Vector Mechanics For Engineers Dynamics 11th Edition 1ch

Vehicle Dynamics Lab.
동 역 학
교재 : 공학도를 위한 동역학 (강연준, 강재연, 고상호, 박준홍 역)
Vector Mechanics for Engineers Dynamics 12th edition SI Units
(Beer, Johnston, Cornwell, Self, Sanghi 저, McGraw-Hill Korea)
담당교수 : 조병관 (D-310)
Office Hours : 월 13:00-15:00
화 10:00-12:00
• 수업시 준수사항
– 이동금지
– 잡담금지
– 핸드폰 사용은 계산기와 사전으로만
– 복장
• 슬리퍼, 샌들 착용금지
• 모자 착용금지
• 기타 혐오스럽지 않은 복장 착용
역학(Mechanics)이란 ?
-정의 : 힘이 작용하고 있는 물체의 평형상태 또는 운동상태를 묘사하고 예측하는 공학

-분류
강체역학 (mechanics of rigid bodies) 정역학 (statics)
동역학 (dynamics)
역학
변형체역학 (mechanics of deformable bodies), 재료역학
유체역학 (mechanics of fluids)
열역학 (thermodynamics)
-Newton’s 운동법칙
1) 외력이 없는 경우 물체는 정지상태 또는 일정한 속도를 유지한다.   Fi=0

2) 물체의 가속도는 가해지는 힘에 비례한다.   Fi=ma
3) 작용력에 대하여 반대방향으로 반작용력이 발생한다.
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정역학 복습
- 3차원 질점(particle)의 평형식(equilibrium equation)

 Fx=0,  Fy=0,  Fz=0
 질점의 정의: 질량 중심에 대한 회전을 무시한 물체
-3차원 강체(rigid body)의 평형식(equilibrium equation)

 Fx=0,  Fy=0,  Fz=0
 Mx=0,  My=0,  Mz=0 (M=rF)
(예제) 도르레 역학
4
자유물체도 (Free Body Diagram)
정의
- 상호 작용하고 있는 전체 계 (system)로부터 “관심의 대상”이 되는 부분만을 분리시켜 그린 그림
- 이 물체에 작용하는 모든 힘을 도시
작도 순서
1) 분리 : 관심 물체를 분리하고 외곽선 작도
2) 힘 도시 : 외력, 중력, 반력 등 도시 (작용점에 도시)
3) 좌표계 설정
4) 지배방정식
- 정역학, 재료역학 : 평형방정식
- 동역학 : 운동방정식
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자유물체도에서 반력 작도법
6
7
8
자유물체도를 이용한 문제 풀이
9
자유물체도를 이용한 문제 풀이 (다른 좌표계 이용)
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1. 질점의 운동학(Kinematics of particles) : 직선운동
서론
-정의 운동학(kinematics)
운동의 거동을 연구하는 역학
동역학(dynamics)
운동(위치, 속도, 가속도) vs 시간
운동하는 물체를
해석하는 역학 운동역학(kinetics)
거동과 힘간에 존재하는 관계를 연구하는 역학
운동 vs 힘
1.1 직선운동
1.1A 위치, 속도, 가속도 x

평균속도(average velocity) : vave =
t
x dx
순간속도(instantaneous velocity) : v = lim =
t →0 t dt
순간가속도(instantaneous acceleration) : v dv dv dx dv
a  lim  = =v
t →0 t dt dx dt dx
2
d x
= 2
dt
(예제 1.1) x=t3-6t2-15t+40 인 경우 속도가 0일 때 이동거리와 가속도 ?
(예제 1.3) 포신의 제동기구 a=-kv (초기속도 v0)일 때 속도 파형과 이동거리 파형 ? 11
직선운동: Position, Velocity & Acceleration
• Consider particle with motion given by

x = 6t 2 − t 3
dx
v= = 12t − 3t 2
dt
dv d 2 x
a= = 2 = 12 − 6t
dt dt
• at t = 0, x = 0, v = 0, a = 12 m/s2
• at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0
• at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2
• at t = 6 s, x = 0, v = -36 m/s, a = 24 m/s2
12
1.1B 질점운동의 결정
• Recall, motion of a particle is known if position is known for all time t.
• Typically, conditions of motion are specified by the type of acceleration experienced by the
particle. Determination of velocity and position requires two successive integrations.
• Three classes of motion may be defined for:
- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)
13
• Acceleration given as a function of time, a = f(t):

v (t ) t t
dv
= a = f (t ) dv = f (t ) dt  dv =  f (t ) dt v(t ) − v0 =  f (t ) dt
dt v 0 0
0
x (t ) t t
dx
= v(t ) dx = v(t ) dt  dx =  v(t ) dt x(t ) − x0 =  v(t ) dt
dt x0 0 0
• Acceleration given as a function of position, a = f(x):
dx dx dv dv
v= or dt = a= or a = v = f ( x )
dt v dt dx
v( x ) x x
v dv = f ( x )dx  v dv =  f ( x )dx 1 v( x )2
2
− 12 v02 =  f ( x )dx
v0 x0 x0
14
• Acceleration given as a function of velocity, a = f(v):

v − t 관계:
v (t ) t
= a = f (v )
dv dv dv
dt f (v )
= dt 
v0
=  dt
f (v ) 0
v (t )
dv

v0
f (v )
=t
v − x 관계:
x (t ) v (t )
= a = f (v )
dv v dv v dv
v
dx
dx =
f (v ) x0
 dx = 
v0
f (v )
v (t )
x(t ) − x0 =
v dv

v0
f (v )
15
Sample Problem 1.2

SOLUTION:
• Integrate twice to find v(t) and y(t).
• Solve for t at which velocity equals

zero (time for maximum elevation)
and evaluate corresponding altitude.
• Solve for t at which altitude equals

Ball tossed with 10 m/s vertical velocity zero (time for ground impact) and
from window 20 m above ground. evaluate corresponding velocity.
Determine:
• velocity and elevation above ground at
time t,
• highest elevation reached by ball and
corresponding time, and
• time when ball will hit the ground and
corresponding velocity.
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SOLUTION:
• Integrate twice to find v(t) and y(t).
dv
= a = −9.81 m s 2
dt
v (t ) t
 dv = −  9.81 dt v(t ) − v0 = −9.81t
v0 0
m  m
v(t ) = 10 −  9.81 2  t
s  s 
dy
= v = 10 − 9.81t
dt
y (t ) t
 dy =  (10 − 9.81t )dt y (t ) − y0 = 10t − 12 9.81t 2
y0 0
 m  m
y (t ) = 20 m + 10 t −  4.905 2 t 2
 s  s 
17
• Solve for t at which velocity equals zero and evaluate

corresponding altitude.
m  m
v(t ) = 10 −  9.81 2  t = 0
s  s 
t = 1.019 s
• Solve for t at which altitude equals zero and evaluate

corresponding velocity.
 m  m
y (t ) = 20 m + 10 t −  4.905 2 t 2
 s  s 
 m  m
y = 20 m + 10 (1.019 s ) −  4.905 2 (1.019 s )2
 s  s 
y = 25.1 m
18
• Solve for t at which altitude equals zero and

evaluate corresponding velocity.
 m  m
y (t ) = 20 m + 10 t −  4.905 2 t 2 = 0
 s  s 
t = −1.243 s (meaningles s )
t = 3.28 s
m  m
v(t ) = 10 −  9.81 2  t
s  s 
m  m
v(3.28 s ) = 10 −  9.81 2  (3.28 s )
s  s 
m
v = −22.2
s
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Sample Problem 1.3
SOLUTION:
• Integrate a = dv/dt = -kv to find v(t).
a = −kv
• Integrate v(t) = dx/dt to find x(t).
• Integrate a = v dv/dx = -kv to find
v(x).
Brake mechanism used to reduce gun
recoil consists of piston attached to barrel
moving in fixed cylinder filled with oil.
As barrel recoils with initial velocity v0,
piston moves and oil is forced through
orifices in piston, causing piston and
cylinder to decelerate at rate proportional
to their velocity.
Determine v(t), x(t), and v(x).
20
SOLUTION:
• Integrate a = dv/dt = -kv to find v(t).
dv
v
dv
t
v (t )
a=
dt
= −kv v v = −k 0 dt ln
v0
= −kt
0
v(t ) = v0 e −kt
• Integrate v(t) = dx/dt to find x(t).

dx
v (t ) = = v0 e − kt
dt
t
 1 
x t
 dx = v  e
0
− kt
dt x ( t ) = v0  − e − kt 
0 0  k 0
x(t ) =
v0
k
(
1 − e − kt )
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• Integrate a = v dv/dx = -kv to find v(x).

v x
dv
a = v = − kv dv = − k dx  dv = −k  dx
dx v0 0
v − v0 = − kx
v = v0 − kx
• Alternatively,
with x(t ) =
v0
k
(
1 − e − kt )
v(t )
and v(t ) = v0 e − kt or e − kt =
v0
v0  v(t ) 
x(t ) = 1 − 
k  v0 
then
v = v0 − kx
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1.2 특별한 경우와 상대운동
1.2A 등속 직선운동
v = const
a=0
dx
= v = constant
dt
x t
 dx = v  dt
x0 0
x − x0 = vt
x = x0 + vt
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1.2B 등가속 직선운동
v t
dv
= a = constant  dv = a  dt v − v0 = at
dt v0 0
v = v0 + at
x t
dx
dt
= v0 + at  dx =  (v0 + at )dt x − x0 = v0t + 12 at 2
x0 0
x = x0 + v0t + 12 at 2
(v 2 − v02 ) = a(x − x0 )
v x
dv
v = a = constant  v dv = a  dx 1
2
dx v0 x0
v 2 = v02 + 2a( x − x0 )
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1.2C 여러 질점의 운동
◆상대운동
•두 질점이 동일직선상에서 운동하고 있는 경우
- 상대위치 xB A = xB − x A xB = x A + xB / A
- 상대속도 vB A = vB − v A vB = v A + vB / A
- 상대가속도 aB A = aB − a A aB = a A + aB / A
◆종속운동
• Position of a particle may depend on position of one

or more other particles.
• Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A + 2 x B = constant (one degree of freedom)
• Positions of three blocks are dependent.
2 x A + 2 x B + xC = constant (two degrees of freedom)
• For linearly related positions, similar relations hold

between velocities and accelerations.
dx A dx dx
2 + 2 B + C = 0 or 2v A + 2v B + vC = 0
dt dt dt
dv dv dv
2 A + 2 B + C = 0 or 2 a A + 2 a B + aC = 0
dt dt dt
26
자유도 (Degrees of Freedom, DOF)
• 시스템의 운동을 묘사하기 위한 최소한의 좌표(변수)의 수

– 평면운동하는 질점의 자유도 2
– 평면운동하는 강체의 자유도 3
종속운동 계
• 질점마다 좌표 부여 (n)
• 시스템의 자유도 계산 (m)
• 구속방정식 수립 (k) : k=n-m
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Sample Problem 1.5

SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
• Substitute initial position and constant

velocity of elevator into equation for
uniform rectilinear motion.
Ball thrown vertically from 12 m level
in elevator shaft with initial velocity of • Write equation for relative position of
18 m/s. At same instant, open-platform ball with respect to elevator and solve
elevator passes 5 m level moving for zero relative position, i.e., impact.
upward at constant speed 2 m/s.
• Substitute impact time into equation
Determine (a) when and where ball hits for position of elevator and relative
elevator and (b) relative velocity of ball velocity of ball with respect to
and elevator at contact. elevator.
28
SOLUTION:
• Substitute initial position and velocity and constant
acceleration of ball into general equations for
uniformly accelerated rectilinear motion.
m  m
vB = vB 0 + aB t = 18 −  9.81 2  t
s  s 
1  m  m
yB = yB 0 + vB 0t + aB t 2 = 12m + 18  t −  4.905 2  t 2
2  s  s 
• Substitute initial position and constant velocity of

elevator into equation for uniform rectilinear motion.
m
vE = 2
s
 m
yE = yE 0 + vE t = 5m +  2  t
 s
29
• Write equation for relative position of ball with respect to

elevator and solve for zero relative position, i.e., impact.
yB E ( )
= 12 + 18t − 4.905t 2 − (5 + 2t ) = 0
t = −0.39 s (meaningles s )
t = 3.65 s
• Substitute impact time into equations for position of

elevator and relative velocity of ball with respect to elevator.
y E = 5 + 2(3.65)
y E = 12.3 m
vB E = (18 − 9.81t ) − 2
= 16 − 9.81(3.65)
m
vB E = −19.81
s
30
Sample Problem 1.7

SOLUTION:
• Define origin at upper horizontal surface
with positive displacement downward.
• Collar A has uniformly accelerated
rectilinear motion. Solve for acceleration
and time t to reach L.
• Pulley D has uniform rectilinear motion.
Pulley D is attached to a collar which Calculate change of position at time t.
is pulled down at 75 mm/s. At t = 0,
collar A starts moving down from K • Block B motion is dependent on motions
with constant acceleration and zero of collar A and pulley D. Write motion
initial velocity. Knowing that relationship and solve for change of block
velocity of collar A is 300 mm/s as it B position at time t.
passes L, determine the change in • Differentiate motion relation twice to
elevation, velocity, and acceleration develop equations for velocity and
of block B when block A is at L. acceleration of block B.
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SOLUTION:
• Define origin at upper horizontal surface with
positive displacement downward.
• Collar A has uniformly accelerated rectilinear

motion. Solve for acceleration and time t to reach L.
v A2 = ( v A )0 + 2a A  x A − ( x A )0 
2
2
 mm  mm
 300  = 2a A ( 200 mm ) a A = 225
 s  s2
v A = (v A )0 + a At
mm mm
300 = 225 2 t t = 1.333 s
s s
32
• Pulley D has uniform rectilinear motion. Calculate

change of position at time t.
x D = ( x D ) 0 + vD t
æ mm ö
xD - ( xD ) 0 = ç 75 ÷ (1.333s) = 100 mm
è s ø
• Block B motion is dependent on motions of collar
A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A + 2 xD + xB = constant
x A + 2 xD + x B = ( x A )0 + 2 ( x D )0 + ( x B )0
 x A − ( x A ) 0  + 2  x D − ( x D )0  +  x B − ( x B )0  = 0
     
( 200 mm ) + 2 (100 mm ) +  xB − ( xB )0  = 0
x B - ( x B )0 = -400 mm
33
• Differentiate motion relation twice to develop

equations for velocity and acceleration of block B.
x A + 2 xD + xB = constant
v A + 2vD + vB = 0
 mm   mm 
 300  + 2  75  + vB = 0
 s   s 
mm mm
vB = -450 = 450
s s
a A + 2aD + aB = 0
 mm 
 225 2 
+ 2(0) + aB = 0
 s 
mm mm
aB = -225 = 225
s2 s2
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1.4 질점의 곡선운동
1.4A 위치벡터, 속도 및 가속도

위치 P에서 위치 P’까지의 위치벡터 변화
 r = (위치 P’의 위치벡터) - (위치 P의 위치벡터)
평균속도(average velocity)
v=  r /  t ( r 의 방향)
순간속도(instantaneous velocity) 및 순간가속도
r dr v dv
v = lim = a = lim =
t →0 t dt t →0 t dt
* 크기 v : 속력(speed)
1.4B 벡터함수의 도함수
P(u) : 스칼라 변수 u의 벡터함수 (f: scalar)
d (P + Q) dP dQ d ( fP) df dP
= + = P+ f
du du du du du du
d (P • Q) dP dQ d (P  Q) dP dQ
= •Q + P • = Q + P
du du du du du du
if P=Pxi+Pyj+Pzk
dP/dt= dPx /dt i + dPy /dt j + dPz /dt k (d i/dt = 0)
35
1.4C 속도와 가속도의 직각좌표 성분
• 질점의 위치벡터
r = x i + yj + zk
• 속도벡터
dx dy dz
v= i + j + k = x i + y j + zk
dt dt dt
= vx i + v y j + vz k
• 가속도벡터
d 2x d 2 y d 2z
a = 2 i + 2 j + 2 k = xi + yj + zk
dt dt dt
= ax i + a y j + azk
36
1.4D 병진운동을 하는 좌표계에 대한 운동
rB = rA + rB / A
고정된 기준좌표계에서 질 움직이는 기준좌표계에서
점 B의 위치벡터 질점 B의 위치벡터
움직이는 기준좌표계의 원
점 위치벡터
v B = v A + v B/ A
aB = a A + aB/ A
(예제 1.9) 자동차의 상대위치, 속도, 가속도 ?
37
Sample Problem 1.10

SOLUTION:
• Consider the vertical and horizontal
motion separately (they are independent)
• Apply equations of motion in y-direction
• Apply equations of motion in x-direction
• Determine time t for projectile to hit the

A projectile is fired from the edge
ground, use this to find the horizontal
of a 150-m cliff with an initial
distance
velocity of 180 m/s at an angle of
30° with the horizontal. • Maximum elevation occurs when vy=0
Neglecting air resistance, find (a)
the horizontal distance from the gun
to the point where the projectile
strikes the ground, (b) the greatest
elevation above the ground reached
by the projectile. 38
SOLUTION:
Given: vo = 180 m / s yo = 0 m
a y = −9.81m/s 2 ax = 0 m/s 2
Vertical motion – uniformly accelerated:

( v ) = (180 m / s ) sin 30
y 0 = + 90 m / s
v = (v ) + a t
y y 0 y v y = 90 − 9.81t (1)
y = ( v y ) t + ay t 2
1
y = 90t − 4.90t 2 ( 2)
0 2
v 2y = ( v y ) + 2ay ( 3)
2
v y2 = 8100 − 19.62 y
0
Horizontal motion – uniformly accelerated:

Choose positive x to the right as shown
( vx )0 = (180 m / s ) cos 30 = + 155.9 m / s
x = ( v x )0 t x = 155.9t
39
SOLUTION:
Horizontal distance
Projectile strikes the ground at: y = −150m
Substitute into equation (1) above
150 = 90t − 4.90t 2
Solving for t, we take the positive root
t 2 − 18.37t − 30.6 = 0 t = 19.91s
Substitute t into equation (4)

x = 155.9 (19.91) x = 3100 m
Maximum elevation occurs when v y = 0

0 = 8100 − 19.62 y y = 413m
Maximum elevation above the ground = 150m + 413m = 563m

40
Sample Problem 1.14

SOLUTION:
• Define inertial axes for the system

• Determine the position, speed, and acceleration of
car A at t = 5 s
• Determine the position, speed, and acceleration of
car B at t = 5 s
• Using vectors (Eqs 11.31, 11.33, and 11.34) or a
graphical approach, determine the relative position,
Automobile A is traveling east at the velocity, and acceleration
constant speed of 36 km/h. As automobile
A crosses the intersection shown,
automobile B starts from rest 35 m north of
the intersection and moves south with a
constant acceleration of 1.2 m/s2.
Determine the position, velocity, and
acceleration of B relative to A 5 s after A
crosses the intersection.
41
SOLUTION:
Given: v A = 36km/h, a A = 0, x A0 = 0
vB 0 = 0, aB = −1.2m/s 2 , yB 0 = 35m
Determine motion of Automobile A:

 km   1000 m   1h 
v A =  36    = 10 m/s
 h  1km  3600s 
We have uniform motion for A so:
aA = 0
v A = +10 m/s
x A = x A0 + v At = 0 +10t
At t = 5 s
aA = 0 aA = 0
v A = +10 m / s v A = 10 m / s →
x A = + (10 m / s )( 5s ) = +50 m rA = 50 m →
42
SOLUTION:
Determine motion of Automobile B:

We have uniform acceleration for B so:
aB = -1.2 m/s 2
vB = ( vB )0 + aBt = 0 - 1.2 t
1 1
yB - ( yB )0 + ( vB )0 t + aBt 2 = 35+0 - (1.2 ) t 2
2 2
At t = 5 s
aB = -1.2 m / s 2
vB = - ( 1.2 m / s 2 ) ( 5 s ) = -6 m / s
yB = 35 -
1
2
( 1.2 m / s 2 ) ( 5 s ) = +20 m
2
a B = 1.2 m / s 2 
vB = 6 m / s 
rB = 20 m 
43
aA = 0 a B = 1.2 m/s 2  = −1.2 j m/s 2

v A = 10 m/s → = 10i m/s v B = 6 m/s  = −6 j m/s
rA = 50 m → = 50i m rB = 20 m  = −20 j m
We can solve the problems geometrically, and apply the arctangent relationship:
rB A = 53.9 m  = 21.8 vB A = 11.66 m / s  = 31.0
Or we can solve the problems using vectors to obtain equivalent results:

rB/ A = rB − rA v B/ A = v B − v A a B/ A = aB − a A
rB/ A = −20 j − 50i (m) v B/ A = −6 j − 10i (m/s) a B/ A = −1.2 j (m/s 2 )
Physically, a rider in car A would “see” car B travelling south and west.
44
1.5A 접선방향과 법선방향 성분

접선방향의 변화

et = et − et [크기 : et = 2sin( )]
2
det  2 sin(  / 2)
= lim et = lim en = en
d   →0   →0 
질점의 속도는 항상 경로에 접하므로
v = vet
질점의 가속도는
dv d (vet ) dv de
a= = = et + v t
dt dt dt dt
det d ds v2
= at et + v = at et + e n
d ds dt 
45
1.5B 반경방향과 횡방향 성분

de r de
= e , = −e r 관계를 이용하면
d d
de r de r d de de d
= = e , = = −e r
dt d dt dt d dt
d (re r ) dr de
속도 : v= = e r + r r = re r + re
dt dt dt
d (re r + re ) de de
가속도 : a= = re r + r r + re + re + r 
dt dt dt
= (r − r 2 )e r + (r + 2r )e
중심에 대하여 원궤적을 움직이는 질점의 속도와 가속도는
d (re r )
v= = re
dt
a = (−r 2 )e r + (r )e
46
Sample Problem 1.16
SOLUTION:
• Calculate tangential and normal
components of acceleration.
• Determine acceleration magnitude

and direction with respect to tangent
to curve.
A motorist is traveling on curved section

of highway at 90 km/h. The motorist
applies brakes causing a constant
deceleration rate.
Knowing that after 8 s the speed has
been reduced to 72 km/h, determine the
acceleration of the automobile
immediately after the brakes are applied.
47
SOLUTION:
• Calculate tangential and normal components of
acceleration.
at =
v
=
(20 − 25 )m s m
= −0.625 2
t 8s s
v 2 (25 m s)
2
m
an = = = 0.833 2
 750 m s
90 km/h = 25 m/s
72 km/h = 20 m/s • Determine acceleration magnitude and direction with
respect to tangent to curve.
m
a= at2 + an2 = (− 0.625)2 + 0.8332 a = 1.041
s2
an 0.833
 = tan −1 = tan −1
at 0.625  = 53 .1
48
Sample Problem 1.18
SOLUTION:
• Evaluate time t for  = 30o.
• Evaluate radial and angular positions,
and first and second derivatives at
time t.
Rotation of the arm about O is defined • Calculate velocity and acceleration in
by  = 0.15t2 where  is in radians and cylindrical coordinates.
t in seconds. Collar B slides along the
arm such that r = 0.9 - 0.12t2 where r is • Evaluate acceleration with respect to
in meters. arm.
After the arm has rotated through 30o,

determine (a) the total velocity of the
collar, (b) the total acceleration of the
collar, and (c) the relative acceleration
of the collar with respect to the arm.
49
SOLUTION:
• Evaluate time t for  = 30o.
 = 0.15 t 2
= 30 = 0.524 rad t = 1.869 s
• Evaluate radial and angular positions, and first

and second derivatives at time t.
r = 0.9 − 0.12 t 2 = 0.481 m
r = −0.24 t = −0.449 m s
r = −0.24 m s 2
 = 0.15 t 2 = 0.524 rad

 = 0.30 t = 0.561rad s
 = 0.30 rad s 2
50
• Calculate velocity and acceleration.

vr = r = −0.449 m s
v = r = (0.481m )(0.561rad s ) = 0.270 m s
v
v = vr2 + v2  = tan −1 
vr
v = 0.524 m s  = 31.0
ar = r − r 2
= −0.240 m s 2 − (0.481m )(0.561rad s )2
= −0.391m s 2
a = r + 2r
( )
= (0.481m ) 0.3 rad s 2 + 2(− 0.449 m s )(0.561rad s )
= −0.359 m s 2
a
a = ar2 + a2  = tan −1 
ar
a = 0.531m s  = 42.6
51
• Evaluate acceleration with respect to arm.

Motion of collar with respect to arm is
rectilinear and defined by coordinate r.
a B OA = r = −0.240 m s 2
52

Vector Mechanics For Engineers Dynamics 11th Edition 1ch

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Vehicle Dynamics Lab.

-정의 : 힘이 작용하고 있는 물체의 평형상태 또는 운동상태를 묘사하고 예측하는 공학

유체역학 (mechanics of fluids)

1) 외력이 없는 경우 물체는 정지상태 또는 일정한 속도를 유지한다.   Fi=0

- 3차원 질점(particle)의 평형식(equilibrium equation)

 질점의 정의: 질량 중심에 대한 회전을 무시한 물체

-3차원 강체(rigid body)의 평형식(equilibrium equation)

자유물체도 (Free Body Diagram)

자유물체도를 이용한 문제 풀이 (다른 좌표계 이용)

1. 질점의 운동학(Kinematics of particles) : 직선운동

1.1A 위치, 속도, 가속도 x

직선운동: Position, Velocity & Acceleration

• Consider particle with motion given by

• at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

• at t = 6 s, x = 0, v = -36 m/s, a = 24 m/s2

• Recall, motion of a particle is known if position is known for all time t.

• Acceleration given as a function of time, a = f(t):

• Acceleration given as a function of position, a = f(x):

• Acceleration given as a function of velocity, a = f(v):

Sample Problem 1.2

• Solve for t at which velocity equals

• Solve for t at which altitude equals

• Solve for t at which velocity equals zero and evaluate

• Solve for t at which altitude equals zero and evaluate

• Solve for t at which altitude equals zero and

Sample Problem 1.3

• Integrate v(t) = dx/dt to find x(t).

• Integrate a = v dv/dx = -kv to find v(x).

1.2 특별한 경우와 상대운동

1.2B 등가속 직선운동

• Position of a particle may depend on position of one

• For linearly related positions, similar relations hold

자유도 (Degrees of Freedom, DOF)

• 시스템의 운동을 묘사하기 위한 최소한의 좌표(변수)의 수

Sample Problem 1.5

• Substitute initial position and constant

• Substitute initial position and constant velocity of

• Write equation for relative position of ball with respect to

• Substitute impact time into equations for position of

Sample Problem 1.7

• Collar A has uniformly accelerated rectilinear

• Pulley D has uniform rectilinear motion. Calculate

• Differentiate motion relation twice to develop

1.4 질점의 곡선운동

1.4A 위치벡터, 속도 및 가속도

1.4C 속도와 가속도의 직각좌표 성분

1.4D 병진운동을 하는 좌표계에 대한 운동

(예제 1.9) 자동차의 상대위치, 속도, 가속도 ?

Sample Problem 1.10

• Apply equations of motion in x-direction

• Determine time t for projectile to hit the

Vertical motion – uniformly accelerated:

Horizontal motion – uniformly accelerated:

Substitute t into equation (4)

Maximum elevation occurs when v y = 0

Maximum elevation above the ground = 150m + 413m = 563m

Sample Problem 1.14

• Define inertial axes for the system

Determine motion of Automobile A:

Determine motion of Automobile B:

aA = 0 a B = 1.2 m/s 2  = −1.2 j m/s 2

rB A = 53.9 m  = 21.8 vB A = 11.66 m / s  = 31.0

Or we can solve the problems using vectors to obtain equivalent results: