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PowerPoint Slides Beer Chapter 17
17 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Plane Motion of Rigid Bodies:
Energy and Momentum Methods
Lecture Notes:
J. Walt Oler
Texas Tech University
Contents
Introduction Systems of Rigid Bodies
Principle of Work and Energy for a Rigid Conservation of Angular Momentum
Body
Sample Problem 17.6
Work of Forces Acting on a Rigid Body
Sample Problem 17.7
Kinetic Energy of a Rigid Body in Plane M
otion Sample Problem 17.8
Systems of Rigid Bodies Eccentric Impact
Conservation of Energy Sample Problem 17.9
Power Sample Problem 17.10
Sample Problem 17.1
Sample Problem 17.11
Sample Problem 17.2
Sample Problem 17.3
Sample Problem 17.4
Sample Problem 17.5
Principle of Impulse and Momentum
Introduction
• Method of work and energy and the method of impulse and
momentum will be used to analyze the plane motion of rigid
bodies and systems of rigid bodies.
• We may also apply the principle of work and energy to the entire system,
T1 U12 T2 T1 ,T2 = arithmetic sum of the kinetic energies of
all bodies forming the system
U12 = work of all forces acting on the various
bodies, whether these forces are internal
or external to the system as a whole.
Conservation of Energy
• Expressing the work of conservative forces as a
change in potential energy, the principle of work
and energy becomes
T1 V1 T2 V2
• Consider the slender rod of mass m.
T1 0, V1 0
T2 12 mv22 12 I 22
1 ml 2 2
m l
1
2
1
2
2 1
2 1
12 ml
2 2
2 3
T1 V1 T2 V2
1 ml 2 2 1
0 mgl sin
• mass m 2 3 2
sin
3g
• released with zero velocity
• determine at l
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 9
Vector Mechanics for Engineers: Dynamics
Edition
Eighth
Power
1 240 N
2 10 m/s 2
6 m/s 2 1
2
10 .5 kgm 2
4.80 rad s 2
552.96 N m
T2 12 mv22 12 I 22
2
1 240 2 1 v
v2 10.5 2 15.36v22
2 10 2 1.25
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 12
Vector Mechanics for Engineers: Dynamics
Edition
Eighth
B
600 rpm 2 rad rev
62.8 rad s
60 s min
rB 0.100
A B 62.8 25.1rad s
rA 0.250
T2 12 I A A2 12 I B B2
T1 U1 2 T2
0 M A 10.93 rad 126.0J
11 .52
M A rA F 11 .52 N m F 46.2 N
0.250
T1 U1 2 T2
I
0 Wh 12 m 2 v 2
r
2Wh 2 gh
v2
m I r 2 1 I mr 2
Fy Fy eff R y 30 N man
30 N
10 m/s 2
9. 98 m/s 2
R y 29.9 N R 29.9 N
W mg 6 kg 9.81m s 2
58.86 N
vD CD
0.513 m 3.90 rad s
2.00 m s
vD 2.00 m s
and a couple equal to the sum of their moments about the mass center,
H G ri vi Δmi
• For the plane motion of a rigid slab or of a rigid body symmetrical with
respect to the reference plane,
H G I
moments about A:
0 FtrA I A A 2
Ft 0.250 m 0.400 kg m 25.1rad s
Ft 40.2 N s
moments about B:
0 Mt FtrB I B B 2
6 N m t Ft 0.100 m
0.0192 kg m 2 62.8 rad s
• Solve the angular momentum equations for the two gears simultaneously
for the unknown time and tangential force.
t 0.871 s F 46.2 N
v2 r 2
5 k g 2 v1
v1 k gt r t t
2 r 7 k g
T 2 12 mS v 2 12 I S 2 12 I R 2 12 2mS r 2 2 I S I R 2
T1 12 10.89 6 2 196.02 N cm
T2 12 250.89 0.266 2 8.87 N cm
ΔT T2 T1 8.87 196.02 T 187.15 N cm
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 40
Vector Mechanics for Engineers: Dynamics
Edition
Eighth
Eccentric Impact
uA n uB n
Period of deformation Period of restitution
Impulse Rdt Impulse Pdt
6 10
0.05 20
1500 14 92 9 1082
10 10
2 0.39 rad s 2 0.39 rad s
v2 9 2 3.50 m/s
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 43
Vector Mechanics for Engineers: Dynamics
Edition
Eighth
Determine the angular velocity of the • Solve the two relations simultaneously
rod and the velocity of the sphere for the angular velocity of the rod and
immediately after impact. velocity of the sphere.
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 45
Vector Mechanics for Engineers: Dynamics
Edition
Eighth
Moments about B:
mv1 12 a 0 mv2
I 2
2
a 2 v2 a
2
2
2 I 16 m a 2
mv a 0 m a a
1
1 2 2
2
2 2
2 1 ma 2
6
2
v1 43 a 2
T2 12 mv22 12 I 22
h3 2
a 0.707 a v1 43 a 2 43 a 0.285 g a v1 0.712 ga
2
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 50