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    CH 1 Part 1 - 2

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    ch 1

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    1 Dynamics 141 Velocity and acceleration The velocity of a body is the rate of change of its displacement (linear oF angular) with respect to time. Velocity is a vector quantity, and to specify it completely the magnitude, direction and sense must be known, The speed of body is mercly the magnitude of its velocity The acceleration of a body is the rate of change of its velocity (linear or angular) with respect to time. A body accelerates if there isachangein either the magnitude, direction or sense of its velocity and can thus accelerate without change in speed, asin the case of a body moving in circular path with uniform speed. 2 Equations of uniformly accelerated motion body having linear motion accelerate uniformly from an initial velocity toa final velocity v in time t; let the acceleration be fand the distance from the initial position be s. Then veut a seutyfe 2) and Paw 42s as) ‘The corresponding equations for angular motion are oy = oy +a «ay Oe orttar as) and eo} =o} +220 (16) ‘where w, and ware the inital and final angular velocities respectively is the angle (urned through in time 1 and a is the angular acceleration 13. Nom-uniform acceleration If the acceteration is a function of time, distance or velocity, it must be expressed inthe form as 4, i Gee fas Which then leads to a differential equation of motion. 2 Mechanics of Machines ‘The corresponding equations for angular motion are do 4, oO 4 do Ca ec l do Ifthe acceleration is neither constant nor varying in a mathematical manner, the acceleration at any instant is represented by the slope of the velocity-time graph and the distance travelled is represented by the area under the graph, Fig. 1. Fic. Ld 1.4 Relations between linear and angular motion fa point on the circumference of a rotating body of radius r, Fig. 1.2, moves a distances, the angle subtended at the centre 6 (measured in radians) is given by O=sr or sr ‘Then, by successive differentiation, an ae (18) Fa, 12 a pai Dynamics 3 In the case ofa whecl or eyinder which rolls without slip on a flat surfce, Fig 13, the ac length ss the same as the distance moved by the centre O, : movement of O = Ur The velocity and aceleration of O are then given by and as before. Since the point of contact A is instantaneously at rest, the values of the displacement, velocity and acceleration of the point B are twice those of the centre O, ie. they are 26r, 2uvr and 2ar respectively. 15 Mass, force, weight and momentum The mass of a body is determined by comparison with a standard mass, using a beam-type balance. Thus mass is independent of gravitational acceleration since any variation in g will have an equal effect on the standard mass, Force is that which tends to change the state of rest of uniform motion of a body, Unit force is that required to give unit acceleration to unit mass. ‘The weight of a body isthe force of attraction which the earth exerts upon it andi determined by a suitably-calibrated spring-type balance. Thus the weight ‘aries from place to place as g varies but is standardized ata point where g has the value 9806 65 m/s?. For normal engineering purposes, however, gis taken as 981 m/s ‘The momentum of a body is the product of its mass and velocity 16 ‘enton’s laws of motion () Every body continues. it state of rest or uniform motion ina straight line, Unless acted upon by an external force. (2) The rate of change of momentum is proportional to the applied external force and takes place in the direction of the force. (8) To every action there is an equal and opposite reaction, From the second law, fore rat of change of momestu oe mas ale of change of velly in Point shore his a eonstant i The units ofthe quantities are chosen so a8 1 make the vale of k unity, as P=mf (9) Inthe Sytdme dnternationa Units, the fundamental quate are mss teeth and time, force being a derived quaniy. The unit of mas the ‘ogramme, the unit of lengths the metreund the wit of orc isthe newton, ee 4) Mechanies of Machines which is the force required to give a mass of 1 kg an aceeleration of 1 m/s? Then P(N) = m ke) xftrm/s") Since a body falling freely under the earth's gravitational force has an acceleration g, the weight y 1.7 Impulse The impulse ofa constant force Pacting fora time tis the product Pt.1f, during this time, the velocity changes from u to v, then P= mf=mo-wit or P= mio—u) (1.10) ie. impulse of force = change of momentum A force which acts fora very short time is referred to as an impulsive force. ‘The units of impulse are Ns or ke m/s If the force varies with time, as shown in Fig, 14, then [re = area under graph impuls Pe 1s 18 Relative velocity Iftwo bodies A and Bate moving wit vek locities egand us respect then the relative velocity of one to the other isthe vector anges oe HS: is A veins and uh epee tan eee fa sense ae drawn from the same point o, then ab rem iet relive 10 A and ba the velocity of & relative to Be the Yelocity of B Wow and ob represent the velocities of th 4 cepresents the change in its velocity. we same body at different times, then 19 Centiptal acceleration and cert rtrfuat force Cones iy of mass moving nara fea rai, SRE Fp LoATHmove om A on tandem con eee: J Dynamics 5 Fra, 16 then, from the relative velocity diagram, the change of velocity is represented by brah Thus change of velocity = dd) acceleration = » « ie S=v0 where © is the angular velocity of OA. But peor from equation 1.7 ‘fear or or (ay ‘This acceleration is directed towards the centre of rotation, O, and is called the centripetal acceleration. The radially inwatd, or centre’ to produce this acceleration is given by force required f= mote or mfr «uy fa body rotates at the end of an arm, this force is provided by the tension in thearm, The reaction to this force actsat the cent of rotation and iscalled the centrifugal force. It represents the inertia force of the body, resisting the ‘change in the direction of its motion, ‘A.common concept of centrifugal force in engincering problems isto regard itas the radially outward force which must be applied toa body to convert the dynamical condition to the equivalent static condition; this is known as Alembert's Principle ‘Thus the system shown in Fig. .71a)is equivalent to thatin Fig. 1.7(b), which 's frequently more easy to consider. This concept is particularly useful in problems on engine governors and balancing of rotating masses tet tat Djnamic (0) sane Four Sees es eaeaeaeeee eee | 6 Mechanics of Machines | 1.10 Work and power Workisthe product of the average foree and the distance moved inthe direction lof the force by its point of application, The unit of wrk is the joule (J), which is the work done by a force of IN moving through a distance of 1m, Ifa constant force P moves through a distance x, work done = Px If the force varies linearly from zero to a maximum value P, work done = 4 Px In the general case whore P = /(, work done = i sooysx Power is the rate of doing work. The unit of power is the watt (W), which is 1 J/sor 1 N m/s. Thus the power developed by a force P N moving at v m/s is Pow. LAL Energy Energy isthe capacity to do work, mechanical energy being equal tothe work ddone on a body in altering either its postion, velozty or shape. “The potential energy (P.E.) of a body is the enetgy’it possesses due to its positionand isequal to the work done in rising it fom some datum level Thus the PLE, of a body of mass m ata height h above datum level is mgh. ‘The kinetic energy (K.E.) of a body is the energy it possesses due t0 its velocity. Ifa body of mass m attains a velocity © from rest in time ¢ under the influence of a force P and moves a distance s, then work done by P= Pxs ie KLE. of body = mfx v"/2/= mu? 3) ‘The strain energy of an elastic body isthe energy stored when the body is deformed. In the simple case of a body which is strained from its natural position, the relation between the deformation x and the straining force P is 2 straight line passing Uhough the origin, Fig. 18, and the work done is represented by the area of the triangle. Thus work done strain energy =ise as) Sr ae ie Inthemore pene on of bly nth ome nal onion eg. abe cprty wih inkl corrosion, the stain energy i reqreeccny Se 8 Oa rice the force-deformation graph, Fig. 19. It Py ithe eetey ee oen then strain energy = Pox+ 48x (as) Dynamics 7 Fo, 18 Fie 19 ‘The term Pox represents the additional work done by the initial spring force ‘moving through a distance x, 1.12 Principle of conservation of energy Energy can neither be created nor destroyed. It may exist in a variety of forms, such as mechanical, electrical or heat energy, but a loss of energy in any one form is always accompanied by an equivalent increase in another form. When work is done on a rigid body, the work is converted into kinetic or potential energy or is used in overcoming friction. Ifthe body iselastic, some of the work will also be stored as strain energy. 1.13 Principle of conservation of linear momentum. ‘The total momentum of a system of masses in any one direction remains constant unless acted upon by an external force in that direction. 1.14 Collision of bodies moving in a straight line When two bodies, moving in the same straight line, collide, each exerts an impulse on the ther, these impulses being equal in magnitude and oppesit in direction, Thus the changes in momenta of the two masses are equal and ‘poste, so that the total momentum before and after contact remains constant this accords with the principle of conservation of momentum Leta body of mass m,, moving with velocity 1 collide witha body of mass mma. moving with velocity 1 in the same straight line, Fig. 1.10 Fa 10 IF the bodies remain coupled together ater impact and move on with a cee ae uy tg uy = (my +m) (116) The loss of kinetic energy at impact i given by dim uF + $rmg ud —$ omy ma e™ aay Dhl gg ee)? 8 Mechanics of Machines If the bodies are completely inelastic, the energy is lost to the system, appearing mainly as heat energy, but if the bodies are partially or completely ‘haste, some orall of this energyis stored in the form of strain energy, suchas in butfer springs, and could be subsequently recovered. If the bodies move apart after collision with velocities v, and », respectively, which are assumed to be in the same direction, Fig. 1.11, then from the conservation of momentum, muy -tmaus = med Hmaes (148) oo o— Fi. Lil Ifthe bodies are perfectly clastic, ‘and so the kinetic energy after impact will be the same as that before impact, Amy uf + 4mgud = dmiof + dmao (1419) From equations 1.18 and 1.1 Thus, when two perfectly eistc bodies collide, the relative velosty of separation is equal to the relative velocity of approach but in the opposite ie. = (uu) (120) direction, If the two bodies are not perfectly elastic, there will always be some loss of ‘energy at impact and the relative velocity of separation will be less than the relative velocity of approach, The ratio of these relative velocities is called the coefficient of restitution and is denoted by e, so that nya = ~e(m 2) (121) ‘This is known as Newton's Law of Impact’ ‘The value of ¢ isconstant for any given pair of bodies, ranging from zero for completely inelastic impact to unity for perfectly elastic impact. 1.15 Moment of inertia Ifthe mass of every particle ofa body is multiplied by the square ofits distance ffoman an, thesummation Of these quantities for the whole body is termed the moment of inertia ofthe Body about the axis and is denoted by ‘The moment of neta ofa paricle of mass dm, Fig 112,ata distance tom ansuls through O perpendicular othe plane of the papers dn Hence the moment of inertia ofthe whole body about O, = fame a2) If the total mass of the body is m, this may be written J = mk2; & is termed oe Dynamics °9 the radius of gyration and is the radius at which the mass would have to be concentrated to give the same value of [ ‘The units of I are kem?, 1.16 Theorem of parallel axes ‘The moment of inertia of a body about any axis is equal to the moment of inertia of the body about a para lel axis through the centre of mass together with the product of the mass and the square ofthe distance between the exen Let fo be the moment of inertia of a body about an axis through the centre of mass G. Fig. 1-13 Its required to find the moment of inertia shout paral axis through O, which isa distance h from © Moment of inertia of particle about O. ame dm ++ yy) dmx +1? 4 2hy 453) = dine? +124 2hy} ‘Therefore the moment of inertia of the body about O, tom fame fom si fom fo + mh? + 2h x (total moment of the mass about XX) Since XX passes through the centre of mass G, the total moment of the mass about XX is zero. Hence Jo = Io+mht (123) Fig. 1.12 Fie. 113 1.17 Moments of inertia for common cases (2) Uniform dise or cylinder, radius r. about the central axis is mr?/2 and ihe respect (b) Hollow disc or cylinder, external and internal radii R and r espectvey. about the central axis is m(R? +r2)/2 10. Mechanics of Machines to Thin da. ado. about ameter is mf an = te) Thin dg ain 1 shat Spout an at GUE ne peg 6 Thi orm ro ne ata pate hoe one eng oa bc teeth toa aboot an ats ough ea ahem a rE : ae ederim «) perpendicul (0) Solid sphere, 1.18 Torque and angul Let the body shown in Fig, 114 rotate about an axis through O and let the angular acceleration produced by a torque T be 2. Then acceleration of particle of mass dm at radius force requited to accelerate particl torque required to accelerate particl dmal dma? total torque required to accelerate the bod j lamar? ie. T= lox = mia co Fo Lid Fo. 115 1.19 Angular momentum oF moment of momentum The angular momentum ofa body about its axis of rotation is the moment of linear momentum about that axis, If the body shown in Fig. 1.15 is rotating about an axis through © with angular velocity «, then velocity of particle of mass dm at radius ! = wl momentum of particle = dm wl “. moment of momentum of particle about O = dm cal” total moment of momentum of body about O = [dml? = bo (12s) Dynamics 1 1G is the centre of mass, then To = let mi? sothat omer of momentum about O = fou -+-mh Toot moh (1.26) je.theangular momentum about any axis O is equal to the angular momentum bout @ parallel axis through G, together with the moment of the linear momentum about O. ‘The units of linear and angular momentum are different, being kg m/s and ixgm?/s respectively, so that, for a body possessing both linear and angular momentum, these quantities are not additive, 1.20. Principle of conservation of angular momentum Thetotalangular momentum of system of massesabout any one axis remains constant unless acted upon by an external torque about that ais 1.21 Angular impulse The angular impulse ofa constant torque Tactng fora time is the product Te 1 during this time, the angular velocity changes from wy to ws, then Totowa) tt impulse of torque = change of angular momentum A torque which ats fora very shor time is referred toas an impulsive tongue The units of angular impulse are Nm or kgm?/s, 1 an impulsive force acts on a body, causing rotation, the angular momentum of the body about the line of action of the force, immediately before and after impact, remains unchanged, since the force has no moment About that line. (o:-0) (27) 122 Sudden meshing of rotating wheels. two rotating gear wheels or friction discs are suddenly meshed together Same impulsive force acts at the circumference of both wheels, but if the radi are different, the wheels are subjected to different impulsive torques and thus the changes in angular momentum of the wheels are different. The external impulsive torque causing the change in total momentum is supplied by the ‘actions at the bearings. When the wheels have equal radii, however, the Impulsive torques are equal and there it no change in the total angular Momentum, 123 Work done by a torque 4 constant torque T moves through an angle 0 work done = 79 Wthe torque varies linearly from zero to a maximum value T, work don: 12 Mechanics of Machines In the general case where T= f(0) work done -f 110)80 ‘The power developed by a torque TNm moving at w rad/s is given by UNT y power= Tw or ‘where 1 is the speed in rev/min 1.24 Angular kinetic energy Let a body rotate about O, Fig. 1.15, with an angular velocity «. Then dm oy KE. of particle of mass dm = S? (a) total angular KE of body = 5 fn = How" (12s) = Alo + mh)? =Hoo*tim? 129 1.25. Total K.E. and rate of change of K.E. 1F the centre of mass of a body is moving with linear velocity v and the body is also rotating about the centre of mass with angular velocity w, then total KE. = KE of translation + K.E. of rotation = me? + Ho? where 1 is the moment of inertia of the body about the centre of mass, Rate of change of KE. = & (Amo? + fla) onda = ime 420 foto =Po+ To (130) Work done in unit ime 1.26 Equivalent mass ofa rotating body Consider a body of mass m rotating about an ais through O, Fig, 116: et the produces an angular aceleration a then the equation of angalec notion of body is Px. lot = mk*f/r where fis the linear acceleration at radius r, “P= mikjry aan Dynamies 13 which isthe equation of linear motion of the body, assumed concentrated at a radi 7 : ‘The quantity m(K/r)is the equivalent mass ofthe body, referred tothe line «faction of P. In problems concerning both linear and angular accelerations, such as vehicle dynamics, this equivalent mass may be added to the actual ans inorder oobi the tal equivalent mass having ier acleaton only te or Fic. 116 Fro. 1.17 1.27. Acceleration of a geared system Lettwo gear wheels A and B, having moments of inertia I and Ig respectively, mesh with a speed ratio a»/0», = n, Fig. 1.17. Ifa torque Tis applied to whee! ‘A to accelerate the system and aq and ay are the accelerations of A and B respectively, then torque required on B to accelerate B = [yay = Ign, “torque required on A to accelerate B = n/a, since the torques are inversely proportional to the speds. Torque required on A to acelerate A = 1434 total torque required on A to accelerate A and B = In2a-+7"Tu2 ie T= Unt nly)ay (132) The quantity /4 + n?Ja may be regarded asthe equivalent moment of inertia of the pears referred to wheel A. This principle may be extended to-any number of wheels peared together, the moment of inertia of each whee! in the train being multiplied by the square of ts gear ratio relative tothe reference wheel. Thus in problems on hoists, the moments of inertia ofthe various gears may be reduced to an equivalent moment of inertia of the motor shaft ‘The above result can also be obtained from the general principle that the net energy supplied to a system in unit time is equal to the rate of change of its a 14 Mechanics of Machines kinetic energy (see Section 1.25). Thus d Toy = 5 (Wlawk +4 fod} ee Hate Io} xa ay Un+n? Ig} x 20n2 ie T= (IntrPla}2n This torque sin addition to any torque required on A to overcome extrny resisting torques applied to A andjor B. If Pis the tangential force between the teeth, then ie (133) a T=la% P= of A and B respectively. where ra and ry are the pitch circle radi 1.28 Equivalent dynamical system tis required to replace a rigid body by a dynamically equivalent system of concentrated masses. The necessary conditions are as follows: (1) The total mass must be the same in each case (2) The position of the centre of mass must be the same in each case. (3) The moment of inertia aboutan axis through the centre of mass must bethe same in each case, Thus, ifa body of mass mand radius of gyration k about its centre of mass is to be replaced by an equivalent two-mass system, Fig. 1.18, then mm: =m (34) ma = mb (135) ima? + mb? = mk? (136) From equations 1.34 and 1.35, 6 a mn aeam and m= 2 Substituting in equation 1.36 gives the essential condition forthe plc ‘masses ie. ab = k2. Either aor ban be chosen arbitrarily and the other term ‘obtained from this relation, bitrarily and the othe force available depends on whether the power is suppiy er all wheels. 'PPlicd to the rear, front o * See Section 1 Fic. 118 When a car is accelerating or hill-climbing, the rear wheel reaction is increased due to the inertia force and weight component down the slope and the front wheel reaction is correspondingly decreased. Thuis, in these cireurn- stances, the wheel grip is increased for rear wheel drives but reduced for front wheel drives Inthe case of four whee! drives, slipping would only occur simultaneously at the rear and front wheels if the wheel reactions were equal but, since these will vary with the acceleration and gradient of slope, ths situation is very unlikely to occur and the maximum friction force is governed by the limiting friction at the slipping wheels. Consider a vehicle of mass m accelerating up a gradient which is inclined at anangle of to the horizontal, Fig. 1.19. Let the tractive force be F.irespective of the type of drive, and the reactions tthe rear and front wheels be N, and N, respectively. Resolving forces perpendicular and parallel to the incline, Net N, = mg cos (37) and F = mg sind-+ mf (138) Taking moments about the centre of mass, G, Fh=Nb—Na (139) For rear wheel drives, Fen, For front wheel drives, Faun, Iu the case of four wheel drives the arrangement of the drive ensures that equal torques are applied to the rat and front wheels, so thatthe tractive force atthe rear and front axle are equal. From equations 137, 138 and 1.39, itis possible to determine which whecls will rach their limiting adhesion fist If Ny * Nie the front wheels wll sip first, giving limiting friction force of wN, and since he same torque saplied to the rear wheel, the total accelerating forces HN, a aE PRES 16 Mechanics of Machines Similarly, if N, < Ng the rear wheels will slip frst, jn which case F=2uN, 1.20, Maximum retardation of vehicles The analysis of the maximum retardation is identical with that for the aancimum aeoeleration, except that F is now the braking force instead ofthe ovelerating force and, consequently, acts in the opposite direction sThabrakee are normally applied toa four wheels and, ifthey were arranged toapply equal braking torquesat the rea and front, the teatment would be the sear that for the four wheel drive considered in Section 1.29. If, however, the brakes are designed so that the rear and front wheels will skip simul tancously, the braking force can be increased to F = a(N+ Nj) = mg cos dynamics Example 1.1 The velocity of a train traveling at 100 km/h decreases by 10 pee cent in the first 40° after application of the brakes. {2) Calculate the velocity atthe end ofa further 80 s, assuming that, during the whole period of 120, the retardation is proportional to the velocity. {b) Derive an expression for the retarding force in N/tonne mass ofthe trai, {c) Find the power being dissipated at the end of the whole period, ifthe train has a mass of $00 tonnes, (U. Lond) Examples: genes Solution ia) Since the retardation is proportional to the velocity, de ston where kis a constant ¢ here kis a constant ic Inv= -ke+€ When ¢ so that Jn (e/100) = —ke or = 100e"# When ¢= 40s. ¢= 09% 100 = 90 km/h k= 0002635 Therefore, when t = 1205, 100¢-#92895.120 = 799 kay o > P= mf = 10% where vis in m/s Dyaamies 17 (e) At the end of 1205, total retarding force 500 x 2.635 x 729 x 10/3600 = 25-7 x 10° N 5:7 x 10° x 72.9 x 10°/3600 W = 520 kW. power Example 1.2. Cylinder A in Fig. 120 moves towards cylinder B ata speed of ‘7'm/s along a frictionless rod. Cylinder B is attached to a spring of negligible mass which is undeformed in the position shown. If the coefficient of restitution is 09, whatis the maximum deflection of the spring, given that the masses of A and B,mgand mg, are 5 kgand 20 kg respectively, and the stiffness of the spring, S, is 2000 N/m? (U. Lond) a) . Fo, 1.20 Solution If the initial velocities of A and B are uy and ug respectively, with velocities immediately after impact of rq and rp, then, since the total momentum remains constant, imyun + mata = maug +m from equation 1.18 ie. 50q+20em = 5 x7+20x0 or vy t4eg= 7 a Also. tate = ~elua—up) from equation 1.20, = -09(7-0) -63 @ Hence, from equations (1) and (2) ty = 266 m/s ‘When B comes to rest, the energy stored in the spring is equal to the loss of| kinetic energy of B, ie 4S = mgr’, ie, 2000.x7 = 20x 266% from which x = 0266 m = 266mm Example 1.3 Show that the efficiency of a pile driver (ie. useful work done in riving pile initial energy of monkey), when employed for driving a given size of ple increases with the mass of the monkey, assuming no rebound from the head of the pile A pile of mass $00 bgis driven by a monkey of mass 800 ke falling a distance 18 Mechanies of Machines ution Let my = mass of monkey mass of pi Yelocity of the monkey just before impact ‘comnmon velocity of the monkey and pile after impact height above the pile from which the menkey falls penetration of the pile R = resistance of the ground ‘The monkey must be raised back to its initial position after each blow and the energy input isthe potential energy of the monkey in its highest position, ie ‘mh ot 4m, v}, neglecting the effect of the distance penetrated at each blow. ‘Ac impact, the monkey and pile move on together with a common velocity Which is obtained by equating the momenta before and after impact, os tm q The kinetic energy of the monkey and pile moving with this common ‘elocity, together with the potential energy lost when descending a distance x, is equal to the work done against the resistance R, ie Hm, +mg)0 + (my + mz)gx = Rx If the potential energy term is neglected, then Rx= fm +m) a The efciency, 1, is given by useful work done Imel from equation @) Substituting for v from equation (1) met my Which increases with m, Note that this expression is approximate since (a) the efficiency varies at each blow as the height to which the monkey bus to be raed increases and (0) HE ‘potential energy term, (m, +m,)gx, has been ignored, Dynaniies 19 In this ea my = 800 kg im, = S00kg and 8) = Rah = 2 x 981 x3) = 267 m/s Therefore, from equation (1), 800 =p * 167 = 472 m/s and work done by R= Rx =4(m, +m,)o® +(m, +m,)9x of, substituting, Rx 0.006 = 1 1300 « 4722 + 1300 x 9:81 x 0006 = 14480477 14557N R= 243 MN Energy expended in deforming the head initial K.E. of monkey ~ K.E. of monkey and pile after impact = 4x 800 x 74672-14480 = 90S KI ‘Note that the loss of potential energy of the monkey and pile inthis example js negligible, which justifies the derivation of the formula for ficiency. However, in eases where the penetration i larger in comparison with the drop of the hammer, the loss of potential energy is appreciable and must be taken into account. Example 14 Figure 1.21 shows a tilt hammer, hinged at O, with itshead A resting on top of the pile B. The hammer, including the arm OA, has amass of ni 2) Mechanics of Machines 25 kg scene of mass G i 400 mm horizontally from. and its agg Eatonabatanatiroughe pall otheansol hepa mm 1 Plc has a mass of 135 kg. The hummer is rised through 431g yen ‘shown in dotted lines, and released. On striking the pile there is no oun, Find the angulr velocity of te hammer immediately bor impact gag linear velocity of the pile immediately after impact. Neglect arp impulse resistance offered by the earth into which the pile is being driver Soluion Bagi bebe angular velocity of OA before impact be the angular ely of OA after impact, and » be the initial velocity of pile alter impact Moment of inertia of hammer about © = mk er ST 25175444004) or 14 kam? Potential energy in raised position = kinetic energy in lowest position from which : o, Neglecting the impulsive resistance of the earth, the total moment of omentum of the system about O is constant, the impulsive reaction of Gg hinge having no moment about that point, ie inital moment of momentum about O inal moment of momentum atout O ie 414579 = 4:14 x05 +135 x 0% 045 But since the hammer and pile remain in contact after impact, v= 0-4Sco, Ma 414 x0; + 135 x (04504) x 045 “. @; = 0762 rad/s 2 = 0762x045 343 m/s Solution Mass of hammer = 15 «103/981 = 1529 kg Mas of pile = 76x 650/981 = 5036 kg The velocity of the hammer at impact is given by 4 = J2x981 x5) = 9.9 mis Dynamics 21 Ithe velocities of the hammer vy respectively, the total anon Also, * and pile immediately after impact are », and ‘nlum remains constant, 1529 x99 = 15295, +50360, “ 0-02 = elu, =u) 0509-0) Hence, from equations (1) and (2), from equation 1.20 495 Q 2 = MT m/s initial speed 0'6 m/s, in the same direction, Find: (a) the common speed when moving together ducing impa Kinetic energy then lost to the system and the compression of ecch butler spring to store this, and (c) the velocity of each truck on separation ifonly half of the ‘energy stored in the springs is returned. (L Mech. E.) Solution (2) Momentum before impact = momentum at instant of common velocity ie, 10x 18+ 1506 = 250 © common velocity, » = 108 m/s () KE. lost $10 x 18") +4(15 x 064) —1(25 x L08")) x 10" =508 oF a3SH) ree eeneen er aa cee sinineneay sod nme, ee ein E. lost in impact, ie 4 0557 m of 57mm (c) Final K-E. after separation = K.E. at instant of common velocity +4 strain energy stored in springs Be. $0 « 10? of) + 41S « 10? x 0) = $125 2 10 x 1-08) +4 x 4350 ie. 100} + 150} = 3355 w DO TgSEa sens 22° Mechanics of Machines where vy andr, are the final velocities of the 10- and 1Stonne truck, respectively . Also, the initial and final momenta must be the same, ie 100, +150 = 25% 108 = 27 Therefore, from equations (1) and (2) O6m/s and vz = 14 m/s oy Example 1.7. Two parallel shaftscan be connected by a gear whee of 65 ay radivs sliding on one shaft A to engage wth a whee! of 130 rim radius fed the’ other shaft B. Before engagement the shaft speeds of A and fh respectively 1400 rev/min and 900 rev/min in opposite directions Ifthe ines of A isequivalentto9 kgat 75 mm radiusand that of Bis equivalent to sore 130 mm radius, calculate the speed of A after engagement etd the tangeraa impulse measured in N's, experienced at the wheel teeth. (I Mach Ey Fo, 1.22 Solution Referring to Fig. 1.22, 1, = 9 0075? = 0.0506 kgm? Ty = 36% 0:13? © 0608 kgm? Let n, and n, be the initial and final speeds ofA in rev/min, N and N, be the initial and final speeds of Bin rev/min, and X be the tangentialimpulse betwee" the teeth. ‘Then X acts so as to increase the speed of A and decrease the speed of B ‘Angular impulse = change of angular momentum 2e ie, Xrq= Inlay —ny) x 2% i) and Xr Wi -Ny) Dynamies 23 6s Also -a oa ‘Therefore, from equations (3) and (4), ns (4) the speed of A after engagement, a= 1700 rev/min Substituting in equation (1), 68x = 005700 — 1400) x 2% + X= 2445s Fi 123 Solution Referring to Fig. 1.23, let w, and wy be the angular velocities of the beam immediately before and after impact, and vy and vy immediately before and after impact. In falling from the vertical position, be the linear velocities of G loss of PE. = gain of KE. ie img 3 (0 ~cos0) = 4 ly , a= |(u-con) i 24 Mechaniesof Machines - es mmgacosd = Hew} =Am( 73-40" od 24ga cos 0 = P+ 12a? Q During impact, the moment of momentum of the beam about C remains ‘constant since the impulsive force at C has no moment about that point, ie «Loe, —eya = foo; tea taking clockwise momentum as positive. ! But ears and aera eB esa mm fey ~My 5 = mata bred Substituting for a, and 0, from equations (1) and (2), (i-#) J(fe--0»)= (are) Coa") Example 1.9 Two uniform slender bars AB and BC are pin-jointed at B and BC is pinned toa frame at C,as shown in Fig. 1.24. Bar ABis 4 m longand hasa ‘mass of 60 kg; bar BC is 2m long and has a mass of 30 kg. Ifa horizontal impulse of F = 180 N sis applied to A as shown over sucha short period of time that the bars ean be considered not to move during the impulse, calculate the angular velocities of the two bars immediately after the impulse. (U, Lond) 6 mand a = 06m, cos “eight of step, h = 36 cos Therefore, when Fo. 1.24 Fig, 1.25 Solution Let the linear velocities of the centres of AB and BC be V and v respective Fig. 1.25, with corresponding angular velocities © and «. It will be assumed Dynamies 25 that bo ‘gular velocities are in an anticlockwise direction. If the impulsive Fesction at Bis Rthis will be to the right on BC to produce the angular velocity 19 and in the opposite direction (ie. tothe let) om BA For AR, angular impulse = change of angular momentum ie Fxé=na ic 180 x4 = 2x4 3 + = 225 rad/s The Velocity of B willbe twice that of the centre of BC, so that V-20=042= 45 ad/s Hence va45420 Impulse = change of linear momentum ie F-R=mv ic 180 —R = 60485 +20) = 27041200 ic = 1200-90 = =1200-90 ‘angular impulse = change of angular momentum ie Rx2=Kcw 302? ie = 1204) —90) 0 1200-90) 7 from which © = —0643 rad/s The rotation of BC is therefore in the opposite ditection to that initially Example 1.10 A railway truck of mass 20 tonnes, moving at 6S km/h, is brought to rest by a buffer stop. The buffer exerts a force of 22'5 KN initially, and this force increases uniformly by 60 kN for each 1 m compression of the bulfer. Neglecting any loss of energy at impact, find the maximum compression Of the bufler and the time required for the truck to be brought to rest. (U. Lond) Solwion When the bulfer is compressed a distance x m, restoring force = 22-5-+ 60x kN 2 oa = (225+ 60x) x 10? = —20 x 109 ~4 SS 26 Mechanics of Machines Oa seu 112s ie ‘The solution is* cos 1 7324+ B sin 17321-0375 When =0,x=0 0=A-0375 ie A= 0375 ‘When ¢ = 0, dx/dt = (65 x 103)/3600 = 1-805 m/s Sis 1720 in B= t00 = OMS cos} 7821-1 On 7321-031 wd 5 « -o68sin 7314 00:71 Wen he sh i out rt t= 0 : besa 30 = 188 co ie tanta = 28 tom hick ‘momma The maximum compression of the buffer is given by % = 0375 cos (1-732 x 0-707) + 1.042 sin (1-732 x 0-707) —0375 = 073m Example 1-11 A frictionless flexible chain, of total length 3 m, hangs overt edge of table by 1 m and is held in that position, Determine the time taken for the chain to just slide off the table ira (. Lond) Solution Let m be the mass of the chain per unit length, Fig. 1.26, When a length xm has slid off the table, eae maa 2)= aa ee ie. qratx=30 Fro, 1.26 * See the Appendix, Dynamics 27 The solution is* x= Acosh 1810+ B sinh 1811-1 When 1 =0,x=0 SO=A-1 iA When f= 0, dx/dr = 0 - O=181B B=0 = x= 1(cosh 18101) When x= 2m, 2=1(cosh 1817-1) from which = 09725, Alernative Solution If the chain moves a distance dx from the position shown, work done = loss of PE, = mg( +x)dx em(o+2)c total work done for a movement x = f gil +x)dx = 1805 J@x4x7) i Jearxy > ax t fi Tal J(@+iF—P} oak O4 NE = ypleosn tot DE We rcoth=" 3 cock? = jgyleosh“" 3 cosh" 1] 1 = pp X1615 = 09728 * See te Appendix. PR eSsiiceicacaneinccancaconeasacnecaoinaaaccicccammicacceicaccne ean, 28 Mechanics of Machines Example 1.12 Anclectric motor drives a machine through a speed-reducng gear of ratio 9:1. The motor armature, with its shaft and gear whee ee moment of inertia 0-5 kgm?. The rotating part of the driven machine ha, moment of inertia 40kgm?, The driven machine has a constant resistny torque of 100 Nm and the efficiency of the reduction gear is 95 per cen, {a) What power must the motor develop to drive the machine at a uniform speed of 160 rev/min? (b) The torque developed on the motor armature, in starting from res, 30 Nm. What time will be required for the speed of the machine to increwe {rom zer0 to 60 rev/min? (©) Ifthe gear ratio were altered so as to give the machine the greatest posse angular acceleration in starting from rest, what would then be the gear rato! The starting torque of the motor is 30 Nm as before, (U. Lond) Solution opt power _ 2% 100% 160 ” Input power = MPU power _ 2a 100% 160 76S" or 17654 (&) Let A and Brefer othe input and output shai especsvey, and pear rat alin = Torque avilable at gearbox = 20 fazu = 30-05 na Nm (60-05 na) x0 095 28-5n—0475n%24Nm torque available at machin: The equation of motion of the mac! 28'Sn—O475n? from which When (c) For maximum acceleration, dag/dn (404047512) x 285 = (285 ~100) x 095, ie. m-Tn-84=0 from which n= 1332, ie ind nor ator Example 1.13 A ventilating fan is driven by an electric motor a in fro operates at a constant speed of 600 rev/min, with the motor delivering ‘0f 400 Nm. Determine the time required for the fan to reach S40 revi r,t Dynamics 29 rest, assuming that the resisting torque of the fan is proportional to the square of the speed and that the motor torque is constant. The moment of inertia of the fan and other rotating parts is 12 kg m?. (CEL) Solution ‘Ata constant speed of 600 rev/min, the motor torque is competely absorbed in overcoming the resisting torque, 2 ie 400 = & (600 « 2 where k is a constant (ome from which ke L Ata speed of «, accelerating torque ~ driving torque ~ resisting torque 400-4 ® o do Hence 400-2 = = 125 gia Dido __ 2 do bi © 400x? =a? © (20)? a? nef ie io 12n? [202-40] Gx |" 20r-0 |, 38x _ |, 20% oar[n 382-35] = 03nin19 ie 2718s Example 1.14 A cord is wound round the inner drum, radius 0-1 m, of a ‘cylindrical spool of outer radius 0-15 m and is pulled horizontally by a force of 300 N, Fig. 127. The mass of the spool is 50 kg and the radius of gyration about its axis is 012 m. Ifthe spool is supported on a rough hcrizontal surface, determine the minimum coefficient of friction, u, between the spool and surface for the spool to roll without slip. If = 02, calculate the acceleration of the centre of the spool and its angular acceleration (U. Lond.) Soluion ‘Assuming that the spool rolls without slip to the right, the linear acceleration f and the angular acceleration a are as shown in Fig. 1.28 and the friction force is to the left, 30° Mechanies of Machines Coy oe canal F . 200" Fra. 127 Fro, 1.28 ‘Then, for the linear motion, 200-F = sof a and, for the angular motion, F x 015-200 x 01 = $0x 0122 a I the spo! rolls without slip, a= ff01s and so equation (2) reduces to 3F 400 = 96/ ° From equations (1) and (3), F=193N This is the mi wum value of the friction force for no slipping and, sinc: F = uW, the minimum value of pis given by b= 1593/(50x981) = 0325 When = 02, the spool slips and a 4/015. F =02%50x981 = 981N Hence f= 204 m/s? from equation (!) and a= =73 rad/s? from equation 2 These values show that f is still to the right but the angular acceleration now anticlockwise Example 118 sli tll of adver, having an angular velociy and translational yelsity placed on a rough, inclined plane of ask & 24

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