Dr.

Hassen OUAKAD 2/8/2015

ME201

Last Lecture & Today’s lecture

 Force-Mass-Acceleration Method (Newton’s 2nd method)
• Equation of motion : F = ma
• Acceleration : a = F/m
• Velocity : One time integration with time
v (t )  i  a x d t  j a y d t  k a z dt

• Vector calculation due to use the force equilibrium relationship

 Work-Energy Methods
• F = ma : Integration with position 1 and 2
• Useful for the calculation of the rate of change during the displacement of the mass point
• Scalar calculation due to use the energy equilibrium relationship

 Impulse-Momentum Methods
• F = ma: integration with time t1 and t2
• Useful for the calculation of the speed change of the object during a time change

Dr. Hassen OUAKAD ME 482 / 27

Outline

• Section 2.1: Kinematics and Degree of Freedom

• Section 2.2: Plane Motion of Rigid Body
• Section 2.3: Work-Energy Methods
• Section 2.4: Impulse-Momentum Methods
• Section 2.5: Equivalent Mass and Inertia
• Section 2.6: System with Spring Elements

Dr. Hassen OUAKAD ME 482 / 28

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Dr. Hassen OUAKAD 2/8/2015
ME201

Work-Energy Methods

 Definition of Work
• Is the amount of work done by F during dr:
dU  F  dr

• When moving from position 1 to 2 :

U1 2   dU   F  dr U12   F cos  ds
s2

L L s1

• Dimension : [FL], Units : N·m or J (1 Joule = 1 Nm)

• Scalar quantity , both depending on the angle a (+) or neg
ative (-) Working component
of the force
• The tangent component from point A of force F is the only
component which is working
Fn = F sin, Ft = F cos  When broken down into
s2
U12   Ft ds
s1
The displacement
• Normal component : Do Not work working component
• Tangential component Ft : Action component of force F

Dr. Hassen OUAKAD ME 482 / 29

Gravitational
Potential Energy

Vg  W ( y )
Above Datum  y
Below Datum  y

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Dr. Hassen OUAKAD 2/8/2015
ME201

Elastic
Potential Energy

1
Ve   ks 2
2

Dr. Hassen OUAKAD ME 482 / 31

Kinetic Energy of Rigid Body

Translation Rotation General

1 1
T m vG  I G ω 2
2

1 2 2 1 1
T  m vG T 
2 2
m vG I G ω2
2 vG  rG ω 2 2
1 1 Translational Rotational
T m rG ω 2  I G ω 2
2

2 2 Kinetic energy Kinetic energy

1
 ( I G  m rG )ω 2
2

2 1
T I ICV ω 2
1 2
Dr. Hassen OUAKAD  I Oω2 ME 482 / 32
2

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Dr. Hassen OUAKAD 2/8/2015
ME201

Principle of Work and Energy

 Ft  mat  at ds  v dv 
s2

s1
 F ds  
t
v1
v2
mvdv

1 1
  U12  mv2  mv1  T2  T1
2 2

2 2
 T2  T1   U12

T1   U1 2  T2
Dr. Hassen OUAKAD ME 482 / 33

Conservation of Mechanical Energy

Principle of Work and Energy:

T1  U12  T2
U 1 2   U1 2 non _ cons   U1 2 cons

U  1 2 cons  V1  V2

T1  V1   U1 2 non _ cons  T2  V2

Principle of conservation of Energy
if U  1 2 non _ cons 0 T1  V1  T2  V2
Dr. Hassen OUAKAD ME 482 / 34

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Dr. Hassen OUAKAD 2/8/2015
ME201

Outline

• Section 2.1: Kinematics and Degree of Freedom

• Section 2.2: Plane Motion of Rigid Body
• Section 2.3: Work-Energy Method
• Section 2.4: Impulse-Momentum Methods
• Section 2.5: Equivalent Mass and Inertia
• Section 2.6: System with Spring Elements

Dr. Hassen OUAKAD ME 482 / 35

Angular Momentum

  
H p  rp  m v p
 
H G  I G
• Measure of Rotational effect
• H is a vector quantity in the direction of 
• Unit: kg.m2/s or slug.ft2/s
Dr. Hassen OUAKAD ME 482 / 36

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Dr. Hassen OUAKAD 2/8/2015
ME201

Angular Momentum
Translation Rotation About a Fixed Axis General Plane Motion

     
L  m vG L  mvG L  m vG
     
HG  0 H G  IG ω H G  IG ω
  
 H O  I G ω  rG mvG H A  I G ω  d ( m vG )
H A  (d ) (m vG )    
 I G ω  m rG 2 ω H ICV  I ICV ω

 ( I G  m rG 2 ) ω

Dr. Hassen OUAKAD  IO ω ME 482 / 37

Angular Momentum
(Particular Cases)

G   rG / IC

H ICV  rG / ICV (mG )  I G G  0

H ICV  rG / ICV (m rG / ICV )  I G L  mG  0
H ICV  ( I G  m r 2 G / ICV )  H P  I G

H ICV  I G / ICV  For any point

Dr. Hassen OUAKAD ME 482 / 38

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Dr. Hassen OUAKAD 2/8/2015
ME201

Principle of linear impulse

and momentum equation (REVIEW)

  t2 v2

 dv 
 F  ma  m dt    Fdt  m  dv 
t1

v1

t2
  
 F dt  mv  m
21
v Principle of linear impulse
and momentum equation
t1

 

Impulse change in momentum

Dr. Hassen OUAKAD ME 482 / 39

Angular Impulse and

Momentum Principle (REVIEW)
 d 
Resultant moment = Rate of
change of angular momentum  0 dt H 0 
M 

  

t2
M 0 dt  (H 0 ) 2  (H 0 )1
t1

t2  t2  
Angular impulse   M 0 dt   r  F dt
t1 t1

 t2   
r  m v  1  t  
M 0 dt  r  m v  2
t2
(H 0 )1    M 0 dt  (H 0 ) 2 
t1 1

Angular Impulse and Momentum Principle

Dr. Hassen OUAKAD ME 482 / 40

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Dr. Hassen OUAKAD 2/8/2015
ME201

Conservation of Momentum
•Conservation of Linear Momentum:
 linear   linear   linear 
          
 momentum  1  impulse 1 2  momentum  2

 m( )   m( )
1 2

•Conservation of Angular Momentum:

 angular   angular 
      
 momentum O1  momentum O 2

H  H 1 2

( I G ω  mG r )1  ( I G ω  mG r ) 2
Dr. Hassen OUAKAD ME 482 / 41

Example:
Pendulum
Drive the equation of motion
a) Using the angular impulse-momentum principle
b) Using conservation of energy

 From the angular impulse-momentum principle :

d
M O  H O or  (mg sin  ) L  (mL2)  mL2
dt
Equation of Motion : L  g sin   0

 From conservation of energy :

1 T1  Vg1  T2  Vg 2
const  mv 2  mgL(1  cos  ) Free Body Diagram
2
1
const  m( L) 2  mgL(1  cos  ) ( v  L)
2
or
1
const  L 2  g (1  cos  )
2

Differentiating both sides :

L  g sin   0
Dr. Hassen OUAKAD ME 482 / 42

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