Engineering Mechanics 12: Dynamics

Sections 6 & 7
Course Information
Fall 2000

Professors Dr. Gary L. Gray 409C Earth-Engineering Sciences Bldg.

Associate Professor phone: 863-1778
Engineering Science & Mechanics email: [email protected]
Dr. Francesco Costanzo 409D Earth-Engineering Sciences Bldg.
Assistant Professor phone: 863-2030
Engineering Science & Mechanics email: [email protected]

Time/Place Section 6 (Prof. Costanzo): MWF 1:25–2:15, 120 Earth-Engineering Sciences Bldg.
Section 7 (Prof. Gray): MWF 2:30–3:20, 120 Earth-Engineering Sciences Bldg.

Office Hours Professor Gray:

MW 3:30–4:30 a.m. or by appointment. To make an appointment, please see me at
class time or contact me via email.
Professor Costanzo:
MW 3:30–4:30 a.m. or by appointment. To make an appointment, please see me at
class time or contact me via email.

Textbook Pytel, Andrew and Jaan Kiusalaas (1999) Engineering Mechanics: Dynamics, 2nd
Edition, Brooks/Cole Publishing, Pacific Grove, California.

Objectives The primary objective in any introductory mechanics course is to develop in the
engineering student the ability to analyze any problem in a simple and logical manner
and to apply to its solution a few, well-understood, basic principles. This objective
will be obtained by developing good problem solving skills (think before beginning
the solution, ask what principles apply and critically judge your results), visualization
skills (good free-body diagrams), and emphasizing basic principles (dynamics is not
a sequence of independent methods for solving problems, but is a coherent class of
techniques all based on Newton’s laws).

Expectations In line with Penn State University’s educational mission, both professors and students
should be committed to nothing less than academic excellence. Therefore, just as
the professor is responsible for attending every class period, so are you, the student,
also responsible for doing so. Therefore, you are responsible for everything covered
or announced in every class period. There are no exceptions.
In addition, each student is expected to have a working knowledge of the material
covered in all prerequisite courses. That means you should know:

• Geometry and trigonometry, including the laws of sines and cosines, direction
cosines, and the like.
 • Statics. That is, how to draw correct free-body diagrams, find force and moment
equilibrium, write friction laws, find support reactions, and find moments of
inertia.
• Differential and integral calculus. That is, how to differentiate and integrate
most simple functions, simple sequences and series.

You are also expected to devote sufficient time to master the course material. It is
unreasonable to expect that good performance can be achieved without study and
that is especially true for this course. The general “rule of thumb” stating that the
student should devote at least two hours outside of class for every hour in class
certainly applies to EMch 12, though you will probably find this course to be more
difficult than most.

Grading Your grade will be decided based on the following scheme:

Category Percent of Grade

Midterm Exams (3) 19% per exam
Homework 15%
Final Exam 28%

Your grade will be determined by your performance. The latter will be evaluated
without reference to that of your classmates. In other words, your performance will
be evaluated using objective standards rather than standards based on a notion of
average class performance (i.e., we do not grade on a curve). Your grade will be
based on a scale of 100 points. The following chart provides letter grade equivalents
of your numerical grade:

A A– B+ B B– C+ C D F
93–100 90–93 87–90 82–87 79–82 76–79 68–76 60–68 < 60

Given this information, it should be apparent that you will never need to ask about
your grade at any time during the semester, since you will always have all the infor-
mation to compute it yourself.

Exams The midterms will be given in the evening on the dates shown on the syllabus. In the
event you are unable to attend one of the scheduled exams, NO MAKEUP EXAM
WILL BE ADMINISTERED unless ALL of the following conditions are met:

1. Legitimate Reason
The missed exam is caused by circumstances beyond the student’s control, such
as illness, family emergency, or a university-sponsored activity.
2. Prior Notification
It is your responsibility to notify us prior to the exam if you are unable to attend
(this may be done in person, by phone, or by email). If circumstances prevent you
from contacting us directly, then you may also notify the Assistance Center at
(814) 863-2020, which will, in turn, notify our department, Engineering Science
and Mechanics.

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 3. Written Verification
Sufficient information must be provided so that your claim can be verified. For
example, if you miss an exam due to illness, we must receive a letter from your
physician stating that you were in no condition to take an exam. A slip of paper
from Ritenour stating that “you were seen” will not suffice.

If you miss an exam and are unable to satisfactorily fulfill each of the above three
conditions, than you will receive a zero for that exam. For those cases where a
makeup exam is warranted, you may either take an oral makeup exam or take the
average of your other exams as your score (if you miss two of the three exams, then
taking the average is not an option).
An equation sheet will be handed out the first day of class. You will be allowed to use
it for each exam and for the final exam. Please let us know if there is anything you
would like to see added to the equation sheet—we will grant all reasonable requests.

Homework You will receive your homework assignments by email every Friday. At the beginning
of every Friday class, one of you will roll a die to randomly determine which problem
you will turn in that week. It is vital that you ask questions during class or office
hours if you do not understand how to do a homework problem.

General Info • Bring your textbook to every class. We will work many example problems out of
the text and you will not be able to keep up if you don’t know what problem we
are working.
• We cannot emphasize enough how important it is for you to attempt all the home-
work and keep pace with the class. If you do not keep pace with the class, attempt
the homework, and regularly attend class you will have a very difficult time. We
would like to see every student do the following:
1. Read the section that is to be covered in class before the class. Also take a
look at the assigned homework problems before attending class.
2. Attend class and see what we have to say about the current topic. Doing Step
1 will help you understand the examples we work in class.
3. Read the section one more time after class and then try the homework prob-
lems. See us if there are problems you can’t get after an honest effort.
• Finally, you will benefit in this class, and in all your other classes, by learning a
software package such as Mathematica, Maple, or Mathcad. Each of these pack-
ages allow you to easily solve systems of linear and nonlinear algebraic equations
and/or systems of linear and nonlinear differential equations such as those that
arise in dynamics. In addition, each of these packages can do so both numerically
and symbolically. By learning one of these packages (and using it) you will be
able to focus on understanding dynamics (i.e., setting up problems and writing
governing equations) rather than doing tedious algebra to make sure you have set
the problem up correctly.

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 E M c h 1 2 : D y n a m i c s
Course Syllabus: Sections 6 & 7, Fall 2000
Exam Date Location
Exam 1 Tuesday, September 19, 6:30–7:45 p.m. 115 EE West
Exam 2 Tuesday, October 17, 6:30–7:45 p.m. 115 EE West
Exam 3 Tuesday, November 21, 6:30–7:45 p.m. 115 EE West
Final Exam Time and date will be announced. TBD

Reading Topic

11 Course Introduction and Mathematical Prelimaries (vectors, calculus, and more)

Particle Dynamics
12.1–12.5 Kinematics, Rectangular Coordinates, and Rectilinear Equations of Motion/Kinetics
13.1–13.2 Kinematics in Normal-Tangential or Path Coordinates
13.3 Kinematics in Polar or Cylindrical Coordinates
13.4 Equations of Motion in Curvilinear Coordinates (Normal-Tangential and Polar)
14.1–14.4 Work-Energy Principle for a Particle, Conservative Forces, and Conservation of Energy
14.6 Impulse-Momentum Principle for a Particle
14.7 Angular Impulse-Momentum Principle for a Particle
15.1–15.3 Kinematics of Relative and Constrained Motion
15.4 Equations of Motion for Systems of Particles; The Mass Center
15.5 Work-Energy Principles for Systems of Particles
15.6–15.7 Linear and Angular Impulse-Momentum Principles for Systems of Particles
15.8–15.9 Plastic Impact and Impulsive Motion
15.10 Elastic Impact
Rigid Body Dynamics
16.1–16.3 Kinematics of Pure Translation and Rotation About a Fixed Axis
16.4–16.5 Rigid Body Velocity Analysis
16.6 Instantaneous Center of Zero Velocity
16.7 Rigid Body Acceleration Analysis
17.1–17.2 Mass Moments of Inertia
17.3–17.5 Angular Momentum of a Rigid Body and Equations of Motion
18.1–18.4 Work of a Couple; Kinetic Energy of a Rigid Body; W-E Principle for Rigid Bodies
18.5–18.6 Linear and Angular Impulse-Momentum Methods for Rigid Bodies
Introduction to Vibrations/Oscillations
20.1–20.2 Undamped Free Vibrations of Particles
20.3 Undamped Forced Vibrations of Particles
20.4 Damped Free Vibrations of Particles
 Equation Sheet for
Engineering Mechanics 12—Dynamics
Note: vectors are indicated by boldface type.

Miscellaneous
 √ 
If ax2 + bx + c = 0, then x = −b ± b2 − 4ac 2a.

Rectilinear (1-D) Motion

Position: s(t); Velocity: v = ṡ = ds/dt; Acceleration: a = s̈ = dv/dt = d2 s/dt2 = vdv/dx. For
constant acceleration ac :
v 2 = v02 + 2ac (s − s0 ) v = v0 + ac t s = s0 + v0 t + 12 ac t2

2D Motions—Cartesian Coordinates
Position: r = xı̂ + y̂; Velocity: v = dr/dt = ẋı̂ + ẏ̂; Acceleration: a = dv/dt = d2 r/dt2 = ẍı̂ + ÿ̂

2D Motions—Normal-Tangential (Path) Coordinates

v = vêt v = ρθ̇ a = at êt + an ên at = v̇ an = ρθ̇2 = v 2 /ρ

2D Motions—Polar Coordinates
r = rêr v = vr êr + vθ êθ vr = ṙ vθ = rθ̇
a = ar êr + aθ êθ ar = r̈ − rθ̇2 aθ = rθ̈ + 2ṙθ̇

Newton’s Second Law

      
F = ma; Fx = max ; Fy = may ; Fn = man ; Ft = mat ; Fr = mar ; Fθ = maθ

Work-Energy Principle
 
U1–2 = F · dr T = 12 mv 2 T1 + U1–2 = T2
L
Vg = W y T1 + V1 + (U1–2 )nc = T2 + V2 Ve = 12 kδ 2

Linear Impulse-Momentum Principle

 t2
dp
p = mv F= L1–2 = F dt = mv2 − mv1
dt t1

Impact of Smooth Particles

For a coefficient of restitution e, in the direction Total linear momentum is conserved in the n di-
along to the line of impact (LOI) or n direction: rection: (mA vA1 + mB vB1 = mA vA2 + mB vB2 )n .
vseparate vB − vA2 Velocity of each particle is conserved perpendic-
e= = 2
vapproach vA1 − vB1 ular to the LOI (t direction):(vA1 = vA2 )t and
(vB1 = vB2 )t .
Angular Impulse-Momentum Principle

hA = rP/A × mv MA = ḣA + vA × mvG hO = mr2 θ̇

 t2  t2
(AA )1–2 = r × F dt = MA dt = h2 − h1
t1 t1

Rigid Body Kinematics

vB = vA + vB/A aB = aA + aB/A
vB = vA + ω × rB/A aB = aA + α × rB/A + ω × (ω × rB/A )
vB = vA + Ω × rB/A + (vB/A )xyz where xyz refers to the rotating frame (B)
aB = aA + Ω̇ × rB/A + Ω × (Ω × rB/A ) + (aB/A )xyz + 2Ω × (vB/A )xyz

Moments of Inertia

(IG )disk = 12 mr2 (IG )rod = 1

12 ml
2
(IG )plate = 1
12 m(a
2
+ b2 ) (IG )sphere = 25 mr2

Parallel Axis Theorem: IA = IG + md2 ; Radius of Gyration: IA = mkA

2

Angular Momentum and Equations of Motion for a Rigid Body

Angular Momentum

hA = IG ω + rG/A × mvG hA = IA ω + rG/A × mvA

Equations of Motion
 
For the mass center G: MG = IG α and for a fixed point O: MO = IO α. For an arbitrary point A:
 
MA = IG α + rG/A × maG MA = IA α + rG/A × maA (MA )FBD = (MA )MAD

Work-Energy for a Rigid Body

The work-energy principle is the same as that for particles. The kinetic energy of a rigid body is:
2
T = 12 mvA + 12 IA ω 2 − mω(ȳvAx − x̄vAy )

Vibrations
Undamped free vibration: Equation of mo- Harmonic Forcing: Equation of motion:
tion: ẍ + p2 x = 0, p = k/m, x(t) = x0 cos pt + ẍ + p2 x = P0 sin ωt with solution:
(v0 /p) sin pt. Period: τ = 2π/p. Frequency: P0 /k
f = 1/τ = p/2π. x(t) = E sin(pt + α) + sin ωt
1 − (ω/p)2
Damped free vibration: Equation of motion: Damped Forced Vibration: Equation of
mẍ + cẋ + kx = 0, ζ = c/ccr = c/(2mp), motion: mẍ + cẋ + kx = P0 sin ωt with solution:
√ √ x(t) = X sin(ωt + φ), where
x(t) = A1 e(−ζ+ ζ −1)pt + A2 e(−ζ− ζ −1)pt ,
2 2

P0 /k
X=
and for ζ < 1: x(t) = Ee−ζpt sin(ωd
t + α), where [1 − (ω/p)2 ]2 + (2ζω/p)2
E and α are constants and ωd = p 1 − ζ 2 . 2ζω/p
φ = tan−1
1 − (ω/p)2