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Dynamics 13 Lecture
Dynamics 13 Lecture
Edition
13 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinetics of Particles:
Lecture Notes: Energy and Momentum
Brian P. Self
California Polytechnic State University Methods
Contents
Introduction Sample Problem 13.6
Work of a Force Sample Problem 13.7
Principle of Work & Energy Sample Problem 13.9
Applications of the Principle of Principle of Impulse and Momentum
Work & Energy Impulsive Motion
Power and Efficiency Sample Problem 13.10
Sample Problem 13.1 Sample Problem 13.11
Sample Problem 13.2 Sample Problem 13.12
Sample Problem 13.3 Impact
Sample Problem 13.4 Direct Central Impact
Sample Problem 13.5 Oblique Central Impact
Potential Energy Problems Involving Energy and
Conservative Forces Momentum
Conservation of Energy Sample Problem 13.14
Motion Under a Conservative Sample Problem 13.15
Central Force Sample Problems 13.16
Sample Problem 13.17
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 2
Vector Mechanics for Engineers: Dynamics
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Tenth
Introduction
• Previously, problems dealing with the motion of
particles were solved through the fundamental
equation of motion,
F ma.
• The current chapter introduces two additional
methods of analysis.
Introduction
Approaches to Kinetics Problems
t2
F maG
T1 U12 T2 mv1 F dt mv2
t1
Work of a Force
• Differential vector dr is the particle displacement.
Work of a Force
• Work of a force during a finite displacement,
A2
U12 F d r
A1
s2 s2
F cos ds Ft ds
s1 s1
A2
Fx dx Fy dy Fz dz
A1
Work of a Force
a) U12 F x
b) U12 F cos x
c) U12 F sin x
d) U12 0
Work of a Force
• In the figure above, when is the work done by the weight positive?
Work of a Force
• Magnitude of the force exerted by a spring is
proportional to deflection,
F kx
k spring constant N/m or lb/in.
• Work of the force exerted by spring,
dU F dx kx dx
x2
U12 kx dx 12 kx12 12 kx22
x1
Work of a Force
Work of a Force
YES NO
Work of a Force
• Force P acts normal to path and does no
work.
T1 U12 T2
1W 2
• The bob is released 0 Wl v2
2 g
from rest at position A1.
Determine the velocity v2 2 gl
of the pendulum bob at • Velocity is found without determining
A2 using work & kinetic
expression for acceleration and integrating.
energy.
• All quantities are scalars and can be added
directly.
• Forces which do no work are eliminated
from the problem.
If you designed the rope to hold twice the weight of the bob, what would happen?
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Vector Mechanics for Engineers: Dynamics
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Tenth
• efficiency
output work
input work
power output
power input
v2 0 T2 0
• Determine the distance required for the work
to equal the kinetic energy change.
U12 1500 lb x 4000 lb sin 5x
1151 lb x
T1 U12 T2
481000 ft lb 1151 lb x 0
x 418 ft
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Vector Mechanics for Engineers: Dynamics
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Tenth
WB 300 kg 9.81 m s 2 2940 N
T1 U12 T2 :
0 Fc 2 m WB 2 m 12 m B v 2
v 4.43 m s
U12 f kW x
k 60 kg 9.81m s 2 0.640 m 377 J k
T1 U1 2 T2 :
187.5 J - 377 J k 112 J 0 k 0.20
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Vector Mechanics for Engineers: Dynamics
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Tenth
T2 U 23 T3 :
0 36.5 J 12 60 kg v32
v3 1.103 m s
W v22 W 240 ft g
W N m an
g 2 g 20 ft
N 5W N 10000 lb
Fn m an :
W m an
W v32 W 225 ft g
3 50 ft
g 3 g 3
The dumbwaiter D and its load have a • In the first case, bodies are in
combined weight of 600 lb, while the uniform motion. Determine force
counterweight C weighs 800 lb. exerted by motor cable from
conditions for static equilibrium.
Determine the power delivered by the
• In the second case, both bodies are
electric motor M when the dumbwaiter
(a) is moving up at a constant speed of accelerating. Apply Newton’s
8 ft/s and (b) has an instantaneous second law to each body to
velocity of 8 ft/s and an acceleration of determine the required motor cable
2.5 ft/s2, both directed upwards. force.
Free-body C:
Fy 0 : 2T 800 lb 0 T 400 lb
Free-body D:
Fy 0 : F T 600 lb 0
F 600 lb T 600 lb 400 lb 200 lb
Free-body C:
800
Fy mC aC : 800 2T 1.25 T 384.5 lb
32.2
Free-body D:
600
Fy m D a D : F T 600 2.5
32.2
F 384.5 600 46.6 F 262.1 lb
Power Fv D 262.1 lb 8 ft s 2097 ft lb s
1 hp
Power 2097 ft lb s 3.81 hp
550 ft lb s
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Vector Mechanics for Engineers: Dynamics
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Tenth
1 2 1 2
mv A mg d (sin 30 k cos 30) k mg xBC mv0
2 2
vC2 /2 g k xBC v A2 /2 g
d
(sin 30 k cos 30) d 6.71 m
(2) 2/(2)(9.81) (0.25)(7) (1)2/(2)(9.81)
sin 30 0.25cos 30
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Vector Mechanics for Engineers: Dynamics
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Tenth
k= 0.25
Potential Energy
If the work of a force only depends on differences in
position, we can express this work as potential energy.
Can the work done by the following forces be expressed as
potential energy?
Weight Yes No
Friction Yes No
Potential Energy
• Work of the force of gravity W ,
U12 W y1 W y 2
Potential Energy
• Previous expression for potential energy of a body
with respect to gravity is only valid when the
weight of the body can be assumed constant.
Potential Energy
• Work of the force exerted by a spring depends
only on the initial and final deflections of the
spring,
U12 12 kx12 12 kx22
Conservative Forces
• Concept of potential energy can be applied if the
work of the force is independent of the path
followed by its point of application.
U12 V x1 , y1 , z1 V x2 , y 2 , z 2
Such forces are described as conservative forces.
• For any conservative force applied on a closed path,
F dr 0
• Elementary work corresponding to displacement
between two neighboring points,
dU V x, y, z V x dx, y dy, z dz
dV x, y, z
V V V
Fx dx Fy dy Fz dz dx dy dz
x y z
V V V
F grad V
x y z
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Vector Mechanics for Engineers: Dynamics
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Tenth
Conservation of Energy
• Work of a conservative force,
U1 2 V1 V2
• Follows that
T1 V1 T2 V2
E T V constant
T1 0 V1 W • When a particle moves under the action of
T1 V1 W conservative forces, the total mechanical
energy is constant.
1W
T2 12 mv22 2 g W V2 0 • Friction forces are not conservative. Total
2g
mechanical energy of a system involving
T2 V2 W
friction decreases.
• Mechanical energy is dissipated by friction
into thermal energy. Total energy is constant.
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Vector Mechanics for Engineers: Dynamics
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Tenth
V1 Ve Vg 24 in. lb 0 2 ft lb
T1 0
Position 2: Ve 12 kx2 12 3 lb in.10 in. 4 in. 54 in. lb
2 2
V2 Ve Vg 0 Wy 0.5 lb 4 ft 2 ft lb
2
T2 12 mvD
1 0.5 lb
2 32.2 ft s 2
64.4 ft 2 2
s 0.5 ft lb
T1 V1 T2 V2
0 18 x 2 0.5 2 x 0.3727 ft 4.47 in.
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Vector Mechanics for Engineers: Dynamics
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Tenth
2
GM gR 2 9.81m s 2 6.37 106 m 398 1012 m3 s 2
Find TA v A 0 TA 0
Solve for vD
Find VA VA Wy A (560 lb)(90 60)=84,000 ft lbs
Find VD yD 0 VD 0
t et
0 f
24 man
W
mat
ND
Use Newton’s second law in the normal direction
560 98.2852
F n man N D 560
32.2 240
vD2
N D W m
R N D 1260 lbs
Impulsive Motion
The impulse applied to the railcar
The thrust of a rocket acts
by the wall brings its momentum
over a specific time period
to zero. Crash tests are often
to give the rocket linear
performed to help improve safety
momentum.
in different vehicles.
Impulsive Motion
• Force acting on a particle during a very short
time interval that is large enough to cause a
significant change in momentum is called an
impulsive force.
• Nonimpulsive
forces are forces for which
Ft is small and therefore, may be
neglected – an example of this is the weight
of the baseball.
x component equation:
mv1 Fx t mv2 cos 40
4 16
80 Fx 0.15 4 16 120 cos 40
32.2 32.2
Fx 89 lb
y component equation:
y
0 Fy t mv2 sin 40
4 16
x Fy 0.15 120 cos 40
32.2
Fy 39.9 lb
F 89 lb i 39.9 lb j , F 97.5 lb
m p v1 Imp1 2 m p mc v2
m p v1 Imp1 2 m p v2
Imp12 Ft 18.56 N s i 15 N s j Ft 23.9 N s
10 kg 3m s 45 J
2
T1 12 m p v12 1
2
T2 1
2 m p mc v22 1
2 10 kg 25 kg 0.742 m s 9.63 J
2
T1 T2 45 J 9.63 J
0.786
T1 45 J
SOLUTION:
• Draw impulse and momentum diagrams
of the jumper.
Impact
• Impact: Collision between two bodies which
occurs during a small time interval and during
which the bodies exert large forces on each other.
e coefficient of restitutio n
• Period of m A v A Pdt m Au
Rdt u vA
deformation:
Pdt v A u
0 e 1
• Period of restitution: m Au Rdt m A vA
vB u
• A similar analysis of particle B yields e
u vB
• Note: Validity of last expression does not follow from previous relation for
the coefficient of restitution. A similar but separate derivation is required.
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Vector Mechanics for Engineers: Dynamics
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Tenth
• Select the method best suited for the problem or part of a problem
under consideration.
t
• Apply coefficient of restitution relation with zero wall
n velocity.
0 vn evn 0
vn 0.90.866v 0.779v
v 0.779v n 0.500v t
0.779
v 0.926v tan 1 32.7
0.500
The magnitude and direction of the • Total normal component of the momentum
velocities of two identical of the two ball system is conserved.
frictionless balls before they strike
each other are as shown. Assuming • The normal relative velocities of the
e = 0.9, determine the magnitude balls are related by the coefficient of
and direction of the velocity of each restitution.
ball after the impact. • Solve the last two equations
simultaneously for the normal velocities of
the balls after the impact.
v A 17.7t 15.0n
n
15.0
vA 23.2 ft s tan 1 40.3
17.7
vB 23.7t 34.6n
34.6
t
vB 41.9 ft s tan 1 55.6
23.7
v A 0.5v0t 0.520v0n
tan 1
0.52
vA 0.721v0 46.1
0.5
46.1 30 16.1
vB 0.693v0
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Vector Mechanics for Engineers: Dynamics
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Tenth
m A v A 2 mB vB 2 m A mB v3
306.26 0 30 10v3 v3 4.70 m s
0 1 kx 2
2 3
1
2
20 10 4.91 10
3 3 2
0.241 J
T4 0
restitution between A and B is 0.8. When =40o, find tension in the rope
find (a) the speed of B (b) the tension in the rope.
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Vector Mechanics for Engineers: Dynamics
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Tenth
Solve for N
Sum forces in the y-direction N m A g cos
(2)(9.81) cos 20
Fy 0:
18.4368 N
N mA g cos 0 F f k N (0.2)(18.4368)
3.6874 N
1 1
T2 mA v A2 (1) (v A2 ) 1.000 v A2 V2 0
2 2
v2 2.94 m/s
Concept Question
Compare the following statement to the problem you just solved.
If the coefficient of restitution is
smaller than the 0.8 in the
problem, the tension T will be…
Smaller Bigger
Summary
Approaches to Kinetics Problems
t2
F maG
T1 U12 T2 mv1 F dt mv2
t1