Principles

Learn The Method

 Principles

Basics should be automatic

Memorize and Practice!
 The angular velocity of the
disk (r = 1m) in rad/s is
(A) 6 k
J
(B) -6 k

(C) 6i
i
(D) - 3k
(E) 3k

5.129
wDisk = vo / r = -3/1 = -3 rad/s
 The angular accel. of the
disk (r = 2 m) in rad/s2 is
(A) 5 k
J
(B) - 5 k

(C) - 10 k
i
(D) 10k
(E) 2.5 k

aDisk = ao / r = 5/2 = 2.5 rad/s2

5.129
 Arm AB with Length L
B moves the slotted
rod BD in x-direction
J only.

L How do we determine
i the velocity vD of
point D as a function
A of angle q(t)?
 (t) vD(t)
D

X(q) =L*cosq    
angular _ vel
 Arm AB with Length L
B moves the slotted
rod BD in x-direction
J only.

L How do we determine
i the velocity vD of
point D as a function
A of angle q(t)?
 (t) vD(t)
D

X(q) =L*cosq    
angular _ vel
X-dot(q) =-L*sinq*q_dot
Chapter 14

Energy Methods
  
dW  F  dr
Scalar _ Pr oduct

Only Force components in direction of

motion do WORK
The work-energy relation: The relation
between the work done on a particle by the
forces which are applied on it and how its
kinetic energy changes follows from Newton’s
second law.
2. If the pendulum is released from the
horizontal position, the velocity of its
bob in the vertical position is _____
A) 3.8 m/s. B) 6.9 m/s.
C) 14.7 m/s. D) 21 m/s.

The work done is mgh

½*m*v2 = mgh or
V = sqrt(2gh) = sqrt(14.7)
 Power

E dE Units of power:
P 
t dt J/sec = N-
m/sec = Watts
1 hp = 746 W
The potential energy V is defined
as:

V  - W  -  F * dr
 Conservative Forces

T1 + V 1 = T 2 + V 2
 Potential Energy
Potential energy is energy which
results from position or configuration.
An object may have the capacity for
doing work as a result of its position
in a gravitational field. It may have
elastic potential energy as a result of
a stretched spring or other elastic
deformation.
Potential Energy
elastic potential
energy as a result of
a stretched spring or
other elastic
deformation.
Potential Energy
 Potential Energy

y
 Procedure
Ex. Problem 14.26
1. Frame, start and end
xA points
2. Constraint equations?
3. Apply the Energy Principle
2. 1. (only ext. Forces!)
xc 2 𝑥𝑐 + 𝑥𝐴=𝐿
 

T1 = 0, start from rest

0 + F*xc = 0.5*m*(vA)2
 Chapter 16

Rigid Body Kinematics

16.1
16.3 Rot. about Fixed Axis Memorize!
Vector Product is NOT
commutative!
 Cross Product

i j k
a  b  ax ay az
bx by bz


a  b  a y bz  a z by a z bx  a x bz a x by  a y bx 
 Derivative of a Rotating Vector
• vector r is rotating around the origin, maintaining
a fixed distance
• At any instant, it has an angular velocity of ω

ω
dr r
 ωr
dt
ω r
Page 317:

 dr
v  ωr
dt

an = w x ( w x r)

at = a x r
 fig_05_006

General Motion = Translation + Rotation

Vector sum vA = vB + vA/B
fig_05_007
16.4 Motion Analysis
 Approach
1. Geometry: Definitions
Constants
Variables
Make a sketch

2a. Analysis (16.4) 2b. Rel. Motion (16.5)

Derivatives (velocity
and acceleration)

3. Equations of Motion
4. Solve the Set of Equations. Use
Computer Tools.
 Example
Bar BC rotates at
constant wBC.
Find the angular
Veloc. of arm
BC.
Step 1: Define the
Geometry
 Example
Bar BC rotates at B J
vA(t)
constant wBC. A
Find the ang. i
Veloc. of arm
BC1:
Step . Define the
 (t)

Geometry O
 (t)

C
 Geometry: Compute all lengths and
angles as f(q(t))
All angles and B J
vA(t)
distance AC(t) A
are time-variant i

Velocities: w
= g-dot is
 (t)
 (t)
O
C
given.

Vector Analysis: OA  rA vCOLL  BC  rAC

 Rigid Body Acceleration
Chapter 16.7

Stresses and Flow Patterns in a Steam Turbine

FEA Visualization (U of Stuttgart)
 General Procedure
A
 (t) AB
B J 1. Compute all velocities
i
and angular velocities.
2. Start with centripetal
 (t) = 45
deg
acceleration: It is
D
vD(t)= const ALWAYS oriented inward
towards the center.
 General procedure

A
 (t) AB
B J 1. Compute all velocities
and angular velocities.
i
2. Start with centripetal
 (t) = 45
deg
acceleration: It is
D
vD(t)= const ALWAYS oriented inward
towards the center.

3. The angular accel is NORMAL to the

Centripetal acceleration.
 General Procedure
A B J
 (t) AB
1. Compute all velocities
i and angular velocities.
2. Start with centripetal
 (t) = 45
deg
D
acceleration: It is
vD(t)= const
ALWAYS oriented inward
towards the center.

3. The angular accel is NORMAL to the

Centripetal acceleration. The direction of
the angular acceleration is found from the
mathematical analysis.
wExample
AB = -11.55k 1. Find
HIBBELER 16-125
all v i and w i (Ch. 16.5)
wBC = -5k 2. View from A: aB =
aABXrB – wAB2*rB

3. View from D: aB = aC + aBCXrB/C – wBC2*rB/C

Centripetal
HIB 16-125
Terms: We know magnitudes and
directions
We now can solve two simultaneous vector
equations for wAB and wBC
– wBC2*rB/C

– wAB2*rB
aD

aABXrB – wAB2*rB = aC + aBCXrB/C – wBC2*rB/C

 HIB 16-125

aABXrB – wAB2*rB = aC + aBCXrB/C – wBC2*rB/C

 16.8 Relative Motion
fig_05_011
aA = aB + aA/B,centr + aA/B,angular + aA,RELATIVE

fig_05_11
 16.8 Relative Motion
fig_05_011
aA = aB + aA/B,centr + aA/B,angular + aA,RELATIVE
 16.8 Relative Motion
fig_05_011
From Ch. 12.8

radial
 
aP = *ur + ωx(ωxr) +
(α x r) + 2 (ω x )
tangential
 End of Review
Chapters 14 and 16