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Contents
Introduction Sample Problem 13.6
Work of a Force Sample Problem 13.7
Principle of Work & Energy Sample Problem 13.9
Applications of the Principle of W Principle of Impulse and Momentum
ork & Energy Impulsive Motion
Power and Efficiency Sample Problem 13.10
Sample Problem 13.1 Sample Problem 13.11
Sample Problem 13.2 Sample Problem 13.12
Sample Problem 13.3 Impact
Sample Problem 13.4 Direct Central Impact
Sample Problem 13.5 Oblique Central Impact
Potential Energy Problems Involving Energy and
Conservative Forces Momentum
Conservation of Energy Sample Problem 13.14
Motion Under a Conservative Sample Problem 13.15
Central Force Sample Problems 13.16
Sample
2010 The McGraw-Hill Companies, Inc. All rights reserved.Problem 13.17 13 - 2
Vector Mechanics for Engineers: Dynamics
Ninth
Introduction
Previously, problems dealing with the motion of particles
were
solved through the fundamental equation of motion, F ma.
Current chapter introduces two additional methods of analysis.
Work of a Force
Differential vector dr is the particle displacement.
Work of a Force
Work of a force during a finite displacement,
A2
U12 F d r
A1
s2 s2
F cos ds Ft ds
s1 s1
A2
Fx dx Fy dy Fz dz
A1
Work of a Force
Work of a constant force in rectilinear motion,
U12 F cos x
Work of a Force
Magnitude of the force exerted by a spring is
proportional to deflection,
F kx
k spring constant N/m or lb/in.
Work of the force exerted by spring,
dU F dx kx dx
x2
U12 kx dx 12 kx12 12 kx22
x1
Work of a Force
Work of a Force
efficiency
output work
input work
power output
power input
v2 0 T2 0
Determine the distance required for the work
to equal the kinetic energy change.
U12 1500 lb x 4000 lb sin 5 x
1151 lb x
T1 U12 T2
481000 ft lb 1151 lb x 0
x 418 ft
2010 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 15
Vector Mechanics for Engineers: Dynamics
Ninth
FC 2 m 490 N 2 m 12 200 kg v 2
WB 300 kg 9.81 m s 2 2940 N
T1 U12 T2 :
0 Fc 2 m WB 2 m 12 mB v 2
Fc 2 m 2940 N 2 m 12 300 kg v 2
Fc 2 m 2940 N 2 m 12 300 kg v 2
v 4.43 m s
U12 f kW x
k 60 kg 9.81m s 2 0.640 m 377 J k
U1 2 U1 2 f U1 2 e 377 J k 112 J
T1 U1 2 T2 :
187.5 J - 377 J k 112 J 0 k 0.20
2010 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 20
Vector Mechanics for Engineers: Dynamics
Ninth
U 23 U 23 f U 23 e 377 J k 112 J
36.5 J
T2 U 23 T3 :
0 36.5 J 12 60 kg v32
v3 1.103 m s
W v22 W 2 40 ft g
W N m an
g 2 g 20 ft
N 5W N 10000 lb
Fn m an :
W m an
W v32 W 2 25 ft g
3 50 ft
g 3 g 3
The dumbwaiter D and its load have a In the first case, bodies are in uniform
combined weight of 600 lb, while the motion. Determine force exerted by
counterweight C weighs 800 lb. motor cable from conditions for static
equilibrium.
Determine the power delivered by the
In the second case, both bodies are
electric motor M when the dumbwaiter
(a) is moving up at a constant speed of accelerating. Apply Newtons
8 ft/s and (b) has an instantaneous second law to each body to
velocity of 8 ft/s and an acceleration of determine the required motor cable
2.5 ft/s2, both directed upwards. force.
Free-body C:
Fy 0 : 2T 800 lb 0 T 400 lb
Free-body D:
Fy 0 : F T 600 lb 0
F 600 lb T 600 lb 400 lb 200 lb
Power Fv D 200 lb 8 ft s
1600 ft lb s
1 hp
Power 1600 ft lb s 2.91 hp
550 ft lb s
2010 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 26
Vector Mechanics for Engineers: Dynamics
Ninth
Free-body C:
800
Fy mC aC : 800 2T 1.25 T 384.5 lb
32.2
Free-body D:
600
Fy m D a D : F T 600 2.5
32.2
F 384.5 600 46.6 F 262.1 lb
Power Fv D 262.1 lb 8 ft s 2097 ft lb s
1 hp
Power 2097 ft lb s 3.81 hp
550 ft lb s
2010 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 27
Vector Mechanics for Engineers: Dynamics
Ninth
Potential Energy
Work of the force of gravity W,
U12 W y1 W y 2
Potential Energy
Previous expression for potential energy of a body
with respect to gravity is only valid when the
weight of the body can be assumed constant.
Potential Energy
Work of the force exerted by a spring depends
only on the initial and final deflections of the
spring,
U12 12 kx12 12 kx22
Conservative Forces
Concept of potential energy can be applied if the
work of the force is independent of the path
followed by its point of application.
U12 V x1 , y1 , z1 V x2 , y 2 , z 2
Such forces are described as conservative forces.
For any conservative force applied on a closed path,
F dr 0
Elementary work corresponding to displacement
between two neighboring points,
dU V x, y, z V x dx, y dy, z dz
dV x, y, z
V V V
Fx dx F y dy Fz dz dx dy dz
x y z
V V V
F grad V
x y z
2010 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 31
Vector Mechanics for Engineers: Dynamics
Ninth
Conservation of Energy
Work of a conservative force,
U1 2 V1 V2
Follows that
T1 V1 T2 V2
E T V constant
T1 0 V1 W When a particle moves under the action of
T1 V1 W conservative forces, the total mechanical
energy is constant.
1W
T2 12 mv22 2 g W V2 0 Friction forces are not conservative. Total
2g
mechanical energy of a system involving
T2 V2 W
friction decreases.
Mechanical energy is dissipated by friction
into thermal energy. Total energy is constant.
2010 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 32
Vector Mechanics for Engineers: Dynamics
Ninth
V1 Ve Vg 24 in. lb 0 2 ft lb
T1 0
Position 2: Ve 12 kx2 12 3 lb in.10 in. 4 in. 54 in. lb
2 2
V2 Ve Vg 0 Wy 0.5 lb 4 ft 2 ft lb
2
T2 12 mvD
1 0.5 lb
2 32.2 ft s 2
64 . 4 ft 2 2
s 0.5 ft lb
T1 V1 T2 V2
0 18 x 2 0.5 2 x 0.3727 ft 4.47 in.
2010 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 37
Vector Mechanics for Engineers: Dynamics
Ninth
2
GM gR 2 9.81m s 2 6.37 106 m 398 1012 m3 s 2
Impulsive Motion
Force acting on a particle during a very short
time interval that is large enough to cause a
significant change in momentum is called an
impulsive force.
Nonimpulsive
forces are forces for which
Ft is small and therefore, may be
neglected.
x component equation:
mv1 Fx t mv2 cos 40
4 16
80 Fx 0.15 4 16 120 cos 40
32.2 32.2
Fx 89 lb
y component equation:
y
0 Fy t mv2 sin 40
4 16
x Fy 0.15 120 cos 40
32.2
Fy 39.9 lb
F 89 lb i 39.9 lb j , F 97.5 lb
m p v1 Imp1 2 m p mc v2
x components:
m p v1 cos 30 0 m p mc v2
10 kg 3 m/s cos 30 10 kg 25 kg v2
v2 0.742 m/s
m p v1 Imp1 2 m p v2
x components: m p v1 cos 30 Fx t m p v2
10 kg 3 m/s cos 30 Fx t 10 kg v2 Fx t 18.56 N s
y components: m p v1 sin 30 Fy t 0
10 kg 3 m/s sin 30 Fy t 0 Fy t 15 N s
Imp12 Ft 18.56 N s i 15 N s j Ft 23.9 N s
T1 12 m p v12 12 10 kg 3 m s 2 45 J
T1 12 m p mc v22 12 10 kg 25 kg 0.742 m s 2 9.63 J
T1 T2 45 J 9.63 J
0.786
T1 45 J
Impact
Impact: Collision between two bodies which
occurs during a small time interval and during
which the bodies exert large forces on each other.
e coefficient of restitutio n
Period of deformation: m Av A Pdt m Au
Rdt u vA
Pdt v A u
0 e 1
Period of restitution: m Au Rdt m A v A
vB u
A similar analysis of particle B yields e
u vB
Note: Validity of last expression does not follow from previous relation for
the coefficient of restitution. A similar but separate derivation is required.
2010 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 56
Vector Mechanics for Engineers: Dynamics
Ninth
Select the method best suited for the problem or part of a problem
under consideration.
t
Apply coefficient of restitution relation with zero wall
n velocity.
0 vn e vn 0
vn 0.9 0.866v 0.779v
v 0.779v n 0.500v t
0.779
v 0.926v tan 1 32.7
0.500
The magnitude and direction of the Total normal component of the momentum
velocities of two identical of the two ball system is conserved.
frictionless balls before they strike
each other are as shown. Assuming The normal relative velocities of the
e = 0.9, determine the magnitude balls are related by the coefficient of
and direction of the velocity of each restitution.
ball after the impact. Solve the last two equations
simultaneously for the normal velocities of
the balls after the impact.
v A 17.7t 15.0n
t
15.0
vA 23.2 ft s tan 1 40.3
17.7
vB 23.7t 34.6n
34.6
n
vB 41.9 ft s tan 1 55.6
23 . 7
v A 0.5v0t 0.520v0n
tan 1
0.52
vA 0.721v0 46.1
0.5
46.1 30 16.1
vB 0.693v0
2010 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 65
Vector Mechanics for Engineers: Dynamics
Ninth
m A v A 2 mB vB 2 m A mB v3
30 6.26 0 30 10 v3 v3 4.70 m s
0 1 kx 2
2 3
1
2
20 10 4.91 10
3 3 2
0.241 J
T4 0