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CHAPTER
12
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Lecture Notes:
J. Walt Oler
Texas Tech University
Kinetics of Particles:
Newtons Second Law
Eighth
Eighth
Eighth
constant mass, m
a1 a2 a3
the acceleration
F m a of the particle must satisfy
Acceleration must be evaluated with respect to a
Newtonian frame of reference, i.e., one that is not
accelerating or rotating.
If force acting on particle is zero, particle will not
accelerate, i.e., it will remain stationary or continue on a
straight line at constant velocity.
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Eighth
dv
F m
dt
d
dL
mv
dt
dt
Eighth
Eighth
m
a
Fx i Fy j Fz k m a x i a y j a z k
Fx ma x Fy ma y Fz ma z
Fx mx Fy my Fz mz
For tangential and normal components,
F t mat
dv
F
m
t
dt
F n man
v2
Fn m
Eighth
m
a
0
ma inertial vector
With the inclusion of the inertial vector, the system
of forces acting on the particle is equivalent to
zero. The particle is in dynamic equilibrium.
Methods developed for particles in static
equilibrium may be applied, e.g., coplanar forces
may be represented with a closed vector polygon.
Inertia vectors are often called inertial forces as
they measure the resistance that particles offer to
changes in motion, i.e., changes in speed or
direction.
Inertial forces may be conceptually useful but are
not like the contact and gravitational forces found
in statics.
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Eighth
Eighth
y
O
W
200 lb
m
g 32.2 ft s 2
lb s 2
6.21
ft
F k N
0.25 N
Fy 0 :
N P sin 30 200 lb 0
Unknowns consist of the applied force P and
the normal reaction N from the plane. The two
equations may be solved for these unknowns.
N P sin 30 200 lb
P cos 30 0.25 P sin 30 200 lb 62.1 lb
P 151 lb
Eighth
Eighth
SOLUTION:
Write the kinematic relationships for the dependent
motions and accelerations of the blocks.
y B 12 x A
a B 12 a A
Write equations of motion for blocks and pulley.
Fx m A a A :
T1 100 kg a A
Fy m B a B :
m B g T2 m B a B
Eighth
y B 12 x A
a B 12 a A
T1 100 kg a A
T2 2940 N - 300 kg a B
2940 N - 300 kg 12 a A
T2 2T1 0
T1 100 kg a A 840 N
T2 2T1 1680 N
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Eighth
Eighth
aB a A aB A
Write equations of motion for wedge and block.
Fx m A a A :
N1 sin 30 m A a A
0.5 N1 W A g a A
Fx mB a x mB a A cos 30 a B A :
WB sin 30 WB g a A cos 30 a B
aB
a A cos 30 g sin 30
Fy mB a y mB a A sin 30 :
N1 WB cos 30 WB g a A sin 30
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Eighth
2 W A g a A WB cos 30 WB g a A sin 30
aA
gWB cos 30
2W A WB sin 30
32.2 ft s 2 12 lb cos 30
aA
2 30 lb 12 lb sin 30
a A 5.07 ft s 2
aB
a A cos 30 g sin 30
aB
aB
2007 The McGraw-Hill Companies, Inc. All rights reserved.
20.5 ft s 2
Eighth
Eighth
Fn man :
at 4.9 m s 2
an 16.03 m s 2
Solve for velocity in terms of normal acceleration.
v2
an
v an
2 m 16.03 m s 2
v 5.66 m s
Eighth
Eighth
Fn man : R sin
W
an
g
W
W v2
sin
cos
g
Solve for the vehicle speed.
v 2 g tan
Eighth
H O rmV sin
i
j
k
rm v
HO x
y
z
mv x mv y mv z
mr 2
Derivative of angular momentum with respect to time,
H O r mV r mV V mV r ma
rF
MO
It follows from Newtons second law that the sum of
the moments about O of the forces acting on the
particle is equal to the rate of change of the angular
momentum of the particle about O.
Eighth
Fr mar mr r 2
F ma m r 2r
d
mr 2
dt
m r 2 2rr
r F
F m r 2r
Eighth
r mV H O constant
Position vector and motion
of particle are in a
plane perpendicular to H O .
Magnitude of angular momentum,
H O rm V sin constant
r0 m V0 sin 0
or
H O mr 2 constant
HO
angular momentum
r 2 h
m
unit mass
Eighth
dA 1 2 d 1 2
2r
2 r areal velocity
dt
dt
Eighth
m3
kg s 2
34.4 10 9
ft 4
lb s 4
Eighth
Eighth
SOLUTION:
Write the radial and transverse
equations of motion for the block.
Fr m ar :
0 m r r
F m a : F m r 2r
r
2
vr dvr 0 r dr
0
r0
vr2 02 r 2 r02
2m 02
2 12
r0
Eighth
Eighth
rA
rB
18820 mi h
3960 240 mi
3960 2340 mi
v B 12550 mi h
Eighth
m r r 2 Fr F
m r 2r F 0
h
r2
h2 d 2 1
and r 2
2 r
r d
F
mh 2 u 2
where u
1
r
Eighth
u
u
F
mh 2 u 2
GM
h
where u
1
r
GMm
r2
GMmu 2
constant
Ch2
eccentricity
GM
Eighth
Ch2
eccentricity
GM
Eighth
1 GM
Ch 2
2 1
cos 0
r0
GM
h
1 GM 1
GM
C 2
r0 h
r0 r0 v0 2
Satellite escapes earth orbit for
1 or C GM h 2 GM r0 v0 2
vesc v0
2GM
r0
Eighth
h2
h
where a 12 r0 r1
b r0 r1
Eighth
Eighth
r0 6370 500 km
6.87 106 m
km 1000 m/km
v 0 36900
h
3600 s/h
10.25 103 m s
1
6
6.87 10 m
65.3 109 m -1
398 1012 m3 s 2
2007 The McGraw-Hill Companies, Inc. All rights reserved.
398 1012 m3 s 2
70.4 m s
2
Eighth
65
.
3
10
2 2
r1
m
h
70.4 m s
h
70.4 109 m 2 s
Eighth