ME 230 Kinematics and Dynamics: Wei-Chih Wang
ME 230 Kinematics and Dynamics: Wei-Chih Wang
ME 230 Kinematics and Dynamics: Wei-Chih Wang
Dynamics
Wei-Chih Wang
Department of Mechanical Engineering
University of Washington
Lecture 20
Planar kinetics of a rigid body: Work and Energy
Conservation of Energy
- 18.5
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Material covered
Next lectureCh.19
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Todays Objectives
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Applications 1
The torsional spring located at the top
of the garage door winds up as the
door is lowered.
When the door is raised, the potential
energy stored in the spring is
transferred into the gravitational
potential energy of the doors weight,
thereby making it easy to open.
Are parameters such as the torsional
spring stiffness and initial rotation
angle of the spring important when
you install a new door?
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APPLICATIONS (continued)
Two torsional springs are used to assist in
opening and closing the hood of this truck.
Assuming the springs are uncoiled when
the hood is opened, can we determine the
stiffness of each spring so that the hood
can easily be lifted, i.e., there is practically
no external force applied to the hood, when
a person is opening it?
Moment of Inertia
Conservative forces
A force F is conservative if the work done by the force is
independent of the path.
In this case, the work depends only on the initial and final
positions of the object with the path between positions of no
consequence.
Typical conservative forces encountered in dynamics are
gravitational forces (i.e., weight) and elastic forces (i.e.,
springs).
What is a common force that is not conservative?
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11
Conservation of energy
When a rigid body is acted upon by a system of conservative
forces, the work done by these forces is conserved. Thus,
the sum of kinetic energy and potential energy remains
constant. This principle is called conservation of energy and
is expressed as
T1 + V1 = T2 + V2 = Constant
T = 1/2 m (vG)2 + 1/2 IG 2
Vertical motion
Y direction
Voy = Vosin
Vfy 2= Voy2 +2aY
Since we know Vc we
can find Vcy fron Vcx
and since VAx is
known then t can be
solved
Horizontal motion
X direction
Vox = Vocos
Vfx 2= Vox2
Vfx = Vox
X= Vox t
Y=1/2(Vfy+Voy)t
X=1/2(Vfx+Vox)t
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Procedure of 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 ( m(vG)2 ) and rotational kinetic energy ( IG
2 ).
Apply the conservation of energy equation.
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Example
Given:The rod AB has a mass of
10 kg. Piston B is
attached to a spring of
constant k = 800 N/m.
The spring is un-stretched
when = 0. Neglect the
mass of the pistons.
Find: The angular velocity of rod AB at = 0 if the rod is
released from rest when = 30.
Plan: Use the energy conservation equation since all forces are
conservative and distance is a parameter (represented
here by ). The potential energy and kinetic energy of
the rod at states 1 and 2 will have to be determined.
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Example continued
Solution:
Initial Position
Final Position
Potential Energy:
Lets put the datum in line with the rod when = 0.
Then, the gravitational potential energy and the elastic potential
energy will be zero at position 2. => V2 = 0 (potential energy@2)
Gravitational potential energy at 1: - (10)( 9.81) (0.4 sin 30)
Elastic potential energy at 1: (800) (0.4 sin 30)2
So V1 = - 9.81 J + 16.0 J = 6.19 J
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Example continued
Initial Position
Final Position
Kinetic Energy:
The rod is released from rest from position 1
(so vG1 = 0, 1 = 0). Therefore, T1 = 0.
At position 2, the angular velocity is 2 and
the velocity at the center of mass is vG2 .
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Example continued
Therefore,
T2 = (10)(vG2)2 + (1/12)(10)(0.42)(2)2
At position 2, point A is the instantaneous
center of rotation. Hence, vG2 = r = 0.2 2
.
Then, T2 = 0.2 22 + 0.067 22 = 0.267 22
Now apply the conservation of energy equation and solve for
the unknown angular velocity, 2.
T1 + V1 = T2 + V2
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0 + 6.19 = 0.26722 + 0
EXAMPLE I
Given:The rod AB has a mass of
30 kg. The spring is unstretched when = 45.
The spring constant k is
300 N/m.
EXAMPLE I (continued)
Solution:
Potential Energy
Lets put the datum in line with the
rod when = 45. Then, the
gravitational potential energy and
datum
the elastic potential energy will be
45
zero at position 1. So, V1 = 0 .
Gravitational potential energy at 2 (when =0):
(30) ( 9.81) (1.5 sin45) from Vg= W yG = m g yG
Elastic potential energy at 2:
(300) (1.5 1.5 cos45)2 from Ve = 1/2 k s2
So V2 = - 156.1 + 28.95 = -127.2 Nm
EXAMPLE I (continued)
Kinetic Energy:
The rod is released from rest at
position 1 (when =45).
Therefore, T1 = 0.
EXAMPLE I (continued)
At position 2(when =0), point A is the
instantaneous center of rotation.
rG/IC
EXAMPLE II
Given: The 30 kg rod is released
from rest when = 0.
The spring is unstretched
when = 0.
Find: The angular velocity of
the rod when = 30.
Plan:
Since distance is a parameter and all forces doing work are
conservative, use conservation of energy. Determine the
potential energy and kinetic energy of the system at both
positions and apply the conservation of energy equation.
EXAMPLE II (continued)
Solution:
Potential Energy:
Lets put the datum in line with the
rod when = 0.
Then, the gravitational potential
energy when = 30 is
VG2 = -30 (9.81) ( 1.5 sin 30) = -110.4 Nm
Datum
EXAMPLE II (continued)
Kinetic Energy:
The rod is released from rest at = 0, so
vG1 = 0 and 1 = 0. Thus, the kinetic
energy at position 1 is T1 = 0.
At = 30, the angular velocity is 2 and
the velocity at the center of mass is vG2 .
T2 = m (vG2)2 + IG (2)2
= (30) (vG2)2 + {(1/12) 30 (1.5)2} (2)2
Since vG2 = (0.75 2),
T2 = (30) (0.75 2)2 + {(1/12)30(1.5)2} (2) 2
T2 = 11.25 (2)2
Datum
EXAMPLE II
(continued)
Now all terms in the conservation of energy equation have been
formulated. Writing the general equation and then substituting
into it yields:
T1 + V1 = T2 + V2
0 + 0 = 11.25 (2)2 + (-110.4 + 6.444)
Solving , 2 = 3.04 rad/s
UNDERSTANDING QUIZ
1. At the instant shown, the spring is
undeformed. Determine the change in
potential energy if the 20 kg disk
(kG = 0.5 m) rolls 2 revolutions
without slipping.
3 m/s
datum
B) (20)(0.52)(10)2
C) Answer A + Answer B
Example III
Given: A 250-lb block is released
from rest when the spring is
unstretched. The drum has a
weight of 50 lb and a radius
of gyration of kO = 0.5 ft
about its center of mass O.
Homework Assignment
Chapter18- 17, 37, 43, 47
Due Wednesday !!!
34
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Lecture 21
Planar kinetics of a rigid body: Impulse and Momentum
Linear and angular momentum
Principle of impulse and momentum
Conservation of momentum
-19.1-19.3
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Material covered
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Todays Objectives
Students should be able to:
1. Develop formulations for the
linear and angular momentum of a
body.
2. Apply the principle of linear and
angular impulse and momentum.
3. Understand the conditions for
conservation of linear and angular
momentum.
4. Use the condition of conservation
of linear/ angular momentum.
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Applications
Applications continued
The space shuttle has several engines that exert thrust on the
shuttle when they are fired. By firing different engines, the
pilot can control the motion and direction of the shuttle.
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Moment of Inertia
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L1 +
t F dt = L2
t2
or (mvG)1 +
F dt = (mvG)2
(HG)1 +
t MG dt = (HG)2
1
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t2
or IG1 + MG dt = IG2
t1
To summarize, if motion is occurring in the x-y plane, the linear impulselinear momentum relation can be applied to the x and y directions and
the angular momentum-angular impulse relation is applied about a z-axis
passing through any point (i.e., G). Therefore, the principle yields three
scalar equations (eqs 19-14) describing the planar motion of the body.
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t2
m(vGx)1 + Fx dt = m(vGx)2
t1
t2
m(vGy)1 + Fy dt = m(vGy)2
t1
t2
IG()1 +
Mz dt = IG ()2
t1
(eqs 19-14)
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Procedure of analysis
Establish the x, y, z inertial frame of reference.
Draw the impulse-momentum diagrams for the body.
Compute IG, as necessary.
Apply the equations of impulse and momentum (one vector
and one scalar or the three scalar equations 19-14).
If more than three unknowns are involved, kinematic equations
relating the velocity of the mass center G and the angular
velocity should be used in order to have additional equations.
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L1 +
t F dt = L2
1
t2
or (m vG)1 +
F dt = (m vG)2
(HG)1 +
t MG dt = (HG)2
1
t2
or IG1 + MG dt = IG2
t1
EXAMPLE
Given: A 10 kg wheel
(IG = 0.156 kgm2) rolls
without slipping and does
not rebound.
Find: The minimum velocity, vG, the wheel must have to just
roll over the obstruction at A.
Plan: Since no slipping or rebounding occurs, the wheel pivots
about point A. The force at A is much greater than the
weight, and since the time of impact is very short, the
weight can be considered non-impulsive. The reaction
force at A is a problem as we dont know either its
direction or magnitude. This force can be eliminated by
applying the conservation of angular momentum equation
about A.
EXAMPLE (continued)
Solution:
Impulse-momentum diagram:
EXAMPLE (continued)
To complete the solution,
conservation of energy can be used.
Since it cannot be used for the
impact (why?), it is applied just
after the impact. In order to roll over
the bump, the wheel must go to position 3 from 2. When (vG)2 is
a minimum, (vG)3 is zero. Why? Barely making over the bump
Energy conservation equation : T2 + V2 = T3 + V3
{ (10) (vG)22 + (0.156) 22 } + 0 = 0 + 98.1 (0.03)
Substituting 2 = 5 (vG)2 and (vG)2 = 0.892 (vG)1 and solving
yields
(vG)1 = 0.729 m/s
CONCEPT QUIZ
1. A slender rod (mass = M) is at rest. If a bullet (mass = m) is
fired with a velocity of vb, the angular
A
momentum of the bullet about A just
0.
before impact is ___________.
m5
G
A) 0.5 m vb
B) m vb
1.0
C) 0.5 m v 2
D) zero
b
B) m(0.5)22 + M(0.5)22
C) m(0.5)22 + M(0.5)22
+ (1/12) M 2
D) zero
Example II
Given: A 150-lb man leaps off the
circular platform with a
velocity of vm/p=5 ft/s,
relative to the platform.
Initially, the man and
platform were at rest. The
platform weighs 300 lb.
Find: The angular velocity of the platform afterwards.
Plan: Apply the relative velocity equation to find the
relationship between the velocities of the man and
platform. Then, the conservation of angular
momentum can be used to find the angular velocity of
the platform.
Example II (continued)
Solution:
Kinematics: Since the platform rotates about a
fixed axis, the speed of point P on the platform
from which the man leaps is
vp = r =
vm
P
vp
Example II (continued)
The mass moment of inertia of the platform
about this axis is
IO = (1/2) m r2 = (1/2) (300/32.2) 102
IO = 465.8 slug ft2
vm
P
vp
Homework Assignment
Chapter19- 7, 11, 19, 20
Due next Wednesday !!!
65
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Final Project
Design and construct a simple mechanical
system and explain how it works using
particle or planar kinematics and kinetics
you learn in ME 230.
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Rules
Explain at least three components in your
device using planar kinematics and kinetics
(okay one component be particle)
Construct the device and perform tests on
those three components in your design
Write up a report based on the format describe
on the final report assignment.
More interesting and challenging the design
and analysis the more extra credit you will get.
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Grade breakdown
10% proposal (follow the proposal format)
20% hardware (please upload a video of
your machine in action to your Youtube
account and provide a link in your final
report or upload the video along with your
report to the dropbox)
70% final report (Please follow the final
report format and upload the file to the
dropbox)
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Additional Information
Scores are based on the complexity of your design, the
correctness of the theory, calculation and report format you
presented in the final report.
Design using planar kinetics and kinematics get higher
grade than particle
Extra credit on unique or more challenging concept or
design.
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Project Topics
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Review
Chapter 12: Kinematics of a particle
Chapter 13: Kinetics of a particle: Force and acceleration
Chapter 14: Kinetics of a particle: Work and energy
Chapter 15: Kinetics of a particle: Impulse and momentum
Chapter 16: Planar kinematics of a rigid body
Chapter 17: Planar kinetics of a rigid body: Force and acceleration
Chapter 18: Planar kinetics of a rigid body: Work and Energy
Chapter 19: Planar kinetics of a rigid body: Impulse and Momentum
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Work of a force
The principle of work and
energy
Power and efficiency
Conservation of energy
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Chapter reviews
Chapter 12: pages 101-105
Chapter 13: pages 166-167
Chapter 14: pages 217-219
Chapter 15: pages 295-297
Chapter 16: pages 391-393
Chapter 17: pages 452-453
Chapter 18: pages 490-493
Chapter 19: pages 531-533
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