) 30°
a B = v et + e n (m / s 2 ) = en
! 150 m 150 m e
n
2
= 1.5e n (m / s ) a  = 1.5 m/s
2
B B
a B/A = a B ! a A et

= 1.5 e n ! 1.2i ( m / s 2 )
= 1.5(cos 30°i ! sin 30° j) ! 1.2i ( m / s 2 )
a B/A = 0.1 i ! 0.75 j ( m / s 2 ) = 0.76( m / s 2 ) @ ! 82°
2
a  =
B
1.5 m/s
aB/A = 0.76 m/s2!
•  Acceleration Polygon (Graphical) -82°! 30° Oa
a B = a A + aB/A a  =
A 1.2 m/s 2
! aB/A = a B " aA
31

Given: A balloon at an altitude of 60 m is rising at steady rate of

4.5 m/s. A car passes below at constant speed of 72 kph.
Find: Relative rate of separation 1 second later:
aC = 0 aB = 0 (m/s2)
vC = 20i vB = 4.5j (m/s) 4.5 m/s
rC = 20t i rB = (60 + 4.5t)j (m)

rB/C = r B/C = r B/C • r B/C rB/C = rB - rC

2 2
rB/C = ( 20t ) 2 + (60 + 4.5t )
• 60 m J j
2rB/C r B/C = 2( 20t )( 20) + 2(60 + 4.5t )4.5
72 km/hr = 20 m/s
Divide through by 2 rB/C & set t = 1
• I i
r B / C = 690.25 / 67.52 = 10.22( m / s )

Alternative Method (Vectors!):

• r (r " r )
r B /C = V B /C • B /C = (V B " V C ) • B C = ("20,4.5) •
("20,64.5) = 690.3 = 10.2 (m/s)
r B /C r B /C 67.5 67.5 32

16
 • ••
Given: The ferris wheel rotates at θ= 2 r/s, θ = -1 r/s2 and the boy (B)
walks to the right at a constant speed of 2 m/s.
Find: The velocity and acceleration of girl (G) on the ferris wheel
relative to boy B => vG/B = vB - vG = ? aG/B = aB – aG = ?
Solution:
er Defining unit vectors i, j, er, & eθ shown
eθ
velocities & accelerations are then:
vB = 2i (m/s) aB = 0
G
vG = 4 m (2 r/s) eθ = 8 eθ (m/s)

• ••
R= 4m θ θ θ aG = -4 m (2 r/s)2 er + 4 (-1 r/s2) eθ
= -16 er - 4 eθ (m/s2)

j Must convert axes to combine vectors:
B i vG/B = vG - vB = 8 eθ - 2i
= -(8 sin θ + 2) i + 8 cos θ j OR
= -2 cos θ er + (2 sin θ + 8) eθ (m/s)
er = cos θ i + sin θ j or i = cos θ er - sin θ eθ and since aB = 0 :
eθ = -sin θ i + cos θ j j = sin θ er + cos θ eθ
aG/B = aG = -16 er -4 eθ (m/s2)

33

Two points on a rigid body: vB = vA + vB/A

vB j = vA i + ωAB k × AB uB/A
B
vB j = vA i
- AB ωAB(sinθ i + cosθ j)
ωAB
VB Equating i & j components:
i → vA - AB ωAB sinθ = 0

j → vB = AB ωAB cosθ

θ VA
vA AB ωAB sinθ

=
A vB AB ωAB cosθ

17
 Using Instant Centers (IC):
B I.C.
C
VA = AC ω AB [ i ]
VB = - BC ωAB [j]
ωAB
VB
AC = AB sinθ
BC = AB cosθ

θ VA
vA AB ωAB sinθ

=
A vB AB ωAB cosθ

Slider Crank Velocities Using

Graphical & Instant Centers (IC): C
VA
ωAB
VB VB/A ⊥ AB
VB = OB ωo = CB ωAB
B VA = CA ωAB
ωo Be sure to account for direction!

O A VA
VB ⊥ OB

VA = (OB / CB) CA ωo

18
 Given: ωc = 2 r/s
αc = 6 r/s2 | 6”| 6"| 8” |

C
A ωc
αc

Find: vD, aD
D

rA = 6" rB = 12" rC = 8"

ωC = 2 r/s αC = 6 r/s2
B
VE1 = rCωC = 8•2 = 16 in/s
VE2 = 16 = rBωB = 12 ωB A F E C
2 E1
so: ωB = 4/3 = ωA [r/s]

VD = VF = ωArA = 4/3 (6) = 8 [in/s]

D
aE1 = αCrC + ωC2rC
= 6 (8) + 4(8) = 48 + 32 [in/s2 ]
aE2 t = aE1t = 48 = αBrB = αB(12) αB = 4 = αA

aF t = αArA = 4(6) = 24 = aD [in/s2]

19
Given: ro = 3' ri = 2' vo = 10 f/s no slip

O 45°

Find: vB B

vo = 10 ft/s
vA = ?
vc = vo + ω r = 10 - 2 ω = 0
ω=5 or -5 k
vB = vo + ω x rB/o = 10 i + -5k x -3j = -5 i [ft/s]
or vB = vc + ω x rB/c = 0 + 5k x -1j = -5 i [ft/s]

Kinetics Summary
•  Three general solution approaches for establishing the governing
equations of motion (EOM) => Which one to use?
i) Newton’s Laws

!F = m aCG !M P = ICG " + reff maCG

ii) Work- Energy & Conservation of Energy
sB vB 1
UA ! B = "s mat ds = "v mvdv = m( vB2 ! v 2A ) = #TA ! B
A A 2
UNC = !T + !Vg + !Ve = !ETOT
iii) Impulse - Momentum & Conservation of Momentum
–  Typical forces
I = ! F R dt = ! dL = "L •  Springs F = k (s - s 0 )
•  Friction F f = µs / k N
•  Gravitation F = mg

20
Particle Kinetics: Free Body Diagrams!
•  Free Body Diagrams:!
–  Isolate the particle/system of interest (i.e. boundaries)!
–  For noting action-reaction between particles/bodies it is
important to identify the common normal-tangent @ the
point of contact (often one or the other is easily identified)!
F BA
The image part with
relationship ID rId6
was not found in the
file. t!
mA
mB t!
F AB n!
n!

–  Include ALL forces (& later => moments)!

•  Field forces (gravity, electro-magnetic fields etc)!
•  Viscous forces (aerodynamic drag, fluid flows, etc)!
•  Contact forces (touching elements) -- Most common!

–  For motion over an interval --- draw in a general position!!

Kinetics: Σ F = maC Σ MC = IC α

F1

M1
maC
F2 C = cg C IC α

etc.

FBD EFD

!M P = IC " + reff maC

21
Given: the 20# force is applied to the sliding door which weighs 100 #
Find: the reactions at the frictionless roller supports

20#

6' 5'

10 '

Find: the reactions at the frictionless roller supports

A B
10 '
20#
6' 100# 5' 100 a
g

ΣF → = 20 = (100/g) a a = g/5

ΣF = A + B - 100 = 0 => B = 54 #
ΣMCG = 5B - 5A - (20) 2 = 0 A = 46 #

ΣMA = 10B - 5(100) + (20) = 3 (100/g)(g/5)

22
 Particle Kinetics: Path Coord Example ref ~Meriam & Kraige 3/74!
Given:!
#2!
•  The slider (m=2 kg) fits loosely in the smooth slot of α

the disk which lies in a horizontal plane and rotates et!
about a vertical axis through point O.! #1! er! en! 100 mm!
•  The slider is free to move only slightly along the slot in
either direction before one (but not both) of the two
45°!
O! eθ!
wires #1 or #2 becomes taut. !
•  The disk starts from rest at time t = 0 and has a
constant clockwise angular acceleration of α=0.5 r/s2.!
Find:!
(A)  Determine the TENSION (T2) in wire #2 at t =1 second! er!
(B)  Determine the REACTION FORCE (N) between the eθ!
slot and the block, again at t =1 second.!
et!
(C)  Determine the TIME (t ) at which the tension in wire #2 en!
goes slack and wire #1 becomes taut.

Solution:!
•  Asks for FORCES (T,N) so we must first establish kinematics (accelerations!)!
•  “Move only slightly” means it is effectively fixed relative to the slot/disk, thus!
•  The slider travels a circle about O & path (en-et) axes !
! ! ! ! !or polar (er-eθ) axes are convenient!

Particle Kinetics: Path Coord Example ref ~Meriam & Kraige 3/74!
Solution (continued):!
#2!
•  Construct FBD! α

•  Use disk kinematics (α=0.5 r/s2 CW constant) to et!
determine sliderʼs total acceleration! #1! er! en! 100 mm!

" = 0.100m = r # constant 45°!

O! eθ!
• •• • ••
" #=#=r= r=0

! T2 or -T1 !
•  Not instantaneous - integrate angular acceleration!
! N!
" t t et ,eθ

# 0
d" = # 0 $ dt = # 0 0.5dt
45°! en ,-er!
" = 0.5t
a s = " r e# $ r % 2 e r
• v2
!
= v et + en = " r et + % 2 r en
&

23
 Particle Kinetics: Path Coord Example ref ~Meriam & Kraige 3/74!
Solution (continued):! α
#2!
•  Newtonʼs Law can be applied along ANY two
independent directions to resolve unknown reactions! et!
#1! er! en! 100 mm!
–  Sum force components along (n-t, r-θ)

T2 cos 45+ N sin 45 = m" r O! eθ!
45°!
2
T2 sin 45# N cos 45 = # m$ r

–  OR to simplify algebra of unknowns, choose the

directions along the unknown reactions and sum T2 or -T1 !
! both forces and acceleration components!
mr 2 N!
T = m (" r cos 45# $ 2 r sin 45) = (" # $ 2 )
2
et ,eθ

mr 2
N = m (" r cos 45+ $ 2 r sin 45) = (" + $ 2 )
2 45°! en ,-er!

–  ASIDE: This IS the geometric equivalent to simultaneously solving the first

set of constraints to yield expressions for the unknowns!
! –  Noting the similarity of the expressions (± : + for N, - for T)

mr 2
N,T2 =
2
(" ± # 2 )

Particle Kinetics: Path Coord Example ref ~Meriam & Kraige 3/74!
Solution (continued):!
#2!
•  Substituting the known expressions for α & ω(t)
α

mr 2 et!
N,T2 =
2
(" ± # 2 ) #1! er! en! 100 mm!

2 kg* 0.1 m* 2 2
O! eθ!
=
2
{ }
0.5 ± (0.5 t ) (r /s2 ) 45°!

2
N,T2 =
20
{ 1 ± 0.5 t 2} (N)
T2 or -T1 !
(A) !So for t=1, the TENSION T2 is

! 2 2 N!
T2 =
20
{ 1 " 0.5(1)2} ( N )= 40 ( N ) = 0.035( N )
et ,eθ

(B) !At t=1, the NORMAL REACTION N is

2 3 2 45°! en ,-er!

!
N=
20
{ 1 + 0.5(1)2} ( N ) = 40 ( N ) = 0.106( N )

(C) !The time when TENSION T2 goes to zero is!

2
! T2 =
20
{ 1 " 0.5t 2} ( N ) = 0 #1 " 0.5t 2 = 0 # t= 2 # t= 1.414 (s)

24
Particle Kinetics: Path Coord Example ref ~Meriam & Kraige 3/74!
Langiappe:!
•  The acceleration vector starts off completely in the lateral (θ or t) direction here
(ω=0). Since cables/wires/ropes cannot PUSH, only T2 can be engaged in
balancing the (r or n) component of the side wall reaction N!
•  The tangential acceleration component remains constant!
•  As the disk speeds up (ω >0), the normal component increases!
•  When the total acceleration vector aligns with the normal reaction force
between the block & slot, the cord/wire tensions are both zero momentarily,
and as T2 goes slack, T1will become taut.!
T2 or -T1 !
N!

et ,eθ

a t= 0 = a t or a"
increasing
ω

45°! en ,-er!
!
T1=T2=0!

t2
Impulse / Momentum ∫ F dt = ∫ madt
t1
= ∫ mdv
= mv2 - mv1

If mutual forces cancel, impulses cancel

( not true of work )

e = rel. norm. sep. vel.

coef. Of restitution rel. norm. app. vel.

Angular Momentum: ∫ Mc dt = ∫ Ic α dt
° °
= ∫ Ic dω
°
= ∫ Ic ω2 - Ic ω1
° °

25
 Example: Conservation of Momentum
Given:
vP
•  An artillery gun (mG) fires a shell
(mP) with a speed vp vR x!

Find:
(A) The recoil speed (vR) of the gun mPg!
FBD! mGg!
Solution:
•  FBD of system components, just as Fpropellant!
shell leaves the gun
•  Rectilinear motion (i.e. only horizontal
motion of interest here)
N!
•  Propellant firing is internal to the
system
–  System momentum is conserved in the mP
horizontal direction "L sys = 0 v R = " vG = vp
"Lx#system = mG (vG # 0) + mP (v P # 0) = 0 mG

!
!
!
Example: Conservation of Momentum
Given: vP/G
•  More often, a “muzzle velocity” (vP/G)or
speed of the shell relative to the gun barrel
is specified vR x!

Find:
(A) The recoil speed (vR) of the gun
mPg!
Solution: FBD! mGg!
•  FBD (same), Rectilinear motion & Propellant
firing is internal
Fpropellant!
"L sys = 0
"Lx#system = mG (vG # 0) + mP (v P # 0) = 0
N!
v P = vG + v P /G
! mG vG + mP (vG + v P /G ) = 0 # mP &
! v R = " vG = % (v P /G
$ mG + mP '
!
!
!
26
 Example: Conservation of Momentum!
Given:! B

•  Numerous examples with similar A

circumstances, rephrasing the wording!

–  Kid(s) on a boat in still water, one
jumps off!
–  Car lands on a barge & skids to rest
relative to barge!
50 km/hr
–  Rail cars collide & stay attached!
Find:!
A B C
(A)  The resulting speeds of each element!
(B)  A time it takes to “skid to rest” !

Solution:!
•  Similar conservation of momentum relations !

"L sys = 0

Particle Kinetics: Impulse-Momentum

•  Impact Problems:
–  Reformulation of one type of Impulse-Momentum L = mv
–  Impulsive Forces characterized by |F |
•  LARGE MAGNITUDE
•  SHORT TIME DURATION
•  Ex: explosions, ball-bat, club-golf ball

–  Neglect other conventional forces of lesser effect Δt t (sec)

for the short time interval
•  Springs
t
•  Gravity F

•  Many Reaction forces (BUT NOT ALL!)

F
–  Good opportunity to look at the SYSTEM of particles in
n
simplifying the problem (reactions are internal!)

27
 Particle Kinetics: Impulse-Momentum/ Impact
•  Impact F
t

–  Locate Common Normal/Tangent

•  Line of contact/impact - the NORMAL!
–  Forces of interaction F
•  Equal, Opposite, Co-linear n
–  Very complex internal phenomena,
captured by Coefficient of Restitution

e =
(Vrelative Separation) vA

(Vrelative Approach) Common Norma l

Central Impact
t
(good derivation in B&J text --- READ IT!) A

vA* B
–  Central & Oblique Impacts
Oblique* Impact
•  Velocities are NOT co-linear with the line n vB
of impact (i.e. the common normal)
vB*

Particle Kinetics: Impulse-Momentum/

n Impact
vA vA*
•  Solving Impact Problems !

(1) Tangential Direction: individual particles A

t
have no net external impulsive forces in!

mAvAt = mAv *At & mB vBt = mB v *Bt

B
vB*
vB

(2) System of particles: No net impulsive forces normal direction!

!Ln SYS = 0" mAv An + mB vBn = mA v*An + mBv *Bn

(3) Coefficient of Restitution: Rel. Velocities along Common NORMAL!

vRelative Separation v* *
Bn ! vAn
e= =
v Relative Approach vAn ! vBn
Normal

(Perfectly Plastic) 0 " e " 1 (Perfectly Elastic)

28
Particle Kinetics: Impulse-Momentum/ Impact! n
vA vA*
•  Solving constraint relations !!

v At = v*At & vBt = v*Bt A

t
m
(1) v *
Bn = vBn + A (v An ! v*An ) B
mB vB*
vB

(2) v* *
Bn = e (v An ! v Bn )+ v An

•  From which the unknown rebound (normal)

component of velocities become!
& m ' mB e # & mB #
(1) v*An = $$ A !!v An + $$ !!(1 + e )vBn
% m A + mB " % m A + mB "
& mA # & m ' mA e #
(2) v*Bn = $$ !!(1 + e )v An + $$ B !!vBn
% m A + mB " % m A + mB "

Particle Kinetics: Impulse-Momentum/ Impact! n

vA vA*
•  What if mA >>> mB ?!

v At = v*At & vBt = v*Bt A

t
m
(1) v *
Bn = vBn + A (v An ! v*An ) B
mB vB*
0 vB

(2) v* *
Bn = e (v An ! v Bn )+ v An

•  From which the unknown rebound (normal)

component of velocities become!

(1) v*An = ! e v An + (1 + e )vBn

(2) v*Bn = vBn

29
Given: two balls of equal mass with the velocities shown collide,
coefficient of rest = 0.8
Find: velocities after impact

. .
4
x - mom.: u1 + u2 = 5/√2 - 8 45° 3
10 m/s
5 m/s

Rest: u2 - u1 = 0.8 [(5/√2) + 8 ] 5/√2 6

5/√2 8 u1 u2
u2 = 2.76 u1 = -7.23 y
5/√2 6 x

Work / Energy :

T1 + V1 + WNC = T2 + V2

where T = 1 m vc2 = 1 Ic ω2 = 1 Ic ω2
2 2 2

Vgrav = -mgh

Vspring = 1 k x2 where x = l - lo= stretch

2

30
 Work-Energy Example ref ~Meriam & Kraige 3/11
A
x
Given: 10 m
y
•  A crate of mass m slides down an incline
B v
•  m =50 kg, θ=15°, µk=0.3, µ!!=0.3
k
•  Reaches A with speed 4 m/s !=15°

Find:
(A) Speed of crate vB as it reaches a point B
10 m down the incline from A θ mg
T
Solution: h
e

•  Rectilinear motion, align axes accordingly - θ

i.e. || & ⊥ to incline Fµ
•  FBD of crate in general position (working N
over a motion interval here)
•  No movement ⊥ to incline so

!F y = mg cos" # N = 0 $ N = mgcos "

61

Work-Energy Example ref ~Meriam & Kraige 3/11

A
x
Solution (cont’d): 10 m
•  Work done is due to the resultant forces in y
direction of displacement (i.e. down incline) & B v µ!!=0.3
includes Friction & component of Weight k
!=15°
U A-B = (mg sin! " Nµ k )#x AB
= (mg sin! " mg cos!µ k )#xAB
θ mg
•  Principle of Work-Energy then says
T
U A-B = !TA -B = TB " TA h
e
θ
! TB = UA -B + TA Fµ
1 2 1 N
mvB = mg(sin! " cos!µk )#xAB + mv2A
2 2
v B = 2g(sin ! " cos!µk )#x AB + v 2A
vB = 2 * 9.81(m / s 2 ) * (sin15° " cos15° * 0.3) *10m + (4m / s)2
v B = 3.15 m / s
62

31
 Work-Energy: Example ref ~Meriam & Kraige 3/13 sp
Given: C
•  Block (m =50 kg) mounted on rollers y lA P=300N
•  Massless spring w/ k=80 N/m The image part with 0.9 m
relationship ID rId10 was not
•  Released from rest at A where spring has k
found in the file. x
initial stretch of 0.233 m
•  Cord w/ constant tension P=300 N attaches x 1.2 m
to block & routed over frictionless/ A AN B
massless (ideal) pulley @ C P
Find: !
(A) Speed of block vB as it reaches a point B Fs
directly under the pulley.
mg
Solution:
•  Again, rectilinear motion, align axes
accordingly N P
•  FBD of block in general position (working
over a motion interval here) R
Fs
•  Look at alternative - include the rope in as
part of the SYSTEM - reduce FDB to an mg
ACTIVE Force Diagram! 63

Work-Energy: Example ref ~Meriam & Kraige 3/13 y

sp
Solution (cont’d): C
lA P=300N
ACTIVE Force Diagram! x

•  Eliminate Normal Forces ⊥ to displacement The image part with 0.9 m

relationship ID rId16 was not

@ their point of contact {THEY DO NO k

found in the file.

WORK!}
x 1.2 m
–  Weight (mg) & Roller reactions (N) A A B
–  Pulley force on rope (R) N P
•  Active forces DO work on the system
–  Spring Force (Fs) => opposes motion Fs R
Fs = !kx
mg
xB xB 1 xB P
UABFs = !x Fsdx = !x "kxdx = kx 2 x
A A 2 A

Fs Active Force
1 Diagram
= " k(x 2B " x 2A )
2
–  Assuming block can actually reach B
1
UABFs = ! 80(N / m){(1.2 + 0.233)2 ! 0.2332}(m 2 ) = !80 Joules64
2

32
Work-Energy: Example ref ~Meriam & Kraige 3/13 y
sp
Solution (cont’d): C
•  Calculate Work done on system
lA P=300N
x
–  Cord Tension (P) => constant The image part with 0.9 m= lB
relationship ID rId24 was not
–  Displacement of P k
found in the file.

Lcord = sP + l = constant
x 1.2 m
!sP = "!l = lA " lB A A B
N P
= 1.2 + 0.9 " 0.9 # 0.61m
2 2

UABP = P!s = 300(n) * 0.61(m) Fs R

= 180Joules mg
•  Work-Energy P
U TOT = !TA -B = TB " TA
1 Fs Active Force
!80 + 180(Joules) = m(v2B ! 0) Diagram
2
100(Joules) * 2
! vB = = 2.0m / s
50Kg 65

Conservation-Energy Example ref ~Meriam & Kraige 3/17

Given: 0.6m
A
•  m =3 kg slider on circular track shown R=0.6m
•  Starting from A with vA=0
k=350 N/m
•  lo=0.6 m (unstretched), k=350 N/m
•  µ=0 (i.e friction is negligible) vB
y B
Find:
(A) Velocity of slider as it passes B

Solution: FBD
mg
•  FBD of crate in general position (working
over a motion interval here) Fs
N
•  Identify
–  Conservative Forces

mg (Weight/Gravity) & Fs (Spring)

–  Non-working Constraint Forces

N (Track reaction force)

66

33
 Conservation-Energy Example ref ~Meriam & Kraige 3/17
Solution:
•  ALL Forces are either Conservative or 0.6m
A
Non-working constraints, therefore Cons. R=0.6m
Of Energy applies!
k=350 N/m
!ETOT = !T + !Vg + !Ve = 0
1 1 y vB
B
!TAB = m( v2B " v 2A ) = m(v 2B " 0)
2 2
!VAB g = mg(y B " y A ) = mg(0 " R)
1 FBD
!VAB e = k {(l B " l0 ) 2 " (lA " l0 )2 } mg
2
Fs
•  Pulling together all components & isolating vB N
k 2
v B = 2gR +
m
{
R ! ( 2R ! R)2 }
•  Incorporating numerical values of all terms
350N /m
v B = 2 * 9.81(m /s2 )(0.6m) +
3kg
{(0.6m)2 " ( 2 * 0.6m " 0.6m)2} = 6.82 m /s
67

Work/ Energy T1 + V1 + WNC = T2 = V2

Given: k, m, Θ
block released from rest with spring compressed δ

Find: distance travelled to stop, d

k

T1 = 0 V1= 1/2 k δ2
WNC = -Fd
where N = mg cosΘ, F = µkN while sliding
T2=0 V2 = 1/2k(d - δ)2 - mgd sin Θ

34
Given: k, m, R, Θ, I
released from rest, no slip, no initial deflection in spring
Find: speed after 1/2 revolution

k πR

m,R
T1 = 0 Θ
V1 = 0
WNC = 0

T2 = 1/2 m v22 + 1/2 I ω22, V2 = 1/2 k (π R)2 - mg π R sin Θ

need also v2 = R ω2 (no slip condition)
0 = 1/2 m v2 + 1/2 I (v2/ R) + 1/2 k (π R)2 - mg π R sin Θ
2 2

Kinetics Summary
•  Three general solution approaches for establishing the governing
equations of motion (EOM) => Which one to use?
i) Newton’s Laws

!F = m aCG !M P = ICG " + reff maCG

ii) Work- Energy & Conservation of Energy
sB vB 1
UA ! B = "s mat ds = "v mvdv =m( vB2 ! v 2A ) = #TA ! B
A A 2
UNC = !T + !Vg + !Ve = !ETOT
iii) Impulse - Momentum & Conservation of Momentum
–  Typical forces
I = ! F R dt = ! dL = "L •  Springs F = k (s - s 0 )
•  Friction F f = µs / k N
•  Gravitation F = mg

35
Given: Box placed on conveyor with zero initial velocity.
Find: Time during which slip occurs

µk

VBelt

Find: Time during which slip occurs

VB= 10 ft/s
mg ma
µ = 0.333
F = µN
N

ΣF↑ = N - mg = 0
during slip
ΣF→ = µN = ma
µmg = ma a= µg once slip stops F = 0
VBox
v = µgt
slip stops where v = vB VB
so t = vB/ µg
t

36
Given: ball of radius r released from rest on incline, no slip, Θ = 30°

Find: acceleration

ΣF →= N - mg cos 30 = 0
ΣF = mg sin 30 - F = ma
Iα
ΣMG = rF = 2/5 mr2α mg
G
F c G c
ma
N 30°

if no slip, a = rα so mg sin 30 - 2/5 mrα = mrα

so α = (5/7)(g/r)(1/2); a = (5g/7)(1/2) = 5g/14

v = a t = 5gt
14
also: N = √3 mg → Fmax = µsN = √3 µ mg
2 2
2
F = mrα = mg
5 7
F < Fmax requires 1 < √3 µ
7 2
or µ > 7 2
√3

37
 Given: given v , r

Find: Φ; tension Φ

Φ
T r
v
ma
ΣF ↑ = T cos Φ - mg = 0
mg
ΣF → = T sin Φ = m v2/r
ma = m r ω2 or ΣF = mg sin Φ = ma cos Φ
ma = m v2/r a v2
so tan Φ = g = gr

Given: m1 released from rest, strikes m2

Find: max spring compression m1

d
k
m2

State 1 as shown
State 2

vp

38
State 3

vʹ′p
vm

State 4

Vibrations
..
k kx mx
m
c .
cx
x
. ..
ΣF = ..- kx -. cx = mx
Or mx
.. + .cx + kx = 0
x + cx / m + kx / m = 0
..
general x + 2 ζ ω x + ω2 x = 0
where w = natural freq.
ζ = damping factor

ζ<1 underdamped

ζ>1 overdamped

ζ=1 critically damped

39
 Particle Kinetics: Cartesian Example ref ~Meriam & Kraige 3/5!
Given:! F
•  A collar of mass m slides vertically on a shaft with !
kinetic coefficient of friction, µk.!
•  Applied force F is constant but its direction varies as!
! ! !θ = k t k=> constant

•  Collar starts from rest @ θ=0°!
Find:! µkN!
F!
(A)! Magnitude of F which results in collar
coming to rest at θ=90°. ! θ!
x
N
Solution:!
•  Rectilinear motion! Constrained vertically so
align axes accordingly! y

•  FBD of collar in general position mg!
(working over a motion interval here)!
•  Newtonʼs Laws!
! N = Fsin"
! Fx = Fsin " # N = 0 !
F
! Fy = #F cos " + mg + Nµk = ma y & (sin"µk # cos" ) + g = ay
m

Particle Kinetics: Cartesian Example ref ~Meriam & Kraige 3/5!

Solution (Contʼd):
F
F dv !
(sin"µk # cos" ) + g = ay = y
m dt
•  Donʼt know F but DO know itʼs constant!!
•  Angle-time relation (θ = k t) cleans up!
! –  Kinematic relationship variables & ! µkN!
–  Proper (Pos,Vel )BCʼs for integration! F!
θ!
•  Starts: vyi=0, θ=0 => t=0!
x
N
•  Ends: vyf=0, θ=π/2 => t=π/(2k)!
–  Start w/ general upper limits!
v yf t F y

" 0
dv y = " { m (sin(kt)µ
0 k # cos(kt)) + g}dt mg!
t
# F &
v yf = $ ("cos(kt)µk " sin(kt)) + gt '
% mk (0
! F
v yf = {[1" cos(kt)]µk " sin(kt)} + gt
mk
!

40
 Particle Kinetics: Cartesian Example ref ~Meriam & Kraige 3/5!
Solution (continued):! F
•  Now using the final BC for t=π/2k, vyf=0
!




F
v yf = {[1" cos(kt)]µk " sin(kt)} + gt
mk
F g#
0= {[1" cos(# /2)]µk " sin(# /2)} + µkN!
mk 2k F!
! F g#
θ!
x
N
0= {µk "1} +
mk 2k
! " mg
!F = y

2(1 # µk ) mg!
!
Langiappe:!
•  What are:!
–  The collarʼs vertical displacement as a function of time?!
–  The collarʼs total distance traveled?

Particle Kinetics: Cartesian Example ref ~Meriam & Kraige 3/5!

Langiappe (continued):! F
•  Returning to the expression for vy=f(t) !
dy
F



v yf = = {[1" cos(kt)]µk " sin(kt)} + gt
dt mk
yf t$ F '
" 0
dy = " 0 %
& mk
{[1# cos(kt)]µk # sin(kt)} + gt ( dt
) µkN!
F!
! t
θ!
#F 1 & N
y f = % {[t " sin(kt)]µk + cos(kt)} + gt 2 ( x

$mk 2 '0
!
F 1
yf = {[t " sin(kt)]µk + cos(kt) -1} + gt 2 y

mk 2 mg!
! 2
F " " " 1 $" '
yf = {[ # sin( )]µk + cos( ) -1} + g& )
mk 2k 2 2 2 %2(
2
! F " 1 $" '
yf = {[ #1]µk #1} + g& )
mk 2k 2 %2(
!

41
 Particle Kinetics: Path Coord Example ref ~Meriam & Kraige 3/7!
Given:!
A
•  A box of mass m (particle) is released
! R
from rest @ top of a smooth circular track.!

Find:! N! B
(A) !Normal force N as a function of
r ω!
position θ along the circular track.!
!(B) !The angular velocity (ω) of the pulley B such that
the boxes donʼt slide onto the conveyor belt ! mg
Solution:! !
•  FBD of box in general position - working over n
motion interval A-B, then instantaneous @ B!!
!
–  Track smooth ==> µ=0, no friction!! N t
•  Attach normal-tangential coordinate axes!
•  Newtonʼs Laws for general θ!
•  Must use kinematics to resolve
! F = N " mgsin # = ma
n n
unknowns!!

! F = mgcos # = ma
t t

Particle Kinetics: Path Coord Example ref ~Meriam & Kraige 3/7!
Solution (contʼd):! A
•  Kinematics: Circular track-> path coord! ! R
v2
s = R θ!

! Fn = N " mg sin# = man = m R N! B

• ••
= mgcos# = ma t = m v = m s r ω!
!F t
mg
•  Using tangential direction to resolve velocity by
integrating alternate form => vdv=atds! n
••
at = s = gcos ! s = R! " ds = Rd! !
N
v " t

!
0
vdv = !0 gR cos "d" •  Now using the normal direction!
1 2 ! v2
v = gRsin! 0 = gRsin! ! N=m + mgsin "
2 R
2
v = 2gRsin! = 2mgsin " + mgsin "
(A) N = 3mgsin !

42
Particle Kinetics: Path Coord Example ref ~Meriam & Kraige 3/7!
Solution (contʼd):! A
•  Belt Kinematics:! ! R
–  From previous page, the s=R!
box speed as it reaches B!
B
N
v = 2gRsin! " = 2gR !
!= r
2

–  Belt must move at the same speed to avoid slip,

i.e. relative velocity between belt/box is zero!

v B = vbelt B vB

vbelt
2gR = ! r r
!
2Rg
(B) ! =
r

43