Dynamics: Vector Mechanics For Engineers

1
VECTOR MECHANICS FOR ENGINEERS:

DYNAMICS
Seventh Edition
Ferdinand P. Beer
E. Russell Johnston, Jr.
Lecture Notes:
J. Walt Oler
Texas Tech University
CHAPTER
2003 The McGraw-Hill Companies, Inc. All rights reserved.
13
Kinetics of Particles:
Energy and Momentum
Methods
Vector Mechanics for Engineers: Dynamics
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Introduction
Previously, problems dealing with the motion of particles were
solved through the fundamental equation of motion,
Current chapter introduces two additional methods of analysis.
. a m F
r
r
=
Method of work and energy: directly relates force, mass,
velocity and displacement.
Method of impulse and momentum: directly relates force,
mass, velocity, and time.
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Work of a Force
Differential vector is the particle displacement. r d
r
Work of the force is
dz F dy F dx F
ds F
r d F dU
z y x
+ + =
=
=
cos
r
r
Work is a scalar quantity, i.e., it has magnitude and
sign but not direction.
force. length Dimensions of work are Units are
( ) ( )( ) J 1.356 lb 1ft m 1 N 1 J 1 = = joule
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Work of a Force
Work of a force during a finite displacement,
( )
( )
+ + =
= =
=
2
1
2
1
2
1
2
1
cos
2 1
A
A
z y x
s
s
t
s
s
A
A
dz F dy F dx F
ds F ds F
r d F U
r
r
Work is represented by the area under the
curve of F
t
plotted against s.
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Work of a Force
Work of a constant force in rectilinear motion,
( ) x F U =
cos
2 1
Work of the force of gravity,
( ) y W y y W
dy W U
dy W
dz F dy F dx F dU
y
y
z y x
= =
=
=
+ + =

1 2
2 1
2
1
Work of the weight is equal to product of
weight W and vertical displacement y.
Work of the weight is positive when y < 0,
i.e., when the weight moves down.
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Work of a Force
Magnitude of the force exerted by a spring is
proportional to deflection,
( ) lb/in. or N/m constant spring =
=
k
kx F
Work of the force exerted by spring,
2
2
2
1
2
1
2
1
2 1
2
1
kx kx dx kx U
dx kx dx F dU
x
x
= =
= =

Work of the force exerted by spring is positive
when x
2
< x
1
, i.e., when the spring is returning to
its undeformed position.
Work of the force exerted by the spring is equal to
negative of area under curve of F plotted against x,
( ) x F F U + =
2 1
2
1
2 1
4
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Work of a Force
Forces which do not do work (ds = 0 or cos = 0):
weight of a body when its center of gravity moves
horizontally.
reaction at a roller moving along its track, and
reaction at frictionless surface when body in contact
moves along surface,
reaction at frictionless pin supporting rotating body,
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Particle Kinetic Energy: Principle of Work & Energy
dv mv ds F
ds
dv
mv
dt
ds
ds
dv
m
dt
dv
m ma F
t
t t
=
= =
= =
Consider a particle of mass m acted upon by force F
r
Integrating from A
1
to A
2
,
energy kinetic mv T T T U
mv mv dv v m ds F
v
v
s
s
t
= = =
= =

2
2
1
1 2 2 1
2
1
2
1
2
2
2
1
2
1
2
1
The work of the force is equal to the change in
kinetic energy of the particle.
F
r
Units of work and kinetic energy are the same:
J m N m
s
m
kg
s
m
kg
2
2
2
2
1
= =
= = mv T
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Applications of the Principle of Work and Energy
Wish to determine velocity of pendulum bob
at A
2
. Consider work & kinetic energy.
Force acts normal to path and does no
work.
P
r
gl v
v
g
W
Wl
T U T
2
2
1
0
2
2
2
2 2 1 1
=
= +
= +

Velocity found without determining
expression for acceleration and integrating.
All quantities are scalars and can be added
directly.
Forces which do no work are eliminated from
the problem.
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Applications of the Principle of Work and Energy
Principle of work and energy cannot be
applied to directly determine the acceleration
of the pendulum bob.
Calculating the tension in the cord requires
supplementing the method of work and energy
with an application of Newtons second law.
As the bob passes through A
2
,
W
l
gl
g
W
W P
l
v
g
W
W P
a m F
n n
3
2
2
2
= + =
=
=
gl v 2
2
=
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Power and Efficiency
rate at which work is done.
v F
dt
r d F
dt
dU
Power
r
r
r
r
=
= =
=
Dimensions of power are work/time or force*velocity.
Units for power are
W 746
s
lb ft
550 hp 1 or
s
m
N 1
s
J
1 (watt) W 1 =
= = =
input power
output power
input work
k output wor
efficiency
=
=
=
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Sample Problem 13.2
Two blocks are joined by an inextensible
cable as shown. If the system is released
from rest, determine the velocity of block
A after it has moved 2 m. Assume that
the coefficient of friction between block A
and the plane is
k
= 0.25 and that the
pulley is weightless and frictionless.
SOLUTION:
Apply the principle of work and
energy separately to blocks A and B.
When the two relations are combined,
the work of the cable forces cancel.
Solve for the velocity.
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Sample Problem 13.2
SOLUTION:
Apply the principle of work and energy separately
to blocks A and B.
( )( )
( )
( ) ( )
( ) ( )( ) ( )
2
2
1
2
2
1
2 2 1 1
2
kg 200 m 2 N 490 m 2
m 2 m 2 0
:
N 490 N 1962 25 . 0
N 1962 s m 81 . 9 kg 200
v F
v m F F
T U T
W N F
W
C
A A C
A k A k A
A
=
= +
= +
= = = =
= =

( )( )
( ) ( )
( ) ( )( ) ( )
2
2
1
2
2
1
2 2 1 1
2
kg 300 m 2 N 2940 m 2
m 2 m 2 0
:
N 2940 s m 81 . 9 kg 300
v F
v m W F
T U T
W
c
B B c
B
= +
= +
= +
= =

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Sample Problem 13.2
When the two relations are combined, the work of the
cable forces cancel. Solve for the velocity.
( ) ( )( ) ( )
2
2
1
kg 200 m 2 N 490 m 2 v F
C
=
( ) ( )( ) ( )
2
2
1
kg 300 m 2 N 2940 m 2 v F
c
= +
( )( ) ( )( ) ( )
( )
2
2
1
2
2
1
kg 500 J 4900
kg 300 kg 200 m 2 N 490 m 2 N 2940
v
v
=
+ =
s m 43 . 4 = v
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Sample Problem 13.3
A spring is used to stop a 60 kg package
which is sliding on a horizontal surface.
The spring has a constant k = 20 kN/m
and is held by cables so that it is initially
compressed 120 mm. The package has a
velocity of 2.5 m/s in the position shown
and the maximum deflection of the spring
is 40 mm.
Determine (a) the coefficient of kinetic
friction between the package and surface
and (b) the velocity of the package as it
passes again through the position shown.
SOLUTION:
Apply the principle of work and energy
between the initial position and the
point at which the spring is fully
compressed and the velocity is zero.
The only unknown in the relation is the
friction coefficient.
Apply the principle of work and energy
for the rebound of the package. The
only unknown in the relation is the
velocity at the final position.
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Sample Problem 13.3
SOLUTION:
Apply principle of work and energy between initial
position and the point at which spring is fully compressed.
( )( ) 0 J 5 . 187 s m 5 . 2 kg 60
2
2
2
1 2
1
2
1
1
= = = = T mv T
( )
( )( )( ) ( )
k k
k f
x W U

J 377 m 640 . 0 s m 81 . 9 kg 60
2
2 1
= =
=
( )( )
( ) ( )( )
( ) ( )
( )( ) J 0 . 112 m 040 . 0 N 3200 N 2400
N 3200 m 160 . 0 m kN 20
N 2400 m 120 . 0 m kN 20
2
1
max min
2
1
2 1
0 max
0 min
= + =
+ =
= = + =
= = =
x P P U
x x k P
kx P
e
( ) ( ) ( ) J 112 J 377
2 1 2 1 2 1
= + =
k e f
U U U
( ) 0 J 112 J 377 - J 5 . 187
:
2 2 1 1
=
= +

k
T U T
20 . 0 =
k
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Sample Problem 13.3
Apply the principle of work and energy for the rebound
of the package.
( )
2
3
2
1 2
3
2
1
3 2
kg 60 0 v mv T T = = =
( ) ( ) ( )
J 36.5
J 112 J 377
3 2 3 2 3 2
+ =
+ = + =
k e f
U U U
( )
2
3
2
1
3 3 2 2
kg 60 J 5 . 36 0
:
v
T U T
= +
= +

s m 103 . 1
3
= v
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Sample Problem 13.4
A 2000 lb car starts from rest at point 1
and moves without friction down the
track shown.
Determine:
a) the force exerted by the track on
the car at point 2, and
b) the minimum safe value of the
radius of curvature at point 3.
SOLUTION:
Apply principle of work and energy to
determine velocity at point 2.
Apply Newtons second law to find
normal force by the track at point 2.
Apply principle of work and energy to
determine velocity at point 3.
Apply Newtons second law to find
minimum radius of curvature at point 3
such that a positive normal force is
exerted by the track.
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Sample Problem 13.4
SOLUTION:
Apply principle of work and energy to determine
velocity at point 2.
( )
( )
( ) ( )( ) s ft 8 . 50 ft 2 . 32 ft 40 2 ft 40 2
2
1
ft 40 0 :
ft 40
2
1
0
2
2 2
2
2
2 2 2 1 1
2 1
2
2
2
2
2
1
2 1
= = =
= + = +
+ =
= = =
v s g v
v
g
W
W T U T
W U
v
g
W
mv T T
Apply Newtons second law to find normal force by
the track at point 2.
:
n n
a m F = +

( )
W N
g
g
W v
g
W
a m N W
n
5
ft 20
ft 40 2
2
2
2
=
= = = +
lb 10000 = N
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Sample Problem 13.4
Apply principle of work and energy to determine
velocity at point 3.
( )
( ) ( )( ) s ft 1 . 40 s ft 2 . 32 ft 25 2 ft 25 2
2
1
ft 25 0
3
2
3
2
3 3 3 1 1
= = =
= + = +

v g v
v
g
W
W T U T
Apply Newtons second law to find minimum radius of
curvature at point 3 such that a positive normal force is
exerted by the track.
:
n n
a m F = +

( )
3 3
2
3
ft 25 2

g
g
W v
g
W
a m W
n
= =
=
ft 50
3
=
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Sample Problem 13.5
The dumbwaiter D and its load have a
combined weight of 600 lb, while the
counterweight C weighs 800 lb.
Determine the power delivered by the
electric motor M when the dumbwaiter
(a) is moving up at a constant speed of
8 ft/s and (b) has an instantaneous
velocity of 8 ft/s and an acceleration of
2.5 ft/s
2
, both directed upwards.
SOLUTION:
Force exerted by the motor
cable has same direction as
the dumbwaiter velocity.
Power delivered by motor is
equal to Fv
D
, v
D
= 8 ft/s.
In the first case, bodies are in uniform
motion. Determine force exerted by
motor cable from conditions for static
equilibrium.
In the second case, both bodies are
accelerating. Apply Newtons
second law to each body to
determine the required motor cable
force.
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Sample Problem 13.5
In the first case, bodies are in uniform motion.
Determine force exerted by motor cable from
conditions for static equilibrium.
( )( )
s lb ft 1600
s ft 8 lb 200
=
= =
D
Fv Power
( ) hp 91 . 2
s lb ft 550
hp 1
s lb ft 1600 =
= Power
Free-body C:
: 0 = +

y
F lb 400 0 lb 800 2 = = T T
Free-body D:
: 0 = +

y
F
lb 200 lb 400 lb 600 lb 600
0 lb 600
= = =
= +
T F
T F
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Sample Problem 13.5
In the second case, both bodies are accelerating. Apply
Newtons second law to each body to determine the required
motor cable force.
= = =
2
2
1
2
s ft 25 . 1 s ft 5 . 2
D C D
a a a
Free-body C:
:
C C y
a m F = +

( ) lb 5 . 384 25 . 1
2 . 32
800
2 800 = = T T
Free-body D:
:
D D y
a m F = +

( )
lb 1 . 262 6 . 46 600 5 . 384
5 . 2
2 . 32
600
600
= = +
= +
F F
T F
( )( ) s lb ft 2097 s ft 8 lb 1 . 262 = = =
D
Fv Power
( ) hp 81 . 3
s lb ft 550
hp 1
s lb ft 2097 =
= Power
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Potential Energy
2 1 2 1
y W y W U =
Work of the force of gravity , W

r
Work is independent of path followed; depends
only on the initial and final values of Wy.
=
=Wy V
g
potential energy of the body with respect
to force of gravity.
( ) ( )
2 1
2 1 g g
V V U =
Units of work and potential energy are the same:

J m N = = =Wy V
g
Choice of datum from which the elevation y is
measured is arbitrary.
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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.
For a space vehicle, the variation of the force of
gravity with distance from the center of the earth
should be considered.
Work of a gravitational force,
1 2
2 1
r
GMm
r
GMm
U =
Potential energy V
g
when the variation in the
force of gravity can not be neglected,
r
WR
r
GMm
V
g
2
= =
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Potential Energy
Work of the force exerted by a spring depends
only on the initial and final deflections of the
spring,
2
2
2
1
2
1
2
1
2 1
kx kx U =
The potential energy of the body with respect

to the elastic force,
( ) ( )
2 1
2 1
2
2
1
e e
e
V V U
kx V
=
=
Note that the preceding expression for V

e
is
valid only if the deflection of the spring is
measured from its undeformed position.
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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.
( ) ( )
2 2 2 1 1 1 2 1
, , , , z y x V z y x V U =
Such forces are described as conservative forces.

For any conservative force applied on a closed path,
0 =
r d F
r
r
Elementary work corresponding to displacement
between two neighboring points,
( ) ( )
( ) z y x dV
dz z dy y dx x V z y x V dU
, ,
, , , ,
=
+ + + =
V
z
V
y
V
x
V
F
dz
z
V
dy
y
V
dx
x
V
dz F dy F dx F
z y x
grad =
= + +
r
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Conservation of Energy
Work of a conservative force,
2 1 2 1
V V U =
Concept of work and energy,

1 2 2 1
T T U =
Follows that
constant
2 2 1 1
= + =
+ = +
V T E
V T V T
When a particle moves under the action of
conservative forces, the total mechanical
energy is constant.
l
l
W V T
W V T
= +
= =
1 1
1 1
0
( )
l
l l
W V T
V W g
g
W
mv T
= +
= = = =
2 2
2
2
2
2
1
2
0 2
2
1
Friction forces are not conservative. Total
mechanical energy of a system involving
friction decreases.
Mechanical energy is dissipated by friction
into thermal energy. Total energy is constant.
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Sample Problem 13.6
A 20 lb collar slides without friction
along a vertical rod as shown. The
spring attached to the collar has an
undeflected length of 4 in. and a
constant of 3 lb/in.
If the collar is released from rest at
position 1, determine its velocity after
it has moved 6 in. to position 2.
SOLUTION:
Apply the principle of conservation of
energy between positions 1 and 2.
The elastic and gravitational potential
energies at 1 and 2 are evaluated from
the given information. The initial kinetic
energy is zero.
Solve for the kinetic energy and
velocity at 2.
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Sample Problem 13.6
SOLUTION:
Apply the principle of conservation of energy between
positions 1 and 2.
Position 1: ( )( )
0
lb ft 2 0 lb in. 24
lb in. 24 in. 4 in. 8 in. lb 3
1
1
2
2
1 2
1
2
1
=
= + = + =
= = =
T
V V V
kx V
g e
e
Position 2: ( )( )
( )( )
2
2
2
2
2
2
2
1
2
2
2
2
1 2
2
2
1
311 . 0
2 . 32
20
2
1
lb ft 5 . 5 lb in. 66 120 54
lb in. 120 in. 6 lb 20
lb in. 54 in. 4 in. 0 1 in. lb 3
v v mv T
V V V
Wy V
kx V
g e
g
e
= = =
= = = + =
= = =
= = =
Conservation of Energy:
lb ft 5 . 5 0.311 lb ft 2 0
2
2
2 2 1 1
= +
+ = +
v
V T V T
= s ft 91 . 4
2
v
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Sample Problem 13.7
The 0.5 lb pellet is pushed against the
spring and released from rest at A.
Neglecting friction, determine the
smallest deflection of the spring for
which the pellet will travel around the
loop and remain in contact with the
loop at all times.
SOLUTION:
Since the pellet must remain in contact
with the loop, the force exerted on the
pellet must be greater than or equal to
zero. Setting the force exerted by the
loop to zero, solve for the minimum
velocity at D.
energy between points A and D. Solve
for the spring deflection required to
produce the required velocity and
kinetic energy at D.
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Sample Problem 13.7
SOLUTION:
Setting the force exerted by the loop to zero, solve for the
minimum velocity at D.
:
n n
ma F = +

( )( )
2 2 2
2
s ft 4 . 64 s ft 32.2 ft 2 = = =
= =
rg v
r v m mg ma W
D
D n
Apply the principle of conservation of energy between
points A and D.
( )
0
18 ft lb 36 0
1
2 2
2
1 2
2
1
1
=
= = + = + =
T
x x kx V V V
g e
( )( )
( ) lb ft 5 . 0 s ft 4 . 64
s ft 2 . 32
lb 5 . 0
2
1
lb ft 2 ft 4 lb 5 . 0 0
2 2
2
2
2
1
2
2
= = =
= = + = + =
D
g e
mv T
Wy V V V
2 5 . 0 18 0
2
2 2 1 1
+ = +
+ = +
x
V T V T
in. 47 . 4 ft 3727 . 0 = = x
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Principle of Impulse and Momentum
From Newtons second law,
( ) = = v m v m
dt
d
F
r r
r
linear momentum
2 2 1 1
2 1
force the of impulse
2
1
v m v m
F dt F
t
t
r r
r r
= +
= =

Imp
Imp
The final momentum of the particle can be
obtained by adding vectorially its initial
momentum and the impulse of the force during
the time interval.
( )
1 2
2
1
v m v m dt F
v m d dt F
t
t
r r
r
r
r
=
=
Dimensions of the impulse of

a force are
force*time.
Units for the impulse of a
force are
( ) s m kg s s m kg s N
2
= =
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13 - 34
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.
When impulsive forces act on a particle,
2 1
v m t F v m
r
r
r
= +
When a baseball is struck by a bat, contact

occurs over a short time interval but force is
large enough to change sense of ball motion.
Nonimpulsive forces are forces for which
is small and therefore, may be
neglected.
t F
r
18
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13 - 35
Sample Problem 13.10
An automobile weighing 4000 lb is
driven down a 5
o
incline at a speed of
60 mi/h when the brakes are applied,
causing a constant total braking force of
1500 lb.
Determine the time required for the
automobile to come to a stop.
SOLUTION:
Apply the principle of impulse and
momentum. The impulse is equal to the
product of the constant forces and the
time interval.
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13 - 36
SOLUTION:
momentum.
2 2 1 1
v m v m
r r
= +

Imp
Taking components parallel to the
incline,
( )
( ) ( ) 0 1500 5 sin 4000 s ft 88
2 . 32
4000
0 5 sin
1
= +
= +
t t
Ft t W mv
s 49 . 9 = t
19
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13 - 37
A 4 oz baseball is pitched with a
velocity of 80 ft/s. After the ball is hit
by the bat, it has a velocity of 120 ft/s
in the direction shown. If the bat and
ball are in contact for 0.015 s,
determine the average impulsive force
exerted on the ball during the impact.
SOLUTION:
momentum in terms of horizontal and
vertical component equations.
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13 - 38
SOLUTION:
Apply the principle of impulse and momentum in
terms of horizontal and vertical component equations.
2 2 1 1
v m v m
r r
= +

Imp
x
y
x component equation:
( ) ( ) ( )
lb 89
40 cos 120
2 . 32
16 4
15 . 0 80
2 . 32
16 4
40 cos
2 1
=
= +
= +
x
x
x
F
F
mv t F mv
y component equation:
( ) ( )
lb 9 . 39
40 cos 120
2 . 32
16 4
15 . 0
40 sin 0
2
=
=
= +
y
y
y
F
F
mv t F
( ) ( ) lb 5 . 97 , lb 9 . 39 lb 89 = + = F j i F
r r r
20
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13 - 39
A 10 kg package drops from a chute
into a 24 kg cart with a velocity of 3
m/s. Knowing that the cart is initially at
rest and can roll freely, determine (a)
the final velocity of the cart, (b) the
impulse exerted by the cart on the
package, and (c) the fraction of the
initial energy lost in the impact.
SOLUTION:
momentum to the package-cart system
to determine the final velocity.
Apply the same principle to the package
alone to determine the impulse exerted
on it from the change in its momentum.
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13 - 40
SOLUTION:
Apply the principle of impulse and momentum to the package-cart
system to determine the final velocity.
( )
2 2 1 1
v m m v m
c p p
r r
+ = +

Imp
x
y
x components: ( )
( )( ) ( )
2
2 1
kg 25 kg 10 30 cos m/s 3 kg 10
0 30 cos
v
v m m v m
c p p
+ =
+ = +
m/s 742 . 0
2
= v
21
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13 - 41
Apply the same principle to the package alone to determine the impulse
exerted on it from the change in its momentum.
x
y
2 2 1 1
v m v m
p p
r r
= +

Imp
x components:
( )( ) ( )
2
2 1
kg 10 30 cos m/s 3 kg 10
30 cos
v t F
v m t F v m
x
p x p
= +
= +
s N 56 . 18 = t F
x
y components:
( )( ) 0 30 sin m/s 3 kg 10
0 30 sin
1
= +
= +
t F
t F v m
y
y p
s N 15 = t F
y
( ) ( ) s N 9 . 23 s N 5 1 s N 56 . 18
2 1
= + = =

t F j i t F
r r r
Imp
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13 - 42
To determine the fraction of energy lost,
( )( )
( ) ( )( ) J 63 . 9 s m 742 . 0 kg 25 kg 10
J 45 s m 3 kg 10
2
2
1 2
2
2
1
1
2
2
1 2
1
2
1
1
= + = + =
= = =
v m m T
v m T
c p
p
786 . 0
J 45
J 9.63 J 45
1
2 1
=
T
T T
22
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13 - 43
Problem 13.150
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13 - 44
Problem 13.154
23
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13 - 45
Impact
Impact: Collision between two bodies which
occurs during a small time interval and during
which the bodies exert large forces on each other.
Line of Impact: Common normal to the surfaces
in contact during impact.
Central Impact: Impact for which the mass
centers of the two bodies lie on the line of impact;
otherwise, it is an eccentric impact..
Direct Central Impact
Direct Impact: Impact for which the velocities of
the two bodies are directed along the line of
impact.
Oblique Central Impact
Oblique Impact: Impact for which one or both of
the bodies move along a line other than the line of
impact.
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13 - 46
Bodies moving in the same straight line,
v
A
>v
B
.
Upon impact the bodies undergo a
period of deformation, at the end of which,
they are in contact and moving at a
common velocity.
A period of restitution follows during
which the bodies either regain their
original shape or remain permanently
deformed.
Wish to determine the final velocities of the
two bodies. The total momentum of the
two body system is preserved,
B B B B B B A A
v m v m v m v m + = +
A second relation between the final
velocities is required.
24
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13 - 47
Period of deformation: u m Pdt v m
A A A
=
Period of restitution:
A A A
v m Rdt u m =
1 0

= =
=
e
u v
v u
Pdt
Rdt
n restitutio of t coefficien e
A
A
A similar analysis of particle B yields
B
B
v u
u v
e

=
Combining the relations leads to the desired
second relation between the final velocities.
( )
B A A B
v v e v v =
Perfectly plastic impact, e = 0: v v v
A B
= = ( )v m m v m v m
B A B B A A
+ = +
Perfectly elastic impact, e = 1:
Total energy and total momentum conserved.
B A A B
v v v v =
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13 - 48
Problems Involving Energy and Momentum
Three methods for the analysis of kinetics problems:
- Direct application of Newtons second law
- Method of work and energy
- Method of impulse and momentum
Select the method best suited for the problem or part of a problem
under consideration.
25
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13 - 49
Problem 13.176
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13 - 50
A 30 kg block is dropped from a height
of 2 m onto the the 10 kg pan of a
spring scale. Assuming the impact to
be perfectly plastic, determine the
maximum deflection of the pan. The
constant of the spring is k = 20 kN/m.
SOLUTION:
energy to determine the velocity of the
block at the instant of impact.
Since the impact is perfectly plastic, the
block and pan move together at the same
velocity after impact. Determine that
velocity from the requirement that the
total momentum of the block and pan is
conserved.
energy to determine the maximum
deflection of the spring.
26
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13 - 51
SOLUTION:
Apply principle of conservation of energy to
determine velocity of the block at instant of impact.
( )( )( )
( ) ( )( )
( )( ) ( ) s m 26 . 6 0 30 J 588 0
0 30
J 588 2 81 . 9 30 0
2
2
2 2
1
2 2 1 1
2
2
2 2
1
2
2 2
1
2
1 1
= + = +
+ = +
= = =
= = = =
A A
A A A
A
v v
V T V T
V v v m T
y W V T
Determine velocity after impact from requirement that
total momentum of the block and pan is conserved.
( ) ( ) ( )
( )( ) ( ) s m 70 . 4 10 30 0 26 . 6 30
3 3
3 2 2
= + = +
+ = +
v v
v m m v m v m
B A B B A A
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13 - 52
Initial spring deflection due to
pan weight:
( )( )
m 10 91 . 4
10 20
81 . 9 10
3
3
3

=
= =
k
W
x
B
Apply the principle of conservation of energy to
determine the maximum deflection of the spring.
( ) ( )( )
( )( )
( )( )
( ) ( )
( ) ( )
2
4
3
2
1 3
4
2
4
3
2
1
3 4
2
4
2
1
4
4
2
3 3
2
1 2
3
2
1
3
2
2
1 2
3
2
1
3
10 20 10 91 . 4 392
10 20 392
0
J 241 . 0 10 91 . 4 10 20 0
J 442 7 . 4 10 30
x x
x x x
kx h W W V V V
T
kx
V V V
v m m T
B A e g
e g
B A
+ =
+ =
+ + = + =
=
= = + =
+ =
= + = + =
( ) ( )
m 230 . 0
10 20 10 91 . 4 392 0 241 . 0 442
4
2
4
3
2
1 3
4
4 4 3 3
=
+ = +
+ = +
x
x x
V T V T
m 10 91 . 4 m 230 . 0
3
3 4

= = x x h m 225 . 0 = h
27
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13 - 53
Problem 13.177
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13 - 54
Oblique Central Impact (freely moving particles)
Final velocities are
unknown in magnitude
and direction. Four
equations are required.
No tangential impulse component;
tangential component of momentum
for each particle is conserved.
( ) ( ) ( ) ( )
t
B
t
B
t
A
t
A
v v v v = =
Normal component of total
momentum of the two particles is
conserved.
( ) ( ) ( ) ( )
n
B B
n
A A
n
B B
n
A A
v m v m v m v m + = +
Normal components of relative
velocities before and after impact
are related by the coefficient of
restitution.
( ) ( ) ( ) ( ) [ ]
n
B
n
A
n
A
n
B
v v e v v =
28
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13 - 55
The magnitude and direction of the
velocities of two identical
frictionless balls before they strike
each other are as shown. Assuming
e = 0.9, determine the magnitude
and direction of the velocity of each
ball after the impact.
SOLUTION:
Resolve the ball velocities into components
normal and tangential to the contact plane.
Tangential component of momentum for
each ball is conserved.
Total normal component of the momentum
of the two ball system is conserved.
The normal relative velocities of the
balls are related by the coefficient of
restitution.
Solve the last two equations simultaneously
for the normal velocities of the balls after
the impact.
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13 - 56
SOLUTION:
Resolve the ball velocities into components normal and
tangential to the contact plane.
( ) s ft 0 . 26 30 cos = =
A n A
v v ( ) s ft 0 . 15 30 sin = =
A t A
v v
( ) s ft 0 . 20 60 cos = =
B n B
v v ( ) s ft 6 . 34 60 sin = =
B t B
v v
Tangential component of momentum for each ball is
conserved.
( ) ( ) s ft 0 . 15 = =
t A t A
v v ( ) ( ) s ft 6 . 34 = =
t B t B
v v
Total normal component of the momentum of the two
ball system is conserved.
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( ) 0 . 6
0 . 20 0 . 26
= +
+ = +
+ = +
n B n A
n B n A
n B B n A A n B B n A A
v v
v m v m m m
v m v m v m v m
29
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13 - 57
=
=
+ =
=
=
+ =
6 . 55
7 . 23
6 . 34
tan s ft 9 . 41
6 . 34 7 . 23
3 . 40
7 . 17
0 . 15
tan s ft 2 . 23
0 . 15 7 . 17
1
1
B
n t B
A
n t A
v
v
v
v

r r
r
r r
r
t
n
The normal relative velocities of the balls are related by the
coefficient of restitution.
( ) ( ) ( ) ( ) [ ]
( ) [ ] 4 . 41 0 . 20 0 . 26 90 . 0 = =
=
n B n A n B n A
v v e v v
Solve the last two equations simultaneously for the normal
velocities of the balls after the impact.
( ) s ft 7 . 17 =
n A
v ( ) s ft 7 . 23 =
n B
v
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13 - 58
Ball B is hanging from an inextensible
cord. An identical ball A is released
from rest when it is just touching the
cord and acquires a velocity v
0
before
striking ball B. Assuming perfectly
elastic impact (e = 1) and no friction,
determine the velocity of each ball
immediately after impact.
SOLUTION:
Determine orientation of impact line of
action.
The momentum component of ball A
tangential to the contact plane is
conserved.
The total horizontal momentum of the
two ball system is conserved.
The relative velocities along the line of
action before and after the impact are
related by the coefficient of restitution.
Solve the last two expressions for the
velocity of ball A along the line of action
and the velocity of ball B which is
horizontal.
30
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13 - 59
SOLUTION:
Determine orientation of impact line of action.
=
= =
30
5 . 0
2
sin
r
r
The momentum component of ball A
tangential to the contact plane is
conserved.
( )
( )
0
0
5 . 0
0 30 sin
v v
v m mv
v m t F v m
t A
t A
A A
=
= +
= +
r
r
r
The total horizontal (x component)
momentum of the two ball system is
conserved.
( ) ( )
( ) ( )
( )
0
0
433 . 0 5 . 0
30 sin 30 cos 5 . 0 0
30 sin 30 cos 0
v v v
v v v
v m v m v m
v m v m t T v m
B n A
B n A
B n A t A
B A A
= +
=
=
+ = +
r r
r
r
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13 - 60
The relative velocities along the line of action before
and after the impact are related by the coefficient of
restitution.
( ) ( ) ( ) ( ) [ ]
( )
( )
0
0
866 . 0 5 . 0
0 30 cos 30 sin
v v v
v v v
v v e v v
n A B
n A B
n B n A n A n B
=
=
=
Solve the last two expressions for the velocity of ball
A along the line of action and the velocity of ball B
which is horizontal.
( )
0 0
693 . 0 520 . 0 v v v v
B n A
= =
=
= =
=
= =
=
0
1
0
0 0
693 . 0
1 . 16 30 1 . 46
1 . 46
5 . 0
52 . 0
tan 721 . 0
520 . 0 5 . 0
v v
v v
v v v
B
A
n t A

r r
r
31
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13 - 61
Oblique Central Impact (one particle is constrained in its motion)
Block constrained to move along horizontal
surface.
Impulses from internal forces
along the n axis and from external force
exerted by horizontal surface and directed
along the vertical to the surface.
F F
r r
and
ext
F
r
Final velocity of ball unknown in direction and
magnitude and unknown final block velocity
magnitude. Three equations required.
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13 - 62
Oblique Central Impact
Tangential momentum of ball is
conserved.
( ) ( )
t
B
t
B
v v =
Total horizontal momentum of block
and ball is conserved.
( ) ( ) ( ) ( )
x
B B A A
x
B B A A
v m v m v m v m + = +
Normal component of relative
velocities of block and ball are related
by coefficient of restitution.
( ) ( ) ( ) ( ) [ ]
n
B
n
A
n
A
n
B
v v e v v =
Note: Validity of last expression does not follow from previous relation for
the coefficient of restitution. A similar but separate derivation is required.
32
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13 - 63
Sample Problem 13.14(impact of a particle with a massive rigid body)
A ball is thrown against a frictionless,
vertical wall. Immediately before the
ball strikes the wall, its velocity has a
magnitude v and forms angle of 30
o
with the horizontal. Knowing that
e = 0.90, determine the magnitude and
direction of the velocity of the ball as
it rebounds from the wall.
SOLUTION:
Resolve ball velocity into components
normal and tangential to wall.
Impulse exerted by the wall is normal
to the wall. Component of ball
momentum tangential to wall is
conserved.
Assume that the wall has infinite mass
so that wall velocity before and after
impact is zero. Apply coefficient of
restitution relation to find change in
normal relative velocity between wall
and ball, i.e., the normal ball velocity.
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13 - 64
Component of ball momentum tangential to wall is conserved.
v v v
t t
500 . 0 = =
Apply coefficient of restitution relation with zero wall
velocity.
( )
( ) v v v
v e v
n
n n
779 . 0 866 . 0 9 . 0
0 0
= =
=
SOLUTION:
Resolve ball velocity into components parallel and
perpendicular to wall.
v v v v v v
t n
500 . 0 30 sin 866 . 0 30 cos = = = =
n
t
=
=
+ =
7 . 32
500 . 0
779 . 0
tan 926 . 0
500 . 0 779 . 0
1
v v
v v v
t n

r r
r
33
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13 - 65
Quiz 2
Block B having a mass of 9 kg is initially at
rest as shown on the upper surface of a 22.5
kg wedge A which is supported by a
horizontal surface. A 2 kg block C is
connected to block B by a cord, which
passes over a pulley of negligible mass.
Using computational software and denoting
by the coefficient of friction at all surfaces,
calculate the initial acceleration of the
wedge and the initial acceleration of block B
relative to the wedge for values of 0. Use
0.01 increments for until the wedge does not
move and then use 0.1 increments until no
motion occurs.
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13 - 66
%% Problem 12.C1 and Quiz 2
clear all, clc, fprintf('\n\n\t Solution of Problem 12.C1 and Quiz 2 ')
g = 9.81;
for me242=1:2
if me242==1
Wa = 200; % homework
Wb = 80; % homework
Wc = 18; % homework
fprintf('\n\n\t\t\t\t----Problem 12.C1----\n\n')
elseif me242==2
Wa = 22.5*g; % quiz2
Wb = 9*g; % quiz2
Wc = 2*g; % quiz2
fprintf('\n\n\t\t\t\t----Quiz 2----\n\n')
end
ma = Wa/g;
mb = Wb/g;
mc = Wc/g;
t = 30;
th = t*pi/180;
Mu = 0;
A = (1-Mu.^2)*sin(th)-2*Mu*cos(th);
a_A = g*(A*Wb*cos(th)-Wa*Mu)/(Wa+Wb*A*sin(th));
% print heading
fprintf(' Mu Accel. of A (m/s^2) Accel. of B wrt A, (m/s^2)\n');
34
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13 - 67
while a_A > 0
a_BwA = (1/(Wb+Wc))*(g*(Wc-Wb*(Mu*cos(th)-sin(th)))+a_A*(Wb*Mu*sin(th)+(Wc+Wb)*cos(th)));
fprintf(' %3.2f %4.3f %4.3f\n',Mu,a_A,a_BwA);
Mu = Mu+0.01;
A = (1-Mu.^2)*sin(th)-2*Mu*cos(th);
a_A = g*(A*Wb*cos(th)-Wa*Mu)/(Wa+Wb*A*sin(th));
end
% Increase Mu to the next tenth
Mu = 0.20;
a_BwA = (g/(Wb+Wc))*(Wc-Wb*(Mu*cos(th)-sin(th)));
% print heading
fprintf('\n');
fprintf(' Mu Accel. of B wrt A, (m/s^2)\n');
while a_BwA > 0
a_BwA = (g/(Wb+Wc))*(Wc-Wb*(Mu*cos(th)-sin(th)));
if a_BwA > 0
fprintf(' %3.2f %4.3f\n',Mu,a_BwA);
end
Mu = Mu+0.10;
end
end

Dynamics: Vector Mechanics For Engineers

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Dynamics: Vector Mechanics For Engineers

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1

VECTOR MECHANICS FOR ENGINEERS:

2003 The McGraw-Hill Companies, Inc. All rights reserved.

Work of the force of gravity , W

Units of work and potential energy are the same:

The potential energy of the body with respect

Note that the preceding expression for V

Such forces are described as conservative forces.

Concept of work and energy,

Dimensions of the impulse of

When a baseball is struck by a bat, contact

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