Dynamics: Vector Mechanics For Engineers
Dynamics: Vector Mechanics For Engineers
Dynamics: Vector Mechanics For Engineers
11 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinematics of Particles
Lecture Notes:
Brian P. Self
California Polytechnic State University
Fdrag
Flift
Horizontal motion:
https://youtu.be/hpWuZh6oTew
Vertical motion:
https://youtu.be/K8iIu2OW7_E
a spring drag
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 12
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Acceleration as a function of time, position, or velocity
If…. Kinematic relationship Integrate
v t
dv a t dt
dv
a a t a (t )
dt v0 0
dx dv
dt and a v x
v dv a x dx
v dt
a a x
v dv a x dx
v0 x0
v t
dv dv
dt
a (v ) v a v 0 dt
a a v
0
x v
dv
a v v dv
v
dx x dx v a v
0 0
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
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
yt 20 m 10 t 4.905 2 t 2
s s
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 18
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem
• Solve for t when velocity equals zero and evaluate
corresponding altitude.
m m
vt 10 9.81 2 t 0
s s
t 1.019s
m m
y t 20 m 10 t 4.905 2 t 2
s s
m m
y 20 m 10 1.019 s 4.905 2 1.019 s 2
s s
y 25.1m
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
x v
v dv 628.32 v
x v a v
v
0
dx
0
0
dx
0
3 0.001v 2
dv
3 e0.15802
v
2
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
xB A xB x A relative position of B
with respect to A
xB x A xB A
vB A vB v A relative velocity of B
with respect to A
vB v A vB A
a B A a B a A relative acceleration of B
with respect to A
aB a A aB A
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 26
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem
SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
yB E
12 18t 4.905t 2 5 2t 0
t 0.39 s meaningless
t 3.65 s
v B E 18 9.81t 2
16 9.813.65
m
vB E 19.81
s
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 29
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Motion of Several Particles: Dependent Motion
• Position of a particle may depend on position of one
or more other particles.
• Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A 2 x B constant (one degree of freedom)
• Positions of three blocks are dependent.
2 x A 2 xB xC constant (two degrees of freedom)
https://youtu.be/yea9zNCTQGQ
Solution steps
6 m/s + 3vB 0
v B 2 m/s
Note that as xA gets bigger, yB gets smaller.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 33
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Graphical Solution of Rectilinear-Motion Problems
• Velocity vector,
dx dy dz
v i j k xi y j zk
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
Projectile Motion:
https://youtu.be/aY8z2qO44WA
Example:
https://youtu.be/Dc34eSc8kPA
SOLUTION:
A baseball pitching machine • Consider the vertical and horizontal motion
“throws” baseballs with a 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
https://www.youtube.com/watch?v=zW3KCKOXe0k
v v et
en v= vt et dv v2
et a et en
dt r
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 - 50
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem
SOLUTION:
et
Determine the normal acceleration en
t 252
2
v
an 2
78.125 m/s
r 8
Determine the total acceleration magnitude
https://www.youtube.com/watch?v=Ad7V6MFPQcM
v r er rq eq
• The particle acceleration vector is
a r rq 2 er rq 2rq eq
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 57
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem
SOLUTION:
• Evaluate time t for q = 30o.
• Evaluate radial and angular positions,
and first and second derivatives at
time t.
Rotation of the arm about O is defined • Calculate velocity and acceleration in
by q = 0.15t2 where q is in radians and t cylindrical coordinates.
in seconds. Collar B slides along the
arm such that r = 0.9 - 0.12t2 where r is • Evaluate acceleration with respect to
in meters. arm.
a B OA r 0.240 m s 2