BeerVM11e PPT Ch11
BeerVM11e PPT Ch11
BeerVM11e PPT Ch11
11 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinematics of Particles
Brian P. Self
Fdrive Fdrag
A Spring Drag
dv = a ( t ) dt
dv
a = a (t ) = a(t )
dt v0 0
dx dv
dt = and a = v x
v dv = a ( x ) dx
v dt
a = a ( x)
v dv = a ( x ) dx
v0 x0
v t
dv dv
dt
= a (v ) v a ( v ) = 0 dt
a = a (v)
0
x v
dv
v = a (v) v dv
x dx = v a ( v )
dx
0 0
m m
v(t ) = 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
y (t ) = 20 m + 10 t − 4.905 2 t 2
s s
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.2
• Solve for t when velocity equals zero and evaluate
corresponding altitude.
m m
v(t ) = 10 − 9.81 2 t = 0
s s
t = 1.019 s
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 = 25.1 m
m m
v(t ) = 10 − 9.81 2 t
s s
m m
v(3.28 s ) = 10 − 9.81 2 (3.28 s )
s s
m
v = −22.2
REFLECT and THINK: s
When the acceleration is constant, the velocity
changes linearly, and the position is a quadratic function of time.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.3
STRATEGY:
dv
v
dv
t
v (t )
a=
dt
= −kv v v = −k 0 dt ln
v0
= −kt
0
v(t ) = v0 e − kt
dx = v0 dt
e − kt
x ( t ) = v0 − e − kt
0 0 k 0
v
(
x(t ) = 0 1 − e − kt
k
)
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.3
• Integrate a = v dv/dx = -kv to find v(x).
v x
dv
a = v = − kv dv = −k dx dv = −k dx
dx v0 0
v − v0 = − kx
v = v0 − kx
• Alternatively,
with
v
(
x(t ) = 0 1 − e − kt
k
)
v(t )
and v(t ) = v0 e − kt or e − kt =
v0
v0 v(t )
then x(t ) = 1 −
k v0
v = v0 − kx
𝑣0 −𝑘𝑡
𝑣0 𝑣
𝑥= 1−𝑒 = 1− 𝑣 = 𝑣0 − 𝑘𝑥 (checks)
𝑘 𝑘 𝑣0
v t v x
(a) dv = a ( t ) dt
v0 0
(c) v dv = a ( x ) dx
v0 x0
v t
x v dv
(b)
v dv
x dx = v a ( v ) (d) v a ( v ) = 0 dt
0
0 0
x v
v dv 628.32 v
x v a ( v )
= v
0
dx
0
0
dx =
0
3 − 0.001v 2
dv
3 − e−0.15802
v =
2
= 2146.2 v = 46.3268 m/s
0.001
How do you determine the maximum speed the car can reach?
Velocity is a maximum when a = 3 − 0.001v 2
acceleration is zero
vmax = 3
0.001 vmax = 54.772 m/s
x t
dx
dt
= v0 + at dx = ( v0 + at ) dt
x0 0
x = x0 + v0t + 12 at 2
v x
dv
v = a = constant v dv = a dx v 2 = v02 + 2a ( x − x0 )
dx v0 x0
xB = x B − x A = relative position of B
A
with respect to A
xB = x A + xB A
vB = v B − v A = relative velocity of B
A
with respect to A
vB = v A + vB A
aB = a B − a A = relative acceleration of B
A
with respect to A
aB = a A + aB A
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.5
STRATEGY:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
yB E ( )
= 12 + 18t − 4.905t 2 − (5 + 2t ) = 0
t = −0.39 s (meaningless )
t = 3.65 s
vB E = (18 − 9.81t ) − 2
= 16 − 9.81(3.65)
m
v B E = −19.81
s
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.5
REFLECT and THINK:
The key insight is that, when two particles collide, their
position coordinates must be equal. Also, although you
can use the basic kinematic relationships in this
problem, you may find it easier to use the equations
relating a, v, x, and t when the acceleration is constant
or zero.
v 2A = (v A )02 + 2a A x A − ( x A )0
2
in. in.
12 = 2a A (8 in.) aA = 9 2
s s
v A = (v A )0 + a At
in. in.
12 =9 2t t = 1.333 s
s s
x A − ( x A )0 + 2xD − ( xD )0 + xB − ( xB )0 = 0
(8 in.) + 2(4 in.) + x B − ( x B )0 = 0
x B − ( x B )0 = −16 in.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.7
• 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
a A + 2a D + a B = 0
in. a B = −9
in.
9 2 + vB = 0
s s2
REFLECT and THINK:
In this case, the relationship we needed was not between position coordinates,
but between changes in position coordinates at two different times. The key
step is to clearly define your position vectors. This is a two degree-of-freedom
system, because two coordinates are required to completely describe it.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
Slider block A moves to the left with a
constant velocity of 6 m/s. Determine the
velocity of block B.
STRATEGY:
• Sketch your system and choose
coordinate system
• Write out constraint equation
• Differentiate the constraint equation to
get velocity
6 m/s + 3vB = 0
v B = 2 m/s
Note that as xA gets bigger, yB gets smaller.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
180
160
120
40
20
0
47.76 47.77 47.78 47.79 47.8 47.81
Time (s)
• 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
a) A launch angle of 45
b) A launch angle less than 45
c) A launch angle greater than 45
d) It depends on the launch velocity
STRATEGY:
A baseball pitching machine • Consider the vertical and horizontal motion
“throws” baseballs with a separately (they are independent)
horizontal velocity v0. If you
want the height h to be 42 in., • Apply equations of motion in y-direction
determine the value of v0.
• Apply equations of motion in x-direction
At t = 5 s
At t = 5 s
We can solve the problems geometrically, and apply the arctangent relationship:
Physically, a rider in car A would “see” car B travelling south and west.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.14
REFLECT and THINK:
Note that the relative position and velocity of
B relative to A change with time; the values
given here are only for the moment t =5 s.
a) 25o c)
b) 25o d)
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Eleventh
Vector Mechanics for Engineers: Dynamics
Tangential and Normal Components
v = v et
en v= vt et dv v2
et a = e t + en
dt r
x
• The tangential direction (et) is tangent to the path of the
particle. This velocity vector of a particle is in this direction
• The normal direction (en) is perpendicular to et and points
towards the inside of the curve.
• The acceleration can have components in both the en and et directions
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Tangential and Normal Components
• To derive the acceleration vector in tangential
and normal components, define the motion of a
particle as shown in the figure.
• et and et are tangential unit vectors for the
particle path at P and P’. When drawn with
respect to the same origin, Det = et − et and
D is the angle between them.
Some possibilities:
0 0
v = r er + r e
• The particle acceleration vector is
( )
a = r − r 2 er + r + 2r e ( )
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Radial and Transverse Components
• We can derive the velocity and acceleration
relationships by recognizing that the unit vectors
change direction.
• Position vector,
r = R e R +z k
• Velocity vector,
dr
v= = R eR + R e + z k
dt
• Acceleration vector,
dv
a=
dt
= R ( 2 )
− R eR + (R + 2 R )e + z k
a B OA = r = −0.240 m s 2
= 0.05 (rad/s 2 )
0
0.05 d = d
0
2 2(2 )
0.05 2
= 0.05 2(2 )
2
= 2
2 0
2 0
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
Determine the angular velocity
2 = 0.05 2(2 )
2
er
= 2.8099 rad/s
a = r − r( 2
) e + ( r + 2r ) e
r