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Dynamics Full Version PDF
Dynamics Full Version PDF
th
(Meriam and Kraige, 7 Ed. ,2013)
Chapter 1. Introduction
Statics
Dynamics
Engineering Mechanics Strength of Materials
Vibration
Statics: (Fa+ Fr ) = 0 ,distribution of reaction force Fr from the applied
force Fa
Terms to Know
‧Reference frame: Coordinate system
2
Chap. 2 Kinematics of Particles
Rectangular Coordinates r ( x, y, z )
Cylindrical Coordinates r (r , , z )
Spherical Coordinates r ( R, , )
3
Displacement, Velocity, and Acceleration
s t
2 2
ds vdt
s t
1 1
v t
2 2
dv adt
v t
1 1
x t t t
2
dx
2
xdt
2
)dt
( 2 xdt
x t t t
1 1 1 1
4
Velocity and Acceleration Vector
dr dr
r v
r a
dt dt
5
Rectangular Coordinates
r
r xi yj zk x x
x
r xi yj zk r y r y r
y
r
xi
yj
zk z z
z
6
Centrifugal and Tangential Acceleration
dr
r v v et vet
dt
Time derivative of a vector
dr
r
dt
vet ve t
v
vet v en
: radius of curvature
7
Time Derivative of the Unit Vectors
in Polar (Cylindrical) Coordinates (2D)
de r
e
d
de
e r
d
de r d de r
e r e
dt dt d
de d de
e e r
dt dt d
8
Cylindrical Coordinates (3D)
r re r ze z
r re r re r ze z ze z
rer re ze z
re r re r re re re
r ze z
r r 2 )e r ( r 2r)e
( ze z
9
Spherical Coordinates
r Re r
r R e Re
r r
ω e z e
sin e r cos e e
sin e r e cos e
e r ω e r
o e cos e
r R e r R cos e Re
10
Velocity and acceleration in
Spherical Coordinates
r v v e v e v e
R R
v R
R
v R cos
v R
r aa e a e a e
R R
cos d sin
a
R 2 R
2
R dt
1 d
a
R R sin cos
2 2
R dt
11
Chap.3 Kinetics of Particles
3.1 Force, Mass, and Acceleration
3.2 Work and Energy
3.3 Impulse and Momentum
3.4 Impact and Orbital Mechanics
a dt
3
0 1.257 dt
0
3.77 m s
13 Engineering Mechanics Dynamics -- IAA
Sample 3/3
The 250-lb concrete block A is released from rest in the position shown and
pulls the 400-lb log up the 30° ramp. If the coefficient of kinetic friction
between the log and the ramp is 0.5, determine the velocity of the block as it
hits the ground at B.
2 x1 y2 constant x1 x2
Fx max
2B sin30 B sin30 mx
Fy 0
2B cos30 B cos30 mg my 0
g
Eliminate B and get
xa
3 3
g L
F ma 0 d
b L
[ x (1 ) L ]dx
T g ( L x) ( L x)a
1 2 g x2
gx T xa [ (1 ) Lx]bL
2 L 2
Eliminate T to obtain: Substitute b and simplify:
g
a
x [ x(1 ) L]
L gL
d
xdx 1
xg L x g Lx
xg g L x Lx
g
x x 1 L
L
g 1
x x g
L
t 2 2 g 1
x e , a 0 a
L
at at L
x c1e c2e
1
21 Engineering Mechanics Dynamics -- IAA
Curvilinear Motion in Polar
Coordinates
F mr
Fr r r 2
F m
r 2r
r re r ze z
r re r re r ze z ze z
re r re ze z
re r re r re re re
r ze z
r r 2 )e r (r 2r)e
( ze z
22 Engineering Mechanics Dynamics -- IAA
Sample 3/10
Tube A rotates about the vertical O-axis
with a constant angular rate and
contains a small cylindrical plug B if mass
m whose radial position is controlled by
the cord wound around the drum of
radius b. Determine the tension T in the
cord and the horizontal force Fθ exerted
by tube on the plug if the constant angular
rate of rotation of the drum is ω0 first in
the direction for case (a) and second in
the direction for case (b). Neglect friction.
Loss of contact at A: N A 0
mg mg θt 2
FB
Fr m r
tθ
FA 2
NB NA 0 mg cos30 m
2.4
30 rn 4.52 m/s
nr
30 30
T1 T1
Equilibrium:
mg
F 0 T1 mg
30 n
Motion:
Fn man 0 T2 mg sin 30 0 T2
T2 mg sin 30
k 0.5
T1 mg
w try using x-y coordinates mg 30 t
25 Engineering Mechanics Dynamics -- IAA
A small bead of mass m is carried by a circular hoop of radius r which
rotates about a fixed vertical axis. Show how one might determine
the angular speed ω of the hoop by observing the angle θ which
locates the bead. Neglect friction in your analysis.
Fy 0
N cos mg 0
N mg / cos
r
F m(
r r 2
)
y
r N sin m(r sin ) 2
mg
( )sin mr sin 2
n cos
N
g
mg
r cos
g
Note that cos 2
1
r
g
2 is a restriction.
r
2 02 2 gR (1 cos )
2
Fr mar , mg cos N m R
02
mg N mg cos m 2mg (1 cos )
0 R
02
mg (3cos 2 )
R N θ gR
t 02 02
1 2
When N 0, so 3cos 2 cos ( )
gR 3 3gR
n 2
For 0 0, cos 1 ( ) 48.2
3
28 Engineering Mechanics Dynamics -- IAA
3.2 Work and Energy
Work and Kinetic Energy
U F T dr
m
r T dr
mr T dr
1
mr T r
2
2 Gme m
2
U12 F dr 2
e r dre r
1 1 r
r2 dr
Gme m 2
r1 r
1 1
Gme m( )
r2 r1
1 1
mgR 2 ( )
r2 r1
V F T dr
GMm
2
dr
r
mgR 2
2 dr
r
V F T dr mgR 2
r2
mgdy r r1
mgh
T W V 0
V W T
‧Kinetic energy
dU FT dr dr
‧Power P= FT FT r
dt dt dt
i j k
x y z
F V
r2
F dt m
r dt md
r mr |r1 G
The 1.62-oz golf ball is struck by the five-iron and acquires the velocity shown in a
time period of 0.001 sec. Determine the magnitude R of the average force exerted
by the club on the ball. What acceleration magnitude ɑ does this force cause, and
what is the distance d over which the launch velocity is achieved, assuming
constant acceleration?
mg 0 150 ft / sec
25
1.62/16
RT m : R(0.001)= (150) , R =472 lb
32.2
1.62/16
R ma : 472= a , a 150,000 ft / sec2 (4660 g )
32.2
2 02 2ad : 1502 02 2(150,000)d , d 0.075 ft or 0.900in
38 Engineering Mechanics Dynamics -- IAA
Angular Impulse and Momentum
H O r mv
HO r mv
m(vz y vy z)i m(vx z vz x) j m(vy x vx y)k
i j k H x m(vz y vy z)
HO x y z H y m(vx z vz x)
vx vy vz H z m(vy x vx y)
(HO ) A (HO )B
mrA A mrB B
B 59 200 m/s
The two spheres of equal mass m are able to slide along the horizontal rotating
rod. If they are initially latched in position a distance r from the rotating axis with
the assembly rotating freely with an angular velocity ω0 , determine the new
angular velocity ω after the spheres are released and finally assume positions
at the ends of the rod at a radial distance of 2r. Also find the fraction n of the
initial kinetic energy of the system which is lost. Neglect the small mass of the
rod and shaft.
t
Fr dt m1[1' (0 )] 0' 1
t0
e t0
Fd dt m2[0 (1 )] 1 0
0
t
Fr dt m2 (2' 0 ) 2' 0
t0
e t0
Fd dt m2 (0 2 ) 0 2
0
m1 (1 )t m1 (1' )t
m2 (2 )t m2 (2' )t
mgh mgh'
n
mgh
2100 1100
2100
47.6%
51 Engineering Mechanics Dynamics -- IAA
Central-Force Motion
F mr
Gmm0 2
r2
r r
r 2r
0
mr 2 h
1 Gm
C cos 2 0
r h
F ma 0
F mr 0 mr inertia force
G miri
mi (rc ρ i )
d
mirc ( miρi )
dt
mrc
ri rc ρi
ri rc ρ i
1
T mi riT ri
2
1
(mircT rc 2mircT ρ i miρ Tiρ i )
2
1 T 1
mrc rc miρ iT ρ i
2 2
fig_04_003
O ri Fi
MO
ρi mi (rc ρ i ) ρi Fi
(ρi mirc ρi mi ρ i ) MG
(ρi miρ i )
58 Engineering Mechanics Dynamics -- IAA
problem 04/22
m0
B A
p_04_020 C
With respect to C,mi xi constant
l l
m1l m2 (0) m0 m1(s l x1) m2 (s x2 ) m0 (s )
2 2
m x m2 x2
Simplify and get s 1 1
m0 m1 m2
(m m2 ) x1 m2l
But they meet whenx2 x1 l so s 1
m0 m1 m2
59 Engineering Mechanics Dynamics -- IAA
Sample 4/4
A shell with a mass of 20 kg is fired from
point O, with a velocity u = 300 m/s in the
vertical x-z plane at the inclination shown.
When it reaches the top of its trajectory at P,
it explodes into three fragments A, B, and C.
Immediately after the explosion, fragment A
is observed to rise vertically a distance of 500
m above P, and fragment B is seen to have a
horizontal velocity vB and eventually lands at
point Q. When recovered, the masses of the
sp_04_03_01
fragments A, B, and C are found to be 5, 9,
and 6 kg, respectively. Calculate the velocity
which fragment C has immediately after the
explosion. Neglect atmosphere resistance.
[G1 G2 ] mv mAv A mB vB mC vC
sp_04_03_01
3
20(300)( )i 5(99.0k) 9(163.5)(i cos45 jsin 45 ) 6vC
5
6vC 2560i 1040j 495k
vC 427i 173.4j 82.5k m/s
C (427)2 (173.4)2 (82.5)2 468m/s
61 Engineering Mechanics Dynamics -- IAA
Steady Mass Flow
1 A11 2 A22 m
G (m)v2 (m)v1 m(v2 v1 )
F mv
62 Engineering Mechanics Dynamics -- IAA
problem 04/35
The jet aircraft has a mass of 4.6 Mg and a drag (air
resistance) of 32 kN at a speed of 1000 km/h at a particular
altitude. The aircraft consumes air at the rate of 106 kg/s
through its intake scoop and uses fuel at the rate of 4 kg/s.
If the exhaust has a rearward velocity of 680 m/s relative to
the exhaust nozzle, determine the maximum angle of
elevation at which the jet can fly with a constant speed of
1000 km/h at the particular altitude in question.
F mu
With reversers in place
TR mg u sin30 ma
(50 0.65)(650)sin30 50(55.6 0)
16460 2780 19240 N
Without reversers
30 650 m/s
T mg u ma
TR x (50 0.65)650 50(55.6)
32900 2780 30100 N
19240
30 so n 0.638
650 m/s 200/3.6 55.6 m/s 30100
65 Engineering Mechanics Dynamics -- IAA
Variable Mass system
R m( 0 ) mu
F R m
F m mu
mu pA mg R m
m
u ln 0 gt
m
let mb:mass of rocket when burnout occurs
tb (mb m0 )/ m
m0 g
max u ln (m0 mb )
mb m
68 Engineering Mechanics Dynamics -- IAA
Sample 4/12
A rocket of initial total mass m0 is fired vertically with constant acceleration until the fuel
is exhausted. The relative nozzle velocity of the exhaust gas has a constant value u at
atmospheric pressure throughout the flight. If the residual mass of the rocket structure
and machinery is mb when burnout occurs, determine the expression for the maximum
velocity reached by the rocket. Neglect atmospheric resistance and the variation of
gravity with altitude.
fig_05_001
fig_05_00
4
displacement r
velocity r ω r
acceleration r ω (ω r) ω r
71 Engineering Mechanics Dynamics -- IAA
Sample 5/3
The right-angle bar rotates
clockwise with an angular
acceleration
4k rad/s2
Write the vector expressions for the
velocity and acceleration of point A when
2k rad/s
sp_05_03_01
v A vO v A/O vO ω r0
ω = -10k rad/ s
r0 0.2(i cos30 jsin30 ) 0.1732i 0.1j m
vO 3i m/ s
i j k
v A 3i 0 0 10 3i 1.732j i
0.1732 0.1 0
sp_05_07_0
1
4i 1.732j m/s
[ / r]
O / OC 3 / 0.300 10 rad / s
[ r]
A AC 0.436(10) 4.36 m/s
3 3
r 1k 100j ( k ) ( k 100j) 2k (175i 50j)
7 7
6 6
( )k [( k) (175i 50j)] 0 2k (2k [75i])
7 7
A 65.4
A 67.3 ft /sec
sin78.0 sin72.0
A/ B 65.4
A/ B 34.4 ft /sec
sin30 sin72.0
sp_05_09_01
v A vB v A/ B A/ B 34.4
[ / r ] AB 29.5 rad /sec
AB 14/12
[ r]
vG v B vG / B
5 1500(2 )
B 65.4 ft / sec
12 60 GB 4
5 14 G / B GBAB A/ B (34.4) 9.83 ft / sec
AB 14
sin sin60 G 64.1ft /sec
sin1 0.309 18.02
79 Engineering Mechanics Dynamics -- IAA
y Sample 5/9
r2 r1
r x r r1 r2
sp_05_09_01 r ω1 r1 ω2 r2
r ω 1 r1 ω1 (ω1 r1 )
ω 2 r2 ω2 (ω2 r2 )
5 1500[2 ] 2
aB ( ) [ at / r]
12 60
2
[an r2 ] A/ B 9030/(14/12) ft /sec2 7740 rad/sec2
10280 ft / sec
14 A 3310 ft / sec2 ( A/ B )t 9030 ft /sec2
(aA/ B )n (29.5)2
12
1015 ft / sec2
81 Engineering Mechanics Dynamics -- IAA
General Motion: Rotation + Translation
fig_05_005
fig_05_006
fig_05_007
Coriolis Acceleration
rA
fig_05_011
rA rB ρ
rA rB ω ρ+ ρ rA rB ω ω ρ ω ρ ρ+
2ω ρ
rA rB ω ω ρ ω ρ ω ρ+
ω ρ+
ρ
rB ω ω ρ ω ρ+ 2ω ρ ρ
Coriolis acceleration
84 Engineering Mechanics Dynamics -- IAA
Sample 5/16
The motion of slider A is separately controlled, and at this
2
instant, r = 6 in., r =5 in./sec, and r =81 in./sec . Determine the
absolute velocity and acceleration of A for this position.
y v A ρ ρ
v A 4k 6i 5i 24j 5i in./sec
A (24)2 (5)2 24.5 in./sec
a A ( ρ) ρ 2 ρ
ρ
( ρ) 4k (4k 6i) 4k 24j 961 in./sec2
x ρ 10k 6i 60j in./sec2
sp_05_16_01
2 ρ 2(4k) 5i 40j in./sec2
ρ 81i in./sec2
a A (81 96)i (40 60) j 15i 20j in./sec2
aA (15)2 (20)2 25 in./sec2
85 Engineering Mechanics Dynamics -- IAA
With and without Body-Fixed Coordinate
displacement r
velocity r ω r
acceleration r ω (ω r) ω r
86 Engineering Mechanics Dynamics -- IAA
problem 05/163
A vehicle A travels with constant speed v along a
north-south track. Determine the Coriolis
acceleration aCor as a function of the latitude θ at (a)
the equator and (b) the north pole.
z ( sin j cos k)
acor 2
A
2k ( sin j cos k)
y 2 sin i (west)
B
For 500 km/h
F mrG
M H
G G
Iω
F mrc
MG Iω
MP H ρ mr
G C
ρ mrC
I Gω
I Pω ρ mrP
if rP 0, P is fixed
I Oω
I Pω
FA
NA
when tipping impends N A mg
F mrC
MG IGω
or
MO IO ko
F -F RX mx
mg RY my
F h I
O
h y 0
mg 1
x
2
RX 2
h
3
RY
The 20-kg uniform steel plate is freely hinged about the z-axis as
shown. Calculate the force supported by each of the bearings at A
and B an instant after the plate is released from rest in the
horizontal y-z plane.
MO IO
1
20(9.81)(0.2) 20(0.4)2
3
36.8rad/s2
x r
2F
x 0.2 36.8 7.36m/s2
0.2m G 0.2m
Fx mx
O
20(9.81) 2F 20(7.36)
20(9.81) N
1
2F 49.0 mg
4
t FA FB F 24.5N
94 Engineering Mechanics Dynamics -- IAA
problem 06/38
O mg / 2
O O 1 2
(b) O OM I
mgr ( mr mr 2 )
2
r G
2g / 3r
r G O
O
2g
y Fy my mg O mr( 3r
)
mg mg
O mg / 3
A MO I I 0 M 0
mg Hence no friction force and s 0
G
g
r x x
F ma mg sin mr A A sin
r
x
N
M A I mad
mgb 1 2 b b
mb m
2 6 2 2
3g
C 4b
T
MG I
A 45 b 1 2 3g
T mb ( )
r I 2 6 4b
G b 2 2
m(aG / A )t T mg (12)(9.81) 20.8 N
8 8
mg maA
r
b
1
T m 2
2
1
T IO2
2
1 1
T m 2 IC 2
2 2
A
U T
mg U mgx sin
x 1 1
T m 2 I 2
2 2
1
case A: T m 2 0
2
B 1 1
case B: T m 2 mr 2 ( )2 m 2
2 2 r
mg 1
case A: mgx sin m 2 A 2gx sin
x 2
case B: mgx sin m 2 B gx sin
T1 V12 T2
l 1 1 l
mg x ml 2 m( x)2 2
l 2 2 12 2
g( x)
2 2 2 d2
set 0 obtain x 0.789l or x 0.211l
l lx x2 dx
6 2 2
l
g( 0.211l )
2 g The solution x 0.789l
max x0.211 2 1.861
l 0.211l 2 (0.211l)2 l would yield the same max
only then the motion is CCW.
6 2 2
105 Engineering Mechanics Dynamics -- IAA
Linear Momentum Angular Momentum
HO IO
MO H O
t2
(HO )1 MOdt (HO )2
F G
t1
t2
G1 Fdt G2
t1
g c2
1 2( (1 2 )( b2 c2 b)
3 b
1 2 1 2 2
E 2 m1 I O2 2 2
k 2
b c 2
3b 3
n 2 1 O 2 2 b2 c2 1
1 2 2 2
E m1 1 3 2(b c ) c2
2 41 2
n 62.5% b c b
108 Engineering Mechanics Dynamics -- IAA
problem 06/188
t
0 Fydt m(y y ) 0 N mg cos
0 y
t
0 Fxdt m(x x )
0
x
(k mg cos mg sin )t m( 0 ) (1)
t mg
0 MGdt I ( 0 ) G
2
(k mg cos r )t mr 2 (2) r
5
We desire the time t when r (3)
N k N
Solution of Eqs. (1)-(3):
20
t
g (7k cos 2sin ) For slipping to cease,
50 k 7k cos 2sin
7k 2tan
50 k 2
or k tan
7
7k r 2r tan
110 Engineering Mechanics Dynamics -- IAA
Chap.7 3D Kinematics and Kinetics
Translation Rotation
v r
a r ( r)
or rA rB
rA
rB 2
4 8 10
nx rad/s ny rad/s nz rad/s
3 3 3
2 2
n (2i 4j 5k) rad/s n 22 42 52 2 5 rad/s
3 3
117 Engineering Mechanics Dynamics -- IAA
Angular velocity
r3
r
r = r1 r2 r3 r2
r = 1 r1 2 r2 3 r3 0 r1
T
2 r2 0
4 equations for 4 unknows; 2 and 3
if r1, r2 , and r3 are general vectors,
r1 0
then 2Tr2 0
T
3 r3 0
6 equations for 6 unknows; 2 and 3
r3
r
r2
r = r1 r2 r3
r1
r = 1 r1 2 r2 3 r3 0
r = 1 1 1 r1
2 2 2 r2
3 3 3 r3 0
T
2 r2 0
4 equations for 4 unknows; 2 and 3
HG [ ( )]dm
HO [r ( r)]dm
(a) HG IG
33 31
I xx I xy I xz
I yx I yy I yz
I zx I zy I zz
I xxx I xyy I xzz
I yxx I yyy I yzz
I I I
(b) zx x zy y zz z
120 Engineering Mechanics Dynamics -- IAA
Inertia Matrix
I xx I xy I xz I xx ( y 2 z 2 )dm I xy xydm
yxI I yy I yz I yy ( z 2 x2 )dm I xz xzdm
I zx I zy I zz
I zz ( x2 y2 )dm I yz yzdm
Principal Axes
I xx 0 0
0 I 0
yy
0 0 I zz
12
x
b 1 0 0 0 0
z ' Α 0 cos sin 0 sin
0 sin cos cos
45 HG AHG AIGA IG
y
Note that IG A IG A
Mx
1 1
Kinetic energy T TIG TIG
2 2
z 20 rad/s
123 Engineering Mechanics Dynamics -- IAA
Euler’s Equation
H x H yz H zy
F G M x
M y H y H zx H xz
M H M z H z H xy H yx
dH
M ( )xyz H M x I xx x (I yy I zz )yz
dt
( H x i H y j H z k) H M y I yy y (I zz I xx )zx
M I zz z (I xx I yy )xy
M (H x H yz Hzy )i z
2
Eq. 7/23 x yz z
M I
b/ 2
2
I yz yzdm y dl y 2 2dy
b / 2
z
2 b3 b3 mb2 3(0.2)2
( ) 0.02 kgm2
3 2 2 2 2 6 6
45 M x 0.02(20 )2 79.0 Nm
y
Mx
on plate, Mx 79.0i Nm
d d
MG G HG
H
dt dt
IG IG
0 IG
0 z x
z 0 x
y z 0
z 0 0
0 0
0 0 0
45
y
Mx
z 20 rad/s
126 Engineering Mechanics Dynamics -- IAA