Professional Documents
Culture Documents
16 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Plane Motion of Rigid Bodies:
Forces and Accelerations
Lecture Notes:
J. Walt Oler
Texas Tech University
1
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Introduction
• In this chapter and in Chapters 17 and 18, we will be
concerned with the kinetics of rigid bodies, i.e., relations
between the forces acting on a rigid body, the shape and mass
of the body, and the motion produced.
2
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Angular Momentum of a Rigid Body in Plane Motion
• Angular momentum of the slab may be
computed by
r n r r
H G = ∑ (ri′× vi′∆mi )
i =1
n r r r
= ∑ [ri′× (ω × ri′)∆mi ]
i =1
r
(
= ω ∑ ri′ 2 ∆mi )
r
= Iω
• After differentiation,
r r r
H& G = I ω& = I α
• Results are also valid for plane motion of bodies
• Consider a rigid slab in which are symmetrical with respect to the
plane motion. reference plane.
• Results are not valid for asymmetrical bodies or
three-dimensional motion.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 5
Edition
Seventh
3
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Axioms of the Mechanics of Rigid Bodies
r r
• The forces F and F ′ act at different points on
a rigid body but but have the same magnitude,
direction, and line of action.
4
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.1
SOLUTION:
• Calculate the acceleration during the
skidding stop by assuming uniform
acceleration.
∑ Fx = ∑ (Fx )eff − FA − FB = − ma
− µk (N A + N B ) =
− µ kW = −(W g )a
a 22.5
µk = = = 0.699
g 32.2
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 10
5
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.1
• Apply the corresponding scalar equations.
∑ M A = ∑ (M A )eff
− (5 ft )W + (12 ft )N B = (4 ft )ma
1⎛ W ⎞ W⎛ a⎞
NB = ⎜ 5W + 4 a ⎟ = ⎜ 5 + 4 ⎟
12 ⎝ g ⎠ 12 ⎝ g⎠
N B = 0.650W
N A = W − N B = 0.350W
The thin plate of mass 8 kg is held in • Resolve into scalar component equations
place as shown. parallel and perpendicular to the path of
the mass center.
Neglecting the mass of the links,
determine immediately after the wire • Solve the component equations and the
has been cut (a) the acceleration of the moment equation for the unknown
plate, and (b) the force in each link. acceleration and link forces.
6
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.2
SOLUTION:
• Note that after the wire is cut, all particles of the
plate move along parallel circular paths of radius
150 mm. The plate is in curvilinear translation.
• Draw the free-body-diagram equation expressing
the equivalence of the external and effective
forces.
• Resolve the diagram equation into components
parallel and perpendicular to the path of the mass
center.
∑ Ft = ∑ (Ft )eff
W cos 30° = ma
mg cos 30° =
( )
a = 9.81m/s 2 cos 30°
a = 8.50 m s 2 60o
∑ M G = (∑ M G )eff
(FAE sin 30°)(250 mm) − (FAE cos 30°)(100 mm)
(FDF sin 30°)(250 mm ) + (FDF cos 30°)(100 mm) = 0
38.4 FAE + 211.6 FDF = 0
FDF = −0.1815 FAE
∑ Fn = ∑ (Fn )eff
2
a = 8.50 m s 60o FAE + FDF − W sin 30° = 0
FAE − 0.1815 FAE − W sin 30° = 0
(
FAE = 0.619(8 kg ) 9.81m s 2 ) FAE = 47.9 N T
7
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.3
SOLUTION:
• Determine the direction of rotation by
evaluating the net moment on the
pulley due to the two blocks.
• Relate the acceleration of the blocks to
the angular acceleration of the pulley.
• Draw the free-body-diagram equation
expressing the equivalence of the
external and effective forces on the
A pulley weighing 12 lb and having a complete pulley plus blocks system.
radius of gyration of 8 in. is connected to
two blocks as shown. • Solve the corresponding moment
equation for the pulley angular
Assuming no axle friction, determine the acceleration.
angular acceleration of the pulley and the
acceleration of each block.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 15
Edition
Seventh
8
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.3
• Draw the free-body-diagram equation expressing the
equivalence of the external and effective forces on the
complete pulley and blocks system.
• Solve the corresponding moment equation for the pulley
angular acceleration.
∑ M G = ∑ (M G )eff
(10 lb)(126 ft ) − (5 lb )(10
12
ft ) = I α + mB aB (12
6 )
ft − m Aa A (10
12
ft )
(10)(12 ) − (5)(12 ) = (0.1656)α + (32.2 )(12 α )(12 ) − (32.2 )(12 )(10
6 10 10 6 6 5 10
12
)
α = 2.374 rad s 2
2
I = 0.1656 lb ⋅ ft ⋅ s Then,
aA = ( )ft s
10 α
12
2 a A = rAα
aB = (12 α )ft s 2
6 = (10
12
(
ft ) 2.374 rad s 2 ) a A = 1.978 ft s 2
aB = rBα
= (12
6 (
ft ) 2.374 rad s 2 ) aB = 1.187 ft s 2
9
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.4
SOLUTION:
• Draw the free-body-diagram equation expressing the
equivalence of the external and effective forces on the
disk.
• Solve the three scalar equilibrium equations.
∑ Fx = ∑ (Fx )eff
0 = ma x ax = 0
∑ Fy = ∑ (Fy )eff
T − W = ma y
ay =
(
T − W 180 N - (15 kg ) 9.81m s 2
=
)
m 15 kg
a y = 2.19 m s 2
∑ M G = ∑ (M G )eff
− Tr = I α = (12 mr 2 )α
2T 2(180 N )
α =− =− α = 48.0 rad s 2
mr (15 kg )(0.5 m )
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 19
Edition
Seventh
acord = (a A )t = a + (a A G )t
r
(
= 2.19 m s 2 + (0.5 m ) 48 rad s 2 )
acord = 26.2 m s 2
ax = 0 a y = 2.19 m s 2
α = 48.0 rad s 2
10
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.5
SOLUTION:
• Draw the free-body-diagram equation
expressing the equivalence of the
external and effective forces on the
sphere.
• Solve the three corresponding scalar
equilibrium equations for the normal
A uniform sphere of mass m and radius reaction from the surface and the linear
r is projected along a rough horizontal and angular accelerations of the sphere.
surface with a linear velocity v0. The • Apply the kinematic relations for
coefficient of kinetic friction between uniformly accelerated motion to
the sphere and the surface is µk. determine the time at which the
tangential velocity of the sphere at the
Determine: (a) the time t1 at which the
surface is zero, i.e., when the sphere
sphere will start rolling without sliding,
stops sliding.
and (b) the linear and angular velocities
of the sphere at time t1.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 21
Edition
Seventh
11
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.5
• Apply the kinematic relations for uniformly accelerated
motion to determine the time at which the tangential velocity
of the sphere at the surface is zero, i.e., when the sphere
stops sliding.
v =v 0 + a t =v 0 +(− µ k g )t
5 µk g ⎞
ω = ω 0 + αt = 0 + ⎜⎛ ⎟t
⎝2 r ⎠
At the instant t1 when the sphere stops sliding,
a = −µk g v1 = rω1
5 µk g
α= ⎛ 5 µk g ⎞ t1 =
2 v0
2 r v0 − µ k gt1 = r ⎜ ⎟ t1
⎝2 r ⎠ 7 µk g
5 µk g ⎞ ⎛ 5 µ k g ⎞⎛⎜ 2 v0 ⎞⎟
ω1 = ⎛⎜
5 v0
⎟t1 = ⎜ ⎟ ω1 =
⎝2 r ⎠ ⎝ 2 r ⎠⎝⎜ 7 µ k g ⎟⎠ 7 r
⎛5v ⎞
v1 = rω1 = r ⎜ 0 ⎟ v1 = 75 v0
⎝7 r ⎠
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 23
Edition
Seventh
12
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Constrained Motion: Noncentroidal Rotation
• Noncentroidal rotation: motion of a body is
constrained to rotate about a fixed axis that does
not pass through its mass center.
13
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.6
SOLUTION:
• Draw the free-body-equation for AOB,
expressing the equivalence of the
external and effective forces.
mE = 4 kg
• Evaluate the external forces due to the
k E = 85 mm
weights of gear E and arm OB and the
mOB = 3 kg
effective forces associated with the
angular velocity and acceleration.
The portion AOB of the mechanism is
actuated by gear D and at the instant • Solve the three scalar equations
shown has a clockwise angular velocity derived from the free-body-equation
of 8 rad/s and a counterclockwise for the tangential force at A and the
angular acceleration of 40 rad/s2. horizontal and vertical components of
Determine: a) tangential force exerted reaction at shaft O.
by gear D, and b) components of the
reaction at shaft O.
(
mOB (aOB )t = mOB (r α ) = (3 kg )(0.200 m ) 40 rad s 2 )
mE = 4 kg 2
α = 40 rad s = 24.0 N
k E = 85 mm
mOB = 3 kg
ω = 8 rad/s
( )
mOB (aOB )n = mOB r ω 2 = (3 kg )(0.200 m )(8 rad s )2
= 38.4 N
14
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.6
• Solve the three scalar equations derived from the free-
body-equation for the tangential force at A and the
horizontal and vertical components of reaction at O.
∑ M O = (∑ M O )eff
F (0.120m ) = I Eα + mOB (aOB )t (0.200m ) + I OBα
= 1.156 N ⋅ m + (24.0 N )(0.200m ) + 1.600 N ⋅ m
F = 63.0 N
∑ Fx = (∑ Fx )eff
WE = 39.2 N Rx = mOB (aOB )t = 24.0 N
WOB = 29.4 N Rx = 24.0 N
I Eα = 1.156 N ⋅ m ∑ Fy = (∑ Fy )eff
mOB (aOB )t = 24.0 N R y − F − WE − WOB = mOB (aOB )
mOB (aOB )n = 38.4 N R y − 63.0 N − 39.2 N − 29.4 N = 38.4 N
R y = 24.0 N
I OBα = 1.600 N ⋅ m
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 29
Edition
Seventh
15
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.8
SOLUTION:
• Draw the free-body-equation for the sphere, expressing
the equivalence of the external and effective forces.
• With the linear and angular accelerations related, solve
the three scalar equations derived from the free-body-
equation for the angular acceleration and the normal
and tangential reactions at C.
∑ M C = ∑ (M C )eff
(W sin θ )r = (ma )r + Iα
a = rα = (mrα )r + (52 mr 2 )α
⎛W ⎞ ⎛ 2W 2⎞ 5 g sin θ
= ⎜ rα ⎟ r + ⎜ r ⎟α α=
⎝g ⎠ ⎝5 g ⎠ 7r
5 g sin 30°
a = rα =
7
=
( )
5 32.2 ft s 2 sin 30°
a = 11.50 ft s 2
7
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 31
Edition
Seventh
16
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.8
• Calculate the velocity after 10 ft of uniformly
accelerated motion.
v 2 = v02 + 2a ( x − x0 )
( )
= 0 + 2 11.50 ft s 2 (10 ft )
r
v = 15.17 ft s
∑ M G = ∑ (M G )eff 0 = Iα α =0
5 g sin θ ⎛W ⎞
α= ∑ Fx = ∑ (Fx )eff W sin θ = ma = ⎜ ⎟a
7r ⎝g⎠
a = rα = 11.50 ft s 2 ( )
a = 32.2 ft s 2 sin 30° = 16.1ft s 2
v 2 = v02 + 2a ( x − x0 )
( )
= 0 + 2 16.1ft s 2 (10 ft ) r
v = 17.94 ft s
17
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.9
SOLUTION:
• Draw the free-body-equation for the wheel,.
• Assuming rolling without slipping, solve the scalar
equations for the acceleration and ground reactions.
∑ M C = ∑ (M C )eff
(200 N )(0.040 m ) = ma (0.100 m ) + Iα
8.0 N ⋅ m = (50 kg )(0.100 m )2α + (0.245 kg ⋅ m 2 )α
∑ Fx = ∑ (Fx )eff
Assume rolling without slipping,
a = rα
(
F + 200 N = ma = (50 kg ) 1.074 m s 2 )
F = −146.3 N
= (0.100 m )α
∑ Fx = ∑ (Fx )eff
N −W = 0
( )
N = mg = (50kg ) 1.074 m s 2 = +490.5 N
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 35
Edition
Seventh
∑ Fx = ∑ (Fx )eff
200 N − 73.6 N = (50 kg )a a = 2.53 m s 2
∑ M G = ∑ (M G )eff
(73.6 N )(0.100 m ) − (200 N )(0.0.060 m )
( )
= 0.245 kg ⋅ m 2 α
2
α = −18.94 rad s α = 18.94 rad s 2
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 36
18
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.10
SOLUTION:
• Based on the kinematics of the constrained
motion, express the accelerations of A, B,
and G in terms of the angular acceleration.
19
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 16.10
• Draw the free-body-equation for the rod, expressing
the equivalence of the external and effective forces.
• Solve the three corresponding scalar equations for the
angular acceleration and the reactions at A and B.
∑ M E = ∑ (M E )eff
(50)(1.732) = (6.93α )(4.46) + (2.69α )(1.732) + 2.07α
α = +2.30 rad s 2
α = 2.30 rad s 2
1 ml 2 = 1 50 lb
(4 ft )2
I = 12 ∑ Fx = ∑ (Fx )eff
12 32.2 ft s 2
RB sin 45° = (6.93)(2.30 )
= 2.07 lb ⋅ ft ⋅ s 2
RB = 22.5 lb r
I α = 2.07α RB = 22.5 lb 45o
ma x =
50
(4.46α ) = 6.93α ∑ Fy = ∑ (Fy )eff
32.2
50 RA + (22.5) cos 45° − 50 = −(2.69 )(2.30 )
ma y = − (1.732α ) = −2.69α
32.2 RA = 27.9 lb
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 16 - 39
20