11/17/2023

Engineering Mechanics Mécanique pour Ingénieurs

Ch-D1: Dynamics-Kinematics of Particles Dynamique- Cinématique des Particules

GNG 1105 /1505 | Presented by: Dr. M. YANDOUZI

uOttawa.ca
uOttawa.ca

LEC. 19

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• COURSE TIMETABLE
⁕ Lec.0- Course description
⁕ Lec.1- CHS1- Introduction

⁕ Lec.2- CHS2- 2D Force System

⁕ Lec.23- CHD3- CH3D- Kinetics
⁕ Lec.3- CHS2- 2D Force System
⁕ Lec.22- CHD3- CH3D-Kinetics

⁕ Lec.4- CHS2- 3D Force System

⁕ Lec.21- CHD3- Kinetics ⁕ Lec.5- CHS2- 3D Force System
⁕ Lec.20- CHD2- Kinematics

⁕ Lec.19- CHD2- Kinematics ⁕ Lec.6- CHS3- Equilibrium in 2D

⁕ Lec.18- CHD2- Kinematics ⁕ Lec.7- CHS3- Equilibrium in 2D

⁕ Lec.8- CHS3- Equilibrium in 3D

⁕ Lec.17- CHS6- Friction ⁕ Lec.9- CHS4- Structures- plane Trusses
⁕ Lec.16- CHS6- Friction

⁕ Lec.10- CHS4- Structures- plane Trusses

⁕ Lec.15- CHS5- Center of Mass & Centroids ⁕ Lec.11- CHS4- Frames and Machines
⁕ Lec.14- CHS5- Center of Mass & Centroids

⁕ Lec.12- CHS4- Frames and Machines

uOttawa.ca Reading Week ⁕ Lec.13- MT- EXAM

GNG1105 / GNG1505 - 2023 © Dr. M.YANDOUZI

• OUTLINE / SOMMAIRE

D1/1-Kinematics of particles / C’est quoi la Cinématique de particules?

D1/2- Rectilinear Motion / Mouvement Rectiligne

a- Distance, Velocity & Acceleration / Distance, Vitesse et Accélération
* UNIFORM RECTILINEAR MOVEMENT / MOUVEMENT RECTILIGNE UNIFORME
** UNIFORMLY ACCEL. RECTILINEAR MOTION / MOUV. RECTILIGNE UNIF. ACCÉLÉRÉ

b- Movement of several particles / Mouvement de plusieurs particules

* RELATIVE MOTION / MOUVEMENT RELATIF
** CONSTRAINED MOTION / MOUVEMENT DÉPENDANT

D1/3- Curvilinear Motion / Mouvement Curviligne

a- PROJECTILE TRAJECTORIES / LES TRAJECTOIRES BALISTIQUES
b- CIRCULAR TRAJECTORIES / LES TRAJECTOIRES CIRCULAIRES

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D1/2- Rectilinear Motion / Mouvement Rectiligne

UNIFORM RECTILINEAR MOVEMENT /
MOUVEMENT RECTILIGNE UNIFORME

Eq.1 s = V.t + s0 Eq.4

Eq.2
UNIFORMLY ACCEL. RECTILINEAR MOTION /
MOUV. RECTILIGNE UNIF. ACCÉLÉRÉ

Eq.3
V(t) = a t + V0 Eq.5

s(t) = ½ a t2 + V0 t + s0 Eq.6

V2 = V02 + 2a . (s – s0) Eq.7

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D1/2b- Movement of several particles / Mouvement de plusieurs particules

* RELATIVE MOTION / MOUVEMENT RELATIF

 We have described particle motion using coordinates referred to fixed reference axes.
=> The displacements, velocities, and accelerations so determined are termed ABSOLUTE.
• Nous avons décrit le mouvement des particules en utilisant des coordonnées par rapport à des axes
de référence fixes. => Les déplacements, vitesses et accélérations ainsi déterminés sont ABSOLUS.

 There are many engineering problems for which the analysis of motion is simplified by using
measurements made with respect to a moving reference system.
=> When combined with the absolute motion of the moving coordinate system, enable us to
determine the absolute motion in question.
• Il existe de nombreux problèmes d'ingénierie pour lesquels l'analyse du mouvement est simplifiée
en utilisant des mesures effectuées par rapport à un système de référence en mouvement.
=> Combinées au mouvement absolu du système de coordonnées en mouvement, nous permettent de
déterminer le mouvement absolu en question.
vilebrequin

uOttawa.ca
RELATIVE-MOTION ANALYSIS / ANALYSE DE MOUVEMENT RELATIF

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D1/2b- Movement of several particles / Mouvement de plusieurs particules

* RELATIVE MOTION / MOUVEMENT RELATIF

y
 The Situation of Interest: two particles A and B which may have Y
separate curvilinear motions in each plane or in parallel planes
A
 Deux particules A et B qui peuvent avoir des mouvements curvilignes j
distincts dans chaque plan ou dans des plans parallèles

rA rA/B
 Coordinate Frames:
o OXY = fixed, initial frame B i
o Bxy = translating axes attached to particle B x
rB
 Position Vectors: O X
 rA = absolute position vector of particle A
 rB = absolute position vector of particle B
 rA/B = position vector of particle A measured relative to frame x-y
 The A/B subscript is read “A relative to B” or “A with respect to B.”

uOttawa.ca rA = rB + rA/B

D1/2b- Movement of several particles / Mouvement de plusieurs particules

* RELATIVE MOTION / MOUVEMENT RELATIF

 Velocity Vectors
o Differentiate with respect to time…

Galilean Velocity Transformation!

 Acceleration Vectors
o Differentiate with respect to Time again…

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D1/2b- Movement of several particles / Mouvement de plusieurs particules

Sample Problem / Exemple (5)

Passengers in the jet transport A flying east at a speed of 800 km/h

observe a second jet plane B that passes under the transport in
horizontal flight. Although the nose of B is pointed in the 45°
northeast direction, plane B appears to the passengers in A to be
moving away from the transport at the 60° angle as shown.
Determine the true velocity of B.

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D1/2b- Movement of several particles / Mouvement de plusieurs particules

Solution

The moving reference axes x-y are attached to A, from which the relative
observations are made. We write, therefore,

Next, we identify the knowns and unknowns:

- The velocity vA is given in both magnitude (800km/h) and direction.
- The 60°direction of vB∕A, the velocity which B appears to have to
the moving observers in A, is known
- The true velocity of B is in the 45° direction in which it is heading.
=> The two remaining unknowns are the magnitudes of vB and vB∕A.

Trigonometric Solution:
A sketch of the vector triangle is made to reveal the trigonometry, which gives

uOttawa.ca We must be prepared to recognize the appropriate

trigonometric relation, which here is the law of sines.

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D1/2b- Movement of several particles / Mouvement de plusieurs particules

Solution

Vector-Algebra Solution:

Using unit vectors i and j, we express the velocities in vector form as

Substituting these relations into the relative-velocity equation and solving

separately for the i and j terms give

i−terms 𝑣 cos 4 5° = 800 − 𝑣 / cos 6 0°

j−terms 𝑣 sin 4 5° = 𝑣 / sin 6 0°

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D1/2b- Movement of several particles / Mouvement de plusieurs particules

Sample Problem / Exemple (6)

Un ballon est lancé vers le haut dans un puits d'ascenseur avec

une vitesse initial de V0 = 18 m/s, sachant que la vitesse de
l’ascenseur est constant VE=2m/s
a) Trouvez quand et où le ballon va toucher (atterrir sur) l'ascenseur.
b) Trouvez La vitesse relative du ballon par rapport à l'ascenseur à
Vo
l'impact
B
Position
A ball is thrown upwards in an elevator shaft with an initial speed y Init.

of V0 = 18 m/s, knowing that the speed of the elevator is constant VE 12m

VE = 2m/s Ascenseur
a) Find out when and where the ball will hit (land on) the elevator. Elevator 5m
b) Find the velocity of the ball relative to the elevator at impact.

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D1/2b- Movement of several particles / Mouvement de plusieurs particules

Solution

a) Mouvement du Ballon => Accélération Uniforme

 a = Cte
 V0 = 18 m/s
 y0 = 12 m
g
VB = at + V0
= -9.81 t + 18 Vo
B
yB = y0 + V0t +1/2 at2 Position
= 12 + 18.t – (9.81/2).t2 y Init.
VE 12m
Mouvement de l’ascenseur => Vitesse Uniforme Ascenseur
a=0 Elevator 5m
 VE= Cte & VE = 2m/s
 y0 = 5 m

yE = y0 + VE t
uOttawa.ca = 5 + 2t

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D1/2b- Movement of several particles / Mouvement de plusieurs particules

Solution

Quand le ballon va toucher l’ascenseur! => yB = yE

=> 12 + 18t – (9.81/2) t2 = 5 + 2t
=> 7 + 16t – (9.81/2) t2 = 0

Solution (Eq. Quadratique) => t = {- 16 ± [(162 -4 (-9.81/2) ( 7)] ½} / 2 (-9.81/2)

=> t = -0.39s & t = 3.65 sec
yE @ 3.65sec => y = 5+ 2 (3.65)
=> y = 12.3m
Nous pouvons vérifier avec : yB @ 3.65sec => y = 12 + 18 . 3.65 - (9.81/2) 3.652
=> y = 12.3m (OK!)

Vitesse Relative du ballon:

VB = 18 – (9.81) (3.65) = -17.81 m/s & VE = 2m/s

=> VB/E = -17.81 – 2 = -19.81 m/s

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D1/2b- Movement of several particles / Mouvement de plusieurs particules

** CONSTRAINED MOTION / MOUVEMENT DÉPENDANT
Parfois, le mouvement et la position d'un objet/particule dépendent du mouvement et de la position
d'autres objets/particules.
Sometimes the movement and position of an object/particle depends on the movement and position of
other objects/particles
Ex. système de poulie / Pulley system
lsemi
Le mouvement de B dépend de A (une corde!) ... quelle est la relation? Datum
The movement of B depends on A (a rope!) ... what is the relation?
O
Pour ce type de problème, nous partons du fait que la longueur de la
corde est constante! sA
s sB
For this type of problem, we start with the fact that the length of the
rope is constant!
=> Lt = SA + lsemi + SB = Const. vA
=> d(Lt)/dt = d(SA + lsemi + SB )/dt

=> 0 = d(SA )/dt + 0 + d( SB)/dt => VA = -VB vB

uOttawa.ca
=> d(VA )/dt = - d( VB)/dt => aA = -aB

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D1/2b- Movement of several particles / Mouvement de plusieurs particules

** CONSTRAINED MOTION / MOUVEMENT DÉPENDANT

Ex. Velocity & Acceleration relation between A and B

Pour ce type de problème, nous partons du fait que la longueur
de la corde est constante!
For this type of problem, we start from the fact that the length
SA
of the rope is constant! SB

La longueur est exprimé en fonction de la position des blocs A et B

L = AC + CD + DE + EF + FG = Const.
=> L = AC + lsemi + DE + lsemi + FG = Const.
=> L = (SA – d1) + (SB – d1 – d2) + (SB – d2) = Const.

=> L = SA + 2SB – (2d1 + 2d2) = Const.

 L = SA + 2SB = Const.
Si le bloc A se déplace de 1m vers le bas alors le bloc B se déplacera
uOttawa.ca par une distance de SA/2 = 0.5m

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D1/2b- Movement of several particles / Mouvement de plusieurs particules

** CONSTRAINED MOTION / MOUVEMENT DÉPENDANT

Ex. Velocity & Acceleration relation between A and B

Pour ce type de problème, nous partons du fait que la longueur
de la corde est constante!
For this type of problem, we start from the fact that the length SA
of the rope is constant! SB

 L = SA + 2SB = Const.

Velocity / la vitesse: v = dS/dt

=> d(SA +2 SB)/dt = d (Const.) / dt
=> VA +2 VB = 0
=> VB = -VA / 2

Acceleration / l’accélération => aA +2 aB = 0

uOttawa.ca => aB = - aB /2

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D1/2b- Movement of several particles / Mouvement de plusieurs particules

** CONSTRAINED MOTION / MOUVEMENT DÉPENDANT

Sample Problem / Exemple (8)

Si la corde est tirée à A avec une vitesse de 2m/s, quelle sera la vitesse du Bloc B?
If the rope is pulled at A with a speed of 2m/s, what will be the speed of Block B?

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D1/2b- Movement of several particles / Mouvement de plusieurs particules

** CONSTRAINED MOTION / MOUVEMENT DÉPENDANT
Solution
Nous avons deux cordes: (CDE) & (ACEF)

Nous avons besoin d’un point de référence

La corde: (CDE)
=> L1 = Cte
=> L1 = CD + DE = Cte.

=> L1 = SC + lsemi + SB
=> SC + SB = = Cte

La corde: (ACEF)
=> L2 = Cte
=> L2 = AC + CE + EF = Cte
=> L2 = (SA - SC) + lsemi + (SB - SC) + lsemi + SB

=> SA + 2SB - 2SC = Cte

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D1/2b- Movement of several particles / Mouvement de plusieurs particules

** CONSTRAINED MOTION / MOUVEMENT DÉPENDANT

SC + SB = = Cte SA + 2SB - 2SC = Cte Solution

Les vitesses: dx/dt =>

(CDE) VC + VB = 0 [Eq.1]
(ACEF) VA + 2VB - 2VC = 0 [Eq.2]

[Eq.1] => VC = -VB

[Eq.2] =>VA + 2VB - 2(-VB) = 0

=> VA + 4VB = 0

=> VB = -VA /4

if/si VA = 2m/s => VB = -0.5 m/s => VB = 0.5 m/s

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• ANNOCEMENTS / LES ANNONCES

READING / LECTURE
J.L. MERIAM, L.G. KRAIGE, J.N. BOLTON,
Engineering Mechanics: Statics & Dynamics, 9th Ed.
Mécanique pour Ingénieurs, Statique & Dynamique 8 -ème éd.,
M. DUBE et al. (traduction)

[Ch. D2: 2.1 - 2.5, 2.7 - 2.9]

PROBLEMS / PROBLÈMES SUGGÉRÉS

2-13 / 2-17 / 2-4 / 2-68 / 6-73 / 2-210 / 2-188 / 2-192
TUT-10 :

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