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15 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Kinematics of
Lecture Notes:
J. Walt Oler
Rigid Bodies
Texas Tech University
Contents
Introduction Absolute and Relative Acceleration in
Translation Plane Motion
Rotation About a Fixed Axis: Velocity Analysis of Plane Motion in Terms of a
Rotation About a Fixed Axis: Acceleratio Parameter
n Sample Problem 15.6
Rotation About a Fixed Axis: Represent Sample Problem 15.7
ative Slab Sample Problem 15.8
Equations Defining the Rotation of a Rigi Rate of Change With Respect to a
d Body About a Fixed Axis
Rotating Frame
Sample Problem 5.1
Coriolis Acceleration
General Plane Motion
Sample Problem 15.9
Absolute and Relative Velocity in Plane
Motion Sample Problem 15.10
Sample Problem 15.2 Motion About a Fixed Point
Sample Problem 15.3 General Motion
Instantaneous Center of Rotation in Sample Problem 15.11
Plane Motion Three Dimensional Motion. Coriolis
Sample Problem 15.4 Acceleration
Sample Problem 15.5 Frame of Reference in General Motion
Sample Problem 15.15
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 2
Vector Mechanics for Engineers: Dynamics
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Introduction
• Kinematics of rigid bodies: relations between
time and the positions, velocities, and
accelerations of the particles forming a rigid
body.
• Classification of rigid body motions:
- translation:
• rectilinear translation
• curvilinear translation
- rotation about a fixed axis
- general plane motion
- motion about a fixed point
- general motion
Translation
• Consider rigid body in translation:
- direction of any straight line inside the
body is constant,
- all particles forming the body move in
parallel lines.
• For any two particles in the body,
rB rA rB A
• Differentiating with respect to time,
rB rA rB A rA
vB v A
All particles have the same velocity.
• Differentiating with respect to time again,
rB rA rB A rA
aB a A
All particles have the same acceleration.
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 4
Vector Mechanics for Engineers: Dynamics
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• Velocity vector v dr dt of the particle P
is tangent to the path with magnitudev ds dt
s BP r sin
ds
v lim r sin r sin
dt t 0 t
• Uniform Rotation, = 0:
0 t
aD n
tan
aD t
1200
79.4
225
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 11
Vector Mechanics for Engineers: Dynamics
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• Selecting point B as the reference point and solving for the velocity vA of end
A and the angular velocity leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
• Angular velocity of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 15
Vector Mechanics for Engineers: Dynamics
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y
Differentiate to relate the translational and angular
velocities.
x
v A r1
vA 1.2 m s
k 8 rad s k
r1 0.150 m
rD 0.15 m 2 0.2121 m
vD rD 0.2121 m 8 rad s
vD 1.697 m s
vD 1.2i 1.2 j m s
aB A 2 rB A a B A n r 2
n
• Given a A and v A ,
determine a B and .
aB a A aB A
a A a B A a B A t
n
• Vector result depends on sense of a A and the
relative magnitudes of a A and a B A
n
• Write a B a A a B A in terms of the two component
equations,
x components: 0 a A l 2 sin l cos
2
y components: a B l cos l sin
v A x A v B y B
l cos l sin
l cos l sin
a A x A a B y B
l 2 sin l cos l 2 cos l sin
l 2 sin l cos l 2 cos l sin
a A r1 r1
aA 3 m s2
r1 0.150 m
k 20 rad s 2 k
aB a A aB A a A a B A aB A
t n
a A k rB A 2rB A
2
2
3 m s i 20 rad s k 0.100 m j 8 rad s 0.100 m j
2
2
2
3 m s i 2 m s i 6.40 m s j
2
aB 5 m s 2 i 6.40 m s 2 j aB 8.12 m s 2
aC a A aC A a A k rC A 2 rC A
3 m s 2 i 20 rad s 2 k 0.150 m j 8 rad s 2 0.150 m j
3 m s 2 i 3 m s 2 i 9.60 m s 2 j
ac 9.60 m s j 2
aD a A aD A a A k rD A 2 rD A
2
3 m s i 20 rad s k 0.150 m i 8 rad s 2 0.150m i
2
3 m s 2 i 3 m s 2 j 9.60 m s 2 i
2
aD 12.6 m s i 3 m s j 2
aD 12.95 m s 2
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 31
Vector Mechanics for Engineers: Dynamics
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aB 3289 m s 2 cos 40i sin 40 j
• The directions of the accelerations aD , aD
B t , and a
D B n
are determined from the geometry.
aD aD i
a 768.8 m s cos13.95i sin 13.95 j
D B n
2
y components:
0 3289 sin 40 768.8 sin 13.95 0.2 BD cos13.95
BD 9940 rad s 2 k
a 2790 m s 2 i
D
BD 29.33 rad s k DE 11.29 rad s k
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 37
Vector Mechanics for Engineers: Dynamics
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64i 112 j
2
a D B BD rB D BD rB D
B D k 24i 0.06 j 29.33 0.24i 0.06 j
2
0.06 B D i 0.24 B D j 206.4i 51.61 j
Coriolis Acceleration
• Frame OXY is fixed and frame Oxy rotates with angular
velocity .
• Position vector rP for the particle P is the same in both
frames but the rate of change depends on the choice of
frame.
• The absolute velocity of the particle P is
v P r OXY r r Oxy
Coriolis Acceleration
• Absolute acceleration for the particle P is
d
a P r r OXY r Oxy
dt
but, r OXY r r Oxy
d
dt
r Oxy r Oxy r Oxy
v P r r Oxy a P r r 2 r Oxy r Oxy
v P v P F • Utilizing the conceptual point P’ on the slab,
a P r r
a P F r Oxy
Coriolis Acceleration
• Consider a collar P which is made to slide at constant
relative velocity u along rod OB. The rod is rotating at
a constant angular velocity The point A on the rod
corresponds to the instantaneous position of P.
• Absolute acceleration of the collar is
a P a A a P F ac
where
a A r r a A r 2
a P F r Oxy 0
ac 2 v P F ac 2u
Coriolis Acceleration
• Change in velocity over t is represented by the
sum of three vectors
v RR TT T T
• TT is due to change in direction of the velocity
of point A on the rod,
TT
lim lim v A r r 2 a A
t 0 t t 0 t
recall, a r r
A a r 2A
at t , v vA u
at t t , v v A u • RR and T T result from combined effects of
relative motion of P and rotation of the rod
RR T T r
lim lim u
t 0 t t t 0 t t
u u 2u
recall, ac 2 v P F ac 2u
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Vector Mechanics for Engineers: Dynamics
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vP 500 mm s
aP aP n aP t
aP n r S cos 42.4i sin 42.4 j
2
aP t r S sin 42.4i cos 42.4 j
aP t S 37.1mm sin 42.4i cos 42.4 j
note: S may be positive or negative
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 48
Vector Mechanics for Engineers: Dynamics
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• The relative acceleration aP s must be parallel to
the slot.
General Motion
• For particles A and B of a rigid body,
vB v A vB A
2
2 2
a 3.54 m s i 1.50 m s j 1.80 m s k
1 0.30 j 2 0.50k
r 10.39i 6 j