Sharif University of Technology, International Campus (Kish island) 4 Couse title: Dynamics (Part 5) Instructor: Abdolreza Pasharavesh 8 2.8. Relative planar motion In the previous sections we learned how to analyze and represent the planar motion of aiparticle with respect to ¢ fixed coordinate system. Fixed coordinate systems are supposed to have neither translation nor rotation and therefore could be assumed as a primary inertial referenee frame. > In specific problems coordinate systems with negligible motions may be used as an inertial reference frames, as well. For example while studying the motion of particles near the graund surface, a coordinate system attached to the earth maybe assumed as an inertial one. The position or motion derived with respect toStieh coordinate systems are termed “absolute” In this section the motion with respect to'moving coordinate systems ealled “relative motion” will be studied. Relative motion analysis would be beneficial provided that one of the following two conditions holds: ©. The motion of the particle with respect to a moving refetence frame is required. © The motion of the particle with respect a moving reference frame is given or can easily be derived and the absolute motion is required. The moving reference framé)may have eithertranslation or rotation. In this section our discussion is confined to relative planar motions with respect to translating coordinate systems. Fig. 1 shows wwo particles). and B having arbiurary planar curvilinear motidns_ with respect to the fixed reference frame XY Now suppose the ofigin"of the translating and non Fotating reference frame xy to be attached to’ B A relative to.8. or the position with respect to xv. which is in fact the position observed by a non-rotating observer at B. According to théMfigure the absolute position of A may be written asthe summation of the absolute position of B and the'relative position of A Fig. with respect wo B in the figure denotes the position of ru a) Successive differentiations with respect to time results in: Vy +Vup @) ip Fy @) where i, and @,,, are relative velocity and acceleration terms referring to velocity and acceleration|of particle 4 observed by a non-rotating observer at B, respectively.Sharif University of Technology, International Campus (Kish island) Couse title: Dynamics (Part 5) Instructor: Abdolreza Pasharavesh % Relative motion as well as the absolute one is nol needed (o necessarily be expressed in rectangular system (polar or normal and tangential coordinates may be used as well). According to equation (3), as long as the acceleration of point B vanishes, the acceleration measured with respect to xy equals the absolute acceleration for any erbitrary particle. Therefore, Newton’s second law may be applied in xy as well as a fixed coordinatesystem. > A translating coordinate system with no acceleration is called an “Inertial frame”. Now consider the case that the motion of B is expressed ¥ relative to 4. According to Fig, 2 one has: ly =F Tina ) Comparing the above relation withyequation (1) results, in: oa = ~Fuo ) After differentiation: ina =—Vrah eave ©) Fig.2 > Therefore. the position. velocity. and acceleration of point A measured by an observer at B equals to the negative of position,Velocity, and acceleration of B measured by an observer al A, Exampl Ship 4 is licaded west al a speed of 15Kuots and ship B is headed southeast. The relative bearing @ of B with respect to A is 20° and is unchanging. If the distance between A and B is 10 nautical miles at 2:00 PM, when would collision occur if neither ship altered course? Solution: It is said that @ is constant, thus, the direction of the relative position vecior ,, does not change. Since the rate of change of the relative position vector is equal to relative velocity vector, one can conclude that ¥,, and ¥,,, are collinear. The velocity vectors of the ships and relative velocity vector which by definition is equal to their difference are shown in Tig. P1. Using law of sines in triangle ABC one has: lox sin(135) sin(25°)Sharif University of Technology, International Campus (Kish island) Couse title: Dynamics (Part 5) Instructor: Abdolreza Pasharavesh Fig. Pl Therefore, collision occurs at 2.9. Constrained mation of connected particles ‘A particle moving along a straight ine, on a straight plan or in the space has one, two, and three degrees of freedom, respectively. As the number of particles increases the degree of freedom of the system inereases accordingly. But there are some cases in which the particles are connected together using for example a cable. Such interconnections decrease the total DoF’s of the system by making the motion of the particles dependent and must be brought into account in kinematic analysis of a system of paiticles. In this section, planar motion of particles interconnected by cables will be studied Suppose a system. of 1 particles each eapable of rectilinear motion which are interconnected using m cables. The position of cach particle may be denoted by a scalar variable. If the length of each cable be written as a function of the positions of particles, there will be m constraint equations relating the position of the particles to cach other. As a consequence, given the position of any arbitrarily chosen #—m particles, the position (and consequently Velocity-and acceleration) of the others may be uniquely caleulated, and therefore the system has n—m Doks. As an example, consider the system shown in Fig. 3 There are four particles capable of vertical motion including blocks 4 and B and pulleys C and D. The particles are connected using two separate green and red cables. Therefore, the system is a 2-DeF one. Representing the position of the particles by scalars ‘4 10 ypvand the radius of pulleys by r, the length of the cables may be written as: Fig. 3Couse title: Dynamics (Part 5) Instructor: Abdolreza Pasharavesh Sharif University of Technology, International Campus (Kish island) & Green cable=> 1, =y,+2y, +2ar-+cte o Redeable =>L,=y,+2ve—¥p +2ar With [,,, [,, and r constant the first and second time derivatives of the ahove expressions gives: OH +2y 1425 ®) OR Set 2e—-Ip — O= Hy + 2-H Eliminating j, and j, in the above equations, one has: Vv, +2, +4v =0, a,+2a, +4q, 0) Using the above equation given the, velocity and acceleration of any arbitrary two blocks, the velocity and acceleration of the third one can be easily calculated, Examp! Under the action of force P,, the constant acceleration Of block B is 3m/s*to the right. At the instant when the velocity of B is 2mVs to the right, determine the velocity of B relative to A, the acceleration of Borelative to A, and the absolute velocity of point C of the cable. Solution: There are two particles moving in the horizontal direction (Blocks A and B), and one cable passing through some pulléys which connects te particles. Therefore, the system is a IDoF one and given the velocity and acceleration of block B , those of block 4 are obteinable. Denoting the pesition of the blocks by.x, and x, as shown in the figure, the length of the cable may be written as: L-3x, dx, hele Differentiating :he above/relation with respect to time results in: 3v, -4v, Fig. P2 Substituting a, =3nvs” and v, =2m/s into the above equation, one obtains: v, =LSms, a, =2.25mis* ‘Therefore, relative velocity and acceleration will be: 0.5m/s, Ay, 0.75m/s* YouSharif University of Technology, International Campus (Kish island) Couse title: Dynamics (Part 5) Instructor: Abdolreza Pasharavesh Expressing the length of the cable section connecting point C to block B asa function of x,, xp,and x, one has: Differentiation results in: Chapter 3. Kinetics of pai Thanks to the previous chapter on particles? kinematics, welare HOw able to analyze any arbitrary type of particles’ motion. Given the’aeceleration of the particle’ we've learned how to calculate its velocity and position duting/its motion and having information about how the position changes with time we can derive expressions ‘or the velocity and acceleration. In this chapter ‘we will focus on kinetics of particles and study how the applied forces lead to changes in the particles’ motion. 3.1. Direct application of Newton’s second law 3.1.1, Newton’s second law Newton showed by carrying numerous experiments out that in an inertial reference frame the acceleration a.o{ an object of mass m under the effect of a net force F meets the following relation: (19) The above relation makes the units chosen for force, mass and acceleration dependent so that given the units for any arbitrary two of these quantities a unit for the third one is derived. In this ‘manner the first two units are ealled “hase” units and the third one is a “derived” unit SIsystem of units: In this system, units for mass and acceleration (kg and mv/s?, respectively) are chosen as base units and the unt for force (N) is the derived un‘t. Therefore, by definition IN is the force needed to be applied toa Ikg ma 2 s in order to accelerate by 1 m/s*, US. customary system of units: In this system, unit§ for force and acceleration (Ibf and ft/sec”, respectively) are chosen as base units and the Unit for mass (slug) is the derived unit. Therefore, by definition Islug is the mass of an object'whichvaccelerates by | ft/sec”, when undergoes IIbf of force. 3.1.2, Equation of motionSharif University of Technology, International Campus (Kish island) Couse title: Dynamics (Part 5) Instructor: Abdolreza Pasharavesh Replacing the ust forve in equation (10) by the summation of ull forces acting on an object, the equation of motion of the object will be: SF = mal qa) The above relation is a vector equation and may be decomposed into three scalerequations along different axes of the coordinate system. For example when the rectangular coordinate system is chosen for representation of the particle’s motion, one has Dama, YF =ma,, YE =ma,, (12) For polar coord:nates one has: Dh =ma,, ) Doky =may (13) and for normal and tangential coordinatesthe equations of motions will be: DA Ama, Therefore, using the equation of motion one can either calculate the acceleration of an object under the effect of differentypredefined forces of"alculate the forces needed to generate a predefined motion. 7 = ma, a4)