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11 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinematics of Particles
Lecture Notes:
Brian P. Self
California Polytechnic State University
Contents
Introduction Sample Problem 11.5
Rectilinear Motion: Position, Graphical Solution of Rectilinear-
Velocity & Acceleration Motion Problems
Determination of the Motion of a Other Graphical Methods
Particle
Curvilinear Motion: Position, Velocity
Sample Problem 11.2
& Acceleration
Sample Problem 11.3
Derivatives of Vector Functions
Uniform Rectilinear-Motion
Rectangular Components of Velocity
Uniformly Accelerated Rectilinear- and Acceleration
Motion
Motion Relative to a Frame in
Motion of Several Particles: Translation
Relative Motion
Tangential and Normal Components
Sample Problem 11.4
Radial and Transverse Components
Motion of Several Particles:
Dependent Motion Sample Problem 11.10
Sample Problem 11.12
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 2
Vector Mechanics for Engineers: Dynamics
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Introduction
• Dynamics includes:
Kinematics: study of the geometry of motion.
Relates displacement, velocity, acceleration, and time without reference
to the cause of motion.
Fthrust
Fdrag
Flift
Introduction
• Particle kinetics includes:
Concept Quiz
a spring drag
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 11
Vector Mechanics for Engineers: Dynamics
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Tenth
dx dv
dt and a v x
v dt
a a x v dv a x dx
v0 x0
v dv a x dx
v t
dv dv
dt
a (v ) v a v 0 dt
0
a a v
dv x v
v dv
v a v x dx v a v
dx
0 0
m m
vt 10 9.81 2 t
s s
dy
v 10 9.81t
dt
y t t
dy 10 9.81t dt y t y0 10t 12 9.81t 2
y0 0
m m
y t 20 m 10 t 4.905 2 t 2
s s
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Vector Mechanics for Engineers: Dynamics
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m m
vt 10 9.81 2 t
s s
m m
v3.28 s 10 9.81 2 3.28 s
s s
m
v 22.2
s
dv
v
dv
t
v t
a
dt
kv v v k 0 dt ln
v0
kt
0
vt v0 e kt
xt
v0
k
1 e kt
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Vector Mechanics for Engineers: Dynamics
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Tenth
• Alternatively,
with xt
v0
k
1 e kt
vt
and vt v0 e kt or e kt
v0
v0 vt
then xt 1
k v0
v v0 kx
dv x v
v dv
v a v x dx v a v
dx
0 0 m
0
20
Determine total distance travelled
x r 3.14(200) 628.32 m
x v
v dv 628.32 v
v
x dx v a v dx
3 0.001v 2
dv
0 0 0 0
2 3 e 0.15802
v 2146.2 v 46.3268 m/s
0.001
How do you determine the maximum speed the car can reach?
Velocity is a maximum when a 3 0.001v 2
acceleration is zero
vmax 3
0.001 vmax 54.772 m/s
x t
dx
dt
v0 at dx v0 at dt
x0 0
x x0 v0t 12 at 2
v x
dv
v a constant v dv a dx v 2 v02 2a x x0
dx v0 x0
xB x B x A relative position of B
A
with respect to A
xB x A xB A
vB v B v A relative velocity of B
A
with respect to A
vB v A vB A
aB a B a A relative acceleration of B
A
with respect to A
aB a A aB A
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Vector Mechanics for Engineers: Dynamics
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yB E
12 18t 4.905t 2 5 2t 0
t 0.39 s meaningless
t 3.65 s
vB E 18 9.81t 2
16 9.813.65
m
vB E 19.81
s
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Vector Mechanics for Engineers: Dynamics
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Tenth
Solution steps
6 m/s + 3vB 0
v B 2 m/s
160
40
20
0
47.76 47.77 47.78 47.79 47.8 47.81
Time (s)
• Velocity vector,
dx dy dz
v i j k x i y j z k
dt dt dt
vx i v y j vz k
• Acceleration vector,
d 2 x d 2 y d 2 z
a 2 i 2 j 2 k xi y j zk
dt dt dt
ax i a y j az k
SOLUTION:
A baseball pitching machine • Consider the vertical and horizontal
“throws” baseballs with a motion separately (they are independent)
horizontal velocity v0. If you
want the height h to be 42 in., • Apply equations of motion in y-direction
determine the value of v0.
• Apply equations of motion in x-direction
v v et
en v= vt et dv v2
et a e t en
dt
x
• The tangential direction (et) is tangent to the path of the
particle. This velocity vector of a particle is in this direction
• The normal direction (en) is perpendicular to et and points
towards the inside of the curve.
• The acceleration can have components in both the en and et directions
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 52
Vector Mechanics for Engineers: Dynamics
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Tenth
et m
Determine the normal acceleration en 8
t 252
2
v 2
an 78.125 m/s
r 8
Determine the total acceleration magnitude
amag an2 at2 78.1252 + (0.5)(10)
2
amag 78.285 m/s 2
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Vector Mechanics for Engineers: Dynamics
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Tenth
2
a r r er r 2r e
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Vector Mechanics for Engineers: Dynamics
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Tenth
a B OA r 0.240 m s 2