Final Exam Review

Please Return Loan Clickers

to the MEG office after Class!
Today!
 Final Exam
Wed. Wed. May 14
8 – 10 a.m.
 Review

Always work from first Principles!

 Review

Always work from first Principles!

Kinetics:
Free-Body Analysis
Newton’s Law
Constraints
 Review
Unit vectors
J
B G A

i g
L

1. Free-Body
Unit vectors
J
B G A

B_x

i g mg
B_y

1. Free-Body
Unit vectors
J
B G A

B_x

i g mg
B_y

2. Newton
Moments about B: -mg*L/2 = IB*a with IB = m*L1/3
Unit vectors
J
B G A

B_x

i g mg
B_y

3. Constraint
aG = a*L/2 = -3g/(2L) * L/2 = -3g/4
 J
R R-h
i mg g
b
R= 0.8m
A_x A A_y
h= 0.05m
aCart,x = const N

1. Free-Body
 J
R R-h
i mg g
b
R= 0.8m
2. Newton A_x A A_y
h= 0.05m
aCart,x = const N

Moments about Center of Cylinder:A_x

From triangle at left:
Ax*(R-h) –b*mg = 0
acart*(R-h) –b*g = 0
 J
R R-h
i mg g
b
R= 0.8m
A
Newton A_x
h= 0.05m
A_y

aCart,x = const N

N = 0 at impending rolling, thus Ay

= mg
Ax = m*acart
 Kinematics (P. 16-126)

4r

-2r*i + 2r*j

CTR
 Point Mass Dynamics
X-Y Coordinates

v
g B (d,h)
0
y
 horiz. h
A (x0,y0) distance = d
x
Normal and Tangential

v  s * ut
Coordinates
Velocity
Page 53
Normal and Tangential Coordinates
Polar coordinates
Polar coordinates
Polar coordinates
12.10 Relative (Constrained) Motion
  
VB  VA  VB / A
We Solve Graphically (Vector Addition)
vA
vB
vB/A
 Example : Sailboat tacking against
Northern Wind
  
VWind  VBoat  VWind / Boat
2. Vector equation (1 scalar eqn. each in
i- and j-direction)
500

150

i
 Constrained Motion

A vA is given
vA = const
as shown.
Find vB
J


Approach:
Use rel.
i Velocity:
B vB = vA +vB/A

(transl. + rot.)
 NEWTON'S LAW OF INERTIA
A body, not acted on by any force, remains in
uniform motion.
NEWTON'S LAW OF MOTION
Moving an object with twice the mass will require
twice the force.
Force is proportional to the mass of an object and
to the acceleration (the change in velocity).

F=ma.
Rules
1. Free-Body Analysis, one for
each mass

2. Constraint equation(s):
Define connections.
You should have as many
equations as Unknowns.
COUNT!

3. Algebra:
Solve system of equations
for all unknowns
 Mass m rests on the 30
J deg. Incline as shown.
Step 1: Free-Body
m g Analysis. Best
M*g*sinq*i approach: use
i coordinates tangential
0 = 30 0

and normal to the path

-M*g*cosq*j of motion as shown.
M*g
 Mass m rests on the 30
deg. Incline as shown.
J Step 1: Free-Body
Analysis.
m g Step 2: Apply Newton’s
M*g*sinq*i
i
Law in each Direction:
0 = 30 0

N
-M*g*cosq*j
M*g

 ( Forces _ x)  m * g * sin * i  m * x

 ( Forces _ y)  N - m * g * cos * j  0(static _ only )
 Friction F = mk*N:
Another horizontal
J reaction is added in
negative x-direction.
m g
M*g*sinq*i
i
0 = 30 0

N mk*N
-M*g*cosq*j
M*g

 ( Forces _ x)  (m * g * sin   k * N ) * i  m * x

 ( Forces _ y)  N - m * g * cos * j  0(static _ only )
Energy Methods
  
dW  F  dr
Scalar _ Pr oduct

Only Force components in direction of

motion do WORK
The work is defined as
 

𝑾=∫ 𝑭 ∗𝒅𝒓 𝒐𝒓𝑾=∫ 𝑻 ∗𝒅𝝑

The potential energy V is
defined as:
V  - W  -  F * dr
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.
 Work
of
Gravity
 Conservative Forces:
GMm
Gravity is a conservative force: Ug  
R

• Gravity near the Earth’s surface: U g  mgy

• A spring produces a conservative force: 1 2

U s  kx
2
Rot. about Fixed Axis Memorize!
Page 336:

 dr
v  ωr
dt

an = w x ( w x r)

at = a x r
 Meriam Problem 5.71
Given are: BC wBC  2 (clockwise), Geometry: equilateral triangle


fig_05_012
with l  0.12 meters. Angle   60 Collar slides rel. to bar AB.
180

Mathcad EXAMPLE Guess

Values:
(outward
motion of
collar is
positive)

wOA  1

vcoll  1

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

Mathcad does not evaluate cross products symbolically, so the LEFT and
RIGHT sides of the above equation are listed below. Equaling the i- and j-
terms yields two equations for the unknowns OA and vCOLL
 fig_05_012
Mathcad Example

part 2:
Solving the vector
equations
 fig_05_012
OA X rOA
BC X rAC
Mathcad
Examples

part 3
Graphical Solution
BC

ARM BC: VA Collar slides rel. to Arm BC

= BC X rAC at velocity vColl. The angle
of vector vColl = 60o

Right ARM OA:

VA =OA X rOA
 Given: Geometry and vB = vA + vB/A
VA
Find: vB and AB vA + AB x r
vA = const
J
Graphical Solution
iA Veloc. of B
vA = const

Counterclo AB x r vB = ?
ckw. 
 vB vA is
B given
AB x r
 Given: Geometry and vB = vA + vB/A
VA
Find: vB and AB vA + AB x r
vA = const
J

iA
Solution:
vA = const
vB = vA + AB X r
Counterclo AB x r
ckw. 
 vB vA is
B given
AB x r
 vB = 3 ft/s down, Q = 60o
and vA = vB/tanQ. The relative
velocity vA/B is found from the
y vector eq.
x (A)vA = vB+ vA/B ,vA/B points
(B) vA = vB+ vA/B ,vA/B points
(C) vB = vA+ vA/B ,vA/B points
(D) VB = vB+ vA/B ,vA/B points

vA
vB vA vB
vA/B
 The instantaneous
center of Arm BD is
E
located at Point:
(A) B
F
(B) D
(C) F
A
(D) G
B
 (t) AB H (E) H
BD
J

 (t)
vD(t)
O G D
i
 Rigid Body Acceleration

Stresses and Flow Patterns in a Steam Turbine

FEA Visualization (U of Stuttgart)
 G iv e n : G e o m e tr y a n d a B
= a A
+ a B /A ,c e n tr
+ a B /A ,a n g u la r
V A ,a A , v B , w A B
r* w 2 r* a
F in d : a and a AB +
B AB
J

iA
L o o k a t t h e A c c e l. o f B r e la tiv e to A :
vA = const
r

wAB
C o u n te rc lo c k w
.

q vB
B
 G iv e n : G e o m e t r y a n d
V A ,a A , v B , w A B a B
= a A
+ a B /A ,c e n tr
+ a B /A ,a n g u la r

F in d : a and aAB r* w AB
2
+ r* a
B
J
L o o k a t th e A c c e l. o f B r e la tiv e to A :
iA
W e know :
vA = const
C e n tr ip . 1 . C e n t r ip e t a l: m a g n it u d e r w 2 a n d
r

d ir e c t io n ( in w a r d ) . I f in d o u b t , c o m p u t e
r* w 2 th e v e c to r p ro d u c t w x (w * r)
q
AB
B
 G iv e n : G e o m e tr y a n d
V A ,a A , v B , w A B a B
= a A
+ a B /A ,c e n tr
+ a B /A ,a n g u la r

F in d : a and aAB r* w AB
2
+ r* a
B
J
L o o k a t th e A c c e l. o f B r e la tiv e to A :
iA
W e know :
vA = const
1 . C e n t r ip e t a l : m a g n it u d e r w 2 a n d
r

2 d ir e c tio n ( in w a r d ) . I f in d o u b t , c o m p u t e
C e n tr ip . r* w AB th e v e c to r p ro d u c t w x (w * r)
q 2 . T h e D IR E C T IO N o f th e a n g u la r a c c e l
B (n o rm a l to b a r A B )

r* a
 G iv e n : G e o m e t r y a n d
V A ,a A , v B , w A B a B
= a A
+ a B /A ,c e n tr
+ a B /A ,a n g u la r

F in d : a and aAB r* w AB
2
+ r* a
B
J
L o o k a t th e A c c e l. o f B r e la tiv e to A :
iA
W e know :
vA = const
1 . C e n t r ip e t a l: m a g n it u d e r w 2 a n d
r

d ir e c t io n ( in w a r d ) . I f in d o u b t , c o m p u t e
C e n tr ip . r* w 2
AB th e v e c to r p ro d u c t w x (w * r)
q 2 . T h e D IR E C T IO N o f th e a n g u la r a c c e l
B
a
(n o rm a l to b a r A B )
A n g u la r r* a
B 3 . T h e D IR E C T IO N o f th e a c c e l o f p o in t B
( h o r iz o n t a l a lo n g t h e c o n s t r a in t )
 G iv e n : G e o m e tr y a n d W e c a n a d d g r a p h ic a lly :
V A ,a A , v B , w A B S ta r t w ith C e n tip e t a l

F in d : a B and aAB a B
= a A
+ a B /A ,c e n tr
+ a B /A ,a n g u la r

r is th e v e c to r fr o m r e fe r e n c e
p o in t A to p o in t B
J
A
i
vA = const
wAB
r

C e n tr ip . r * w 2 A n g u la r r * a
AB
q
a B
B
 G iv e n : G e o m e tr y a n d W e c a n a d d g r a p h ic a lly :
V A ,a A , v B , w A B S t a r t w ith C e n t ip e t a l
a = a + a + a
F in d : a B and aAB B A B /A ,c e n tr B /A ,a n g u la r

N ow r* a
C o m p le te th e r* w AB
2
r is t h e v e c to r fr o m
r e f e r e n c e p o in t A t o p o in t B T r ia n g le : a B
J
A
i
vA = const
wAB R e s u lt:
r

a is < 0 ( c lo c k w is e )
C e n t r ip . r * w A B 2
a B is n e g a tiv e ( to th e
q le ft )
B
 The accelerating Flywheel
At q=90o, arad = v2/r or has R=300 mm. At
v2 = 4.8*0.3 thus v = 1.2 q=90o, the accel of point
P is -1.8i -4.8j m/s2. The
velocity of point P is

(A) 0.6m/s
(B) 1.2 m/s
(C) 2.4 m/s
(D) 12 m/s
(E) 24 m/s
 The accelerating
At q=90 , v = 1.2 w =
o
Flywheel has R=300
v/r = 1.2/0.3 = 4 rad/s mm. At q=90o, the
velocity of point P is
1.2 m/s. The wheel’s
angular velocity w is

(A) 8 rad/s
(B) 2 rad/s
(C) 4 rad/s
(D) 12 rad/s
(E) 36 rad/s
 Accelerating Flywheel has
At q=90o, atangential = a*R R=300 mm. At q=90o,
or the accel is -1.8i -4.8j
a = -1.8/0.3 = -6 rad/s 2 m/s 2
. The magnitude of
the angular acceleration
a is

(A) 3 rad/s2
(B) 6 rad/s2
(C) 8 rad/s2
(D) 12 rad/s2
(E) 24 rad/s2
 Plane Motion
fig_06_002
3 equations:
S Forces_x
S Forces_y
S Moments about G

Translatio n :  Fx  m * x
..................... Fy  m * y
Rotation : ..... M G  I G * 
fig_06_002
Parallel Axes Theorem
fig_06_005
Pure rotation about fixed point P

I P  IG  m * d
fig_06_005
2
 Rigid Body Energy Methods
Chapter 18 in
Hibbeler, Dynamics

Stresses and Flow Patterns in a Steam Turbine

FEA Visualization (U of Stuttgart)
 PROCEDURE FOR ANALYSIS
Problems involving velocity, displacement and conservative force
systems can be solved using the conservation of energy equation.

• Potential energy: Draw two diagrams: one with the body

located at its initial position and one at the final position.
Compute the potential energy at each position using
V = Vg + Ve, where Vg= W yG and Ve = 1/2 k s2.

• Kinetic energy: Compute the kinetic energy of the rigid body at

each location. Kinetic energy has two components:
translational kinetic energy, 1/2m(vG)2, and rotational kinetic
energy,1/2 IG2.
• Apply the conservation of energy equation.
Impulse and Momentum
PRINCIPLE OF LINEAR IMPULSE AND MOMENTUM
(continued)
The principle of linear impulse and momentum is obtained
by integrating the equation of motion with respect to time.
The equation of motion can be written
F = m a = m (dv/dt)
Separating variables and integrating between the limits v = v1
at t = t1 and v = v2 at t = t2 results in
t2 v2

å ò F dt = mò dv = mv2 – mv1
t1 v1

This equation represents the principle of linear impulse and

momentum. It relates the particle’s final velocity (v2) and
initial velocity (v1) and the forces acting on the particle as a
function of time.
 IMPACT (Section 15.4)
Impact occurs when two bodies collide during a very short time
period, causing large impulsive forces to be exerted between the
bodies. Common examples of impact are a hammer striking a
nail or a bat striking a ball. The line of impact is a line through
the mass centers of the colliding particles. In general, there are
two types of impact:
Central impact occurs when the
directions of motion of the two
colliding particles are along the line of
impact.
Oblique impact occurs when the direction
of motion of one or both of the particles is
at an angle to the line of impact.
 CENTRAL IMPACT

Central impact happens when the velocities of the two objects

are along the line of impact (recall that the line of impact is a
line through the particles’ mass centers).
vA vB

Line of impact

Once the particles contact, they may

deform if they are non-rigid. In any
case, energy is transferred between the
two particles.
There are two primary equations used when solving impact
problems. The textbook provides extensive detail on their
derivation.
 CENTRAL IMPACT
(continued)

In most problems, the initial velocities of the particles, (vA)1 and

(vB)1, are known, and it is necessary to determine the final
velocities, (vA)2 and (vB)2. So the first equation used is the
conservation of linear momentum, applied along the line of impact.

(mA vA)1 + (mB vB)1 = (mA vA)2 + (mB vB)2

This provides one equation, but there are usually two unknowns,
(vA)2 and (vB)2. So another equation is needed. The principle of
impulse and momentum is used to develop this equation, which
involves the coefficient of restitution, or e.
 CENTRAL IMPACT
(continued)
The coefficient of restitution, e, is the ratio of the particles’
relative separation velocity after impact, (vB)2 – (vA)2, to the
particles’ relative approach velocity before impact, (vA)1 – (vB)1.
The coefficient of restitution is also an indicator of the energy
lost during the impact.
The equation defining the coefficient of restitution, e, is

(vB)2 – (vA)2
e =
(vA)1 - (vB)1
If a value for e is specified, this relation provides the second
equation necessary to solve for (vA)2 and (vB)2.
 OBLIQUE IMPACT
In an oblique impact, one or both of the
particles’ motion is at an angle to the line of
impact. Typically, there will be four
unknowns: the magnitudes and directions of
the final velocities.

The four equations required to solve for the unknowns are:

Conservation of momentum and the
coefficient of restitution equation are applied
along the line of impact (x-axis):
mA(vAx)1 + mB(vBx)1 = mA(vAx)2 + mB(vBx)2
e = [(vBx)2 – (vAx)2]/[(vAx)1 – (vBx)1]

Momentum of each particle is conserved in the direction perpendicular to

the line of impact (y-axis):
mA(vAy)1 = mA(vAy)2 and mB(vBy)1 = mB(vBy)2
End of Review