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ParticleDynamics Class Part1

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Rohan Bhupen Shah ae22b052
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29 views16 pages

ParticleDynamics Class Part1

Uploaded by

Rohan Bhupen Shah ae22b052
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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DYNAMICS

Kinematics – Only motion is considered


Kinetics – Motion and Forces
responsible will be considered

Topics to be studied –
Dynamics of Particles
Plane kinematics of Rigid Bodies
Plane kinetics of Rigid Bodies
Mechanical vibration
DYNAMICS OF PARTICLES
Kinematics in Inertial Frame of Reference
Rectangular Coordinates

r  xi  yj  zk
dr
v  xi
  yj
  zk

dt
dv
a  
xi  
yj  
zk
dt
Kinematics in moving frame of reference

Plane Motion in Path coordinate System

Plane Motion in Polar coordinate System

In 3D (space) -
Rectangular coordinate system
Spherical coordinate system (R-θ-φ)
Cylindrical coordinate system (r-θ-z)
2. Normal and tangential coordinate system:
n
t It gives a very natural description for the
t curvilinear motion and frequently the most
t n convenient coordinate system to use. t along
n
tangent and n is along normal which is positive
t towards the center of curvature.

n During the increment of time t , the particle moves a distance s .

AA’ is very to assume that it is a segment of a circle with


O
radius  and center at O.So the distance: s  
 s 
 Velocity: v  v êt  Lt êt  Lt êt   êt
 t®0 t t®0 t
 v¢
A’
 a


( )
 dv d v êt

dv d ê
êt  v t
v Acceleration:
dt dt dt dt
A s
Plane Motion in Path Coordinate System

v = ve t

Motion of a particle along the path AB


et = Unit vector along the instantaneous tangent to the
forward motion of the particle
en = Unit vector along the instantaneous inward normal
to path of the particle
Plane Motion in Path Coordinate System
v = ve t

v = Instantaneous speed of the particle along the path


et Changes with position and with the time

Acceleration of the particle is given by

dv
a  ve
 t  vet
dt
et
et  lim
t ®0 t

For infinitesimal changes in the position of particle,


we can see from fig that  is small, and hence et
will be in the direction of en

et  et  en
 
et  en lim   en
t ®0 t
  1 s v
  lim  lim 
t ®0 t  t ®0 t 

Acceleration of the particle is given by

2
v 
a  ve
 t  t   en
en  ve 2


Planar motion using polar coordinates
r  rer
er is Unit Vector that lies along
the radial distance of the
particle P from a fixed origin O

v  re
 r  rer
e  e
r 
e is Orthogonal unit vector defined to be anti-clockwise right
angle to er
3. Polar coordinate system:

ê Useful when the motion is either


generated or determined by the radial
eˆr
y distance and an angle.
A
r 
Displacement vector: r  rêr

O   dêr dr
Velocity vector: v  r  r  êr
dt dt
Vector diagram for eˆr and ê
ê êr
ê¢ eˆr  eˆr    Þ Lt  
eˆr¢ ê t®0 t
ê ê¢ ê
A’
eˆr¢ eˆr eˆ  eˆ    Þ Lt  
eˆr  t®0 t
A eˆr

d êr 
The direction of eˆr approaches to ê as t ® 0 . So   ê
dt
d ê
  ˆ
The direction of  approaches to r as t ® 0. So
ê e  êr
dt
Planar motion using polar coordinates
The picture can't be display ed.

er  e

e  er
r  rer
Velocity of the particle is obtained as

v  re
 r  rer er  e
  re
v  re r 

Acceleration of the particle is obtained as

r  r 2 )er  (r  2r)e


a  (

 1d 2  
r  r )er   (r  )  e
a  ( 2

r  dt 
Radial acceleration of a particle is affected by
both time rate of change of radial coordinate r
and angular speed 

Similar expression and coupling for angular


acceleration

This mutual coupling is a distinct feature in


description of particle kinematics in terms
of moving reference frame
Geometric Interpretation
Magnitude change of vr
Increase in length of vr or dvr = ;
acceleration term r in the positive r-direction
Direction change of vr
Direction of this change vr d  r d

Acceleration of r d dt  r in the positive-θ direction


Magnitude change of vθ
change in the length of vθ or d(r) ;
acceleration term d ( r ) dt  r  r in the
positive θ-direction
Direction change of vθ
Magnitude of v d  rd
Acceleration of r d dt  r 2 in the negative -r direction

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