Beruflich Dokumente
Kultur Dokumente
Summer 2011
Dr. Mustafa Arafa
American University in Cairo
Mechanical Engineering Department
mharafa@aucegypt.edu
1
Course Information
• Textbook: Vector Mechanics for Engineers: Dynamics, F.P. Beer and E.R.
Johnston, McGraw-Hill, 8th edition, 2007.
• Grading: attendance 6%; homework & quizzes 15%; mid-term exams 20%, 16%,
13%; final exam 30%; bonus project 5%.
• Lecture notes: will be posted on my website. Additional material will also be
covered on the board. Please print out the notes beforehand & bring them to class.
• Bonus project:
• Apply the course material to the analysis of a real system
• Use Working Model to model and solve some problems
• Search the internet for related software, download & test the software on
simple problems
• Develop your own software to solve a class of problems
• Develop some teaching aids for part of the course
• My advice: practice makes perfect!
2
Course Outline
PARTICLE SYSTEM OF RIGID BODIES
PARTICLES
KINETICS
NEWTON’S LAW Chapter 12 Chapter 14 Chapter 16
KINETICS
ENERGY & MOMENTUM
Chapter 13 Chapter 17
3
ENGR 214
Chapter 11
Kinematics of Particles
All figures taken from Vector Mechanics for Engineers: Dynamics, Beer
and Johnston, 2004
4
Introduction
• Dynamics includes:
- Kinematics: study of the motion (displacement,
velocity, acceleration, & time) without reference to
the cause of motion (i.e. regardless of forces).
- Kinetics: study of the forces acting on a body,
and the resulting motion caused by the given
forces.
• 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.
5
Rectilinear Motion: Position, Velocity & Acceleration
6
Rectilinear Motion: Position, Velocity & Acceleration
7
Rectilinear Motion: Position, Velocity & Acceleration
9
Rectilinear Motion: Position, Velocity & Acceleration
• at t = 0, x = 0, v = 0, a = 12 m/s2
• at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0
10
Determining the Motion of a Particle
v
dx
a
dv d 2x a
dv dv dx
v
dv
a 2
dt dt dt dt dx dt dx
11
Determining the Motion of a Particle
x t
dx dx dx
v dt dt
dt v x0
v 0
12
Determining the Motion of a Particle
v t v
dv dv dv dv
a f (v ) dt dt t
dt f (v ) v0
f (v ) 0 v0
f (v )
x v v
dv vdv vdv vdv
a f (v ) v dx dx x x0
dx f (v ) x0 v0
f (v ) v0
f (v )
13
Summary
Procedure:
1. Establish a coordinate system & specify an origin
2. Remember: x,v,a,t are related by:
v
dx
a
dv d 2x a
dv dv dx
v
dv
a 2
dt dt dt dt dx dt dx
3. When integrating, either use limits (if known) or add
a constant of integration
14
Sample Problem 11.2
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Sample Problem 11.2
SOLUTION:
• Integrate twice to find v(t) and y(t).
dv
a 9.81m s 2
dt
v t t
dv 9.81dt vt v0 9.81t
v0 0
m m
vt 10 9.81 2 t
s s
dy
v 10 9.81t
dt
y t t
dy 10 9.81t dt y t y0 10t 12 9.81t 2
y0 0
m m
yt 20 m 10 t 4.905 2 t 2
s s
16
Sample Problem 11.2
• Solve for t at which velocity equals zero and evaluate
corresponding altitude.
m m
vt 10 9.81 2 t 0
s s
t 1.019s
m m
y t 20 m 10 t 4.905 2 t 2
s s
m m
y 20 m 10 1.019 s 4.905 2 1.019 s 2
s s
y 25.1m
17
Sample Problem 11.2
• Solve for t at which altitude equals zero and
evaluate corresponding velocity.
m m
yt 20 m 10 t 4.905 2 t 2 0
s s
t 1.243s meaningless
t 3.28 s
m m
vt 10 9.81 2 t
s s
m m
v3.28 s 10 9.81 2 3.28 s
s s
m
v 22.2
s
18
What if the ball is tossed downwards with the same
speed? (The audience is thinking …)
vo= - 10 m/s
19
Uniform Rectilinear Motion
dx
v constant
dt
x t
dx v dt
x0 0
x x0 vt
x x0 vt
20
Uniformly Accelerated Rectilinear Motion
Uniformly accelerated motion acceleration = constant
v t
dv
a constant dv a dt v v0 at
dt v0 0
v v0 at
x t
dx
dt
v0 at dx v0 at dt x x0 v0t 12 at 2
x0 0
x x0 v0t 12 at 2
v 2 v02 ax x0
v x
dv
Also: v a constant v dv a dx 1
2
dx v0 x0
v 2 v02 2a x x0
Application: free fall 21
Motion of Several Particles: Relative Motion
• For particles moving along the same
line, displacements should be
measured from the same origin in
the same direction.
xB A xB x A relative position of B
with respect to A
xB x A xB A
vB A vB 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
22
Sample Problem 11.4
m m
v B v0 at 18 9.81 2 t
s s
m m
y B y0 v0t 12 at 2 12 m 18 t 4.905 2 t 2
s s
m
vE 2
s
m
y E y0 v E t 5 m 2 t
s
25
Sample Problem 11.4
yB E
12 18t 4.905t 2 5 2t 0
t 0.39 s meaningless
t 3.65 s
v B E 18 9.81t 2
16 9.813.65
m
vB E 19.81
s
26
Motion of Several Particles: Dependent Motion
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Sample Problem 11.5
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Sample Problem 11.5
SOLUTION:
• Define origin at upper horizontal surface with
positive displacement downward.
v 2A v A 02 2a A x A x A 0
2
in. in.
12 2a A 8 in. aA 9
s s2
v A v A 0 a At
in. in.
12 9 2t t 1.333 s
s s
30
Sample Problem 11.5
• Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
x D x D 0 v D t
in.
x D x D 0 3 1.333s 4 in.
s
• Block B motion is dependent on motions of collar
A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A 2 x D x B x A 0 2 x D 0 x B 0
x A x A 0 2xD xD 0 xB xB 0 0
8 in. 24 in. x B x B 0 0
x B x B 0 16 in.
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Sample Problem 11.5
• Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A 2 x D x B constant
v A 2v D v B 0
in. in.
12 2 3 v B 0 vB 18
in.
s s s
a A 2aD aB 0
in.
in. a B 9 2
9 2 aB 0 s
s
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Curvilinear Motion
http://news.yahoo.com/photos/ss/441/im:/070123/ids_photos_wl/r2207709100.jpg
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Curvilinear Motion: Position, Velocity & Acceleration
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Rectangular Components of Velocity & Acceleration
• Position vector of particle P given by its
rectangular components:
r xi y j zk
• Velocity vector,
dx dy dz
v i j k xi y j zk
dt dt dt
vx i v y j vz k
• Acceleration vector,
d 2 x d 2 y d 2 z
a 2 i 2 j 2 k xi y j zk
dt dt dt
ax i a y j az k
36
Rectangular Components of Velocity &
Acceleration
• Rectangular components are useful when
acceleration components can be integrated
independently, ex: motion of a projectile.
a x x 0 a y y g a z z 0
with initial conditions,
x0 y0 z0 0 vx 0 vy 0 given
Therefore:
v x v x 0 v y v y gt
0
y v y t gt
1 2
x v x 0 t
0 2
• Motion in horizontal direction is uniform.
• Motion in vertical direction is uniformly
accelerated.
• Motion of projectile could be replaced by two
independent rectilinear motions.
37
Example
A projectile is fired from the edge of a 150-m cliff with an initial
velocity of 180 m/s at an angle of 30° with the horizontal. Find
(a) the range, and (b) maximum height.
y
Remember:
v v0 at
x x0 v0t 12 at 2
v v 2a x x0
2 2
0
x
38
Example
Car A is traveling at a constant speed of 36 km/h. As A crosses
intersection, B starts from rest 35 m north of intersection and
moves with a constant acceleration of 1.2 m/s2. Determine the
speed, velocity and acceleration of B relative to A 5 seconds
after A crosses intersection.
39
Tangential and Normal Components
• Velocity vector of particle is tangent to path
of particle. In general, acceleration vector is
not. Wish to express acceleration vector in
terms of tangential and normal
components.
• et and et are tangential unit vectors for the
particle path at P and P’. When drawn with
respect to the same origin, de e e
t t t
et et det
det
From geometry: det d
d
det d en
det
en
d
40
Tangential and Normal Components
• With the velocity vector expressed as v vet
the particle acceleration may be written as
dv dv de dv de d ds
a et v t et v t
dt dt dt dt d ds dt
but
det ds
en d ds v
d dt
After substituting,
dv v2 dv v2
a et en at an
dt dt
• Tangential component of acceleration reflects
change of speed and normal component reflects
change of direction.
• Tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
41
Radial and Transverse Components
• If particle position is given in polar coordinates,
we can express velocity and acceleration with
components parallel and perpendicular to OP.
• Particle position vector: r rer
d dr der
• Particle velocity vector: v rer er r
dt dt dt
dr d
v er r e rer r e
dt dt
r re r
• Similarly, particle acceleration:
der
e
de
er a
d
rer r e
d d dt
de de
der der d d rer r r r e r e r
e dt dt
dt d dt dt d d
rer re r e r e r er
de de d d dt dt
er
dt d dt dt
a r r 2 er r 2r e 42
Sample Problem 11.10
43
Sample Problem 11.10
SOLUTION:
• Calculate tangential and normal components of
acceleration.
Dv 66 88 ft s ft
at 2.75 2
Dt 8s s
v2 88 ft s 2 ft
an 3.10 2
2500 ft s
60 mph 88 ft/s
• Determine acceleration magnitude and direction
45 mph 66 ft/s with respect to tangent to curve.
ft
a at an 2.75 3.10
2 2 2 2 a 4 . 14
s2
1 an 1 3.10
tan tan 48.4
at 2.75
44
Sample Problem 11.11
Determine the minimum radius of curvature of the trajectory
described by the projectile.
v2
Recall: an
v2
an
Minimum , occurs for small v and large an
v is min and an is max
155.9
2
2480 m
9.81
an
a
45
Sample Problem 11.12
46
Sample Problem 11.12
SOLUTION:
• Evaluate time t for = 30o.
0.15t 2
30 0.524 rad t 1.869 s
47
Sample Problem 11.12
• Calculate velocity and acceleration.
vr r 0.449 m s
v r 0.481m 0.561rad s 0.270 m s
v
v vr2 v2 tan 1
vr
v 0.524 m s 31.0
ar r r 2
0.240 m s 2 0.481m 0.561rad s 2
0.391m s 2
a r 2r
0.481m 0.3 rad s 2 2 0.449 m s 0.561rad s
0.359 m s 2
a
a ar2 a2 tan 1
ar
a 0.531m s 42.6
48
Sample Problem 11.12
• Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear
and defined by coordinate r.
a B OA r 0.240 m s 2
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