BeerVM11e PPT Ch12 HD PDF

VECTOR MECHANICS FOR ENGINEERS:
DYNAMICS
Kinetics of Particles:
Newton’s Second Law
Copyright © McGraw-Hill Education. Permission required for reproduction or display.

Vector Mechanics for Engineers: Dynamics
Objectives
• Explain the relationship between mass, force, and acceleration.
• Model physical systems by drawing complete free-body

diagrams and kinetic diagrams.
• Apply Newton’s second law of motion to solve particle kinetics

problems using different coordinate systems
• Analyze central force motion problems using principles of

angular momentum and Newton’s law of gravitation (leading to
orbital motion and space mechanics).
• We can consider an actual body (e.g. car, rocket or airplane) as a

particle as long as the effect of a rotation of the body about its
centre of mass can be ignored.
Copyright © McGraw-Hill Education. Permission required for reproduction or display. 2-2

Kinetics of Particles
We must analyze all of the forces acting on the racecar in order to

design a good track
Copyright © McGraw-Hill Education. Permission required for reproduction or display. 12 - 3

Introduction
F  ma
• Newton’s Second Law of Motion
• If the resultant force acting on a particle is not

zero, the particle will have an acceleration
proportional to the magnitude of resultant
and in the direction of the resultant.
• Must be expressed with respect to a Newtonian (or inertial)

frame of reference, i.e., one that is not accelerating or rotating.
• This form of the equation is for a constant mass system

Linear Momentum of a Particle
• Replacing the acceleration by the derivative of the velocity
yields 
 dv
F  m
dt

d  dL
 m v  
dt dt

L  linear momentum of the particle
• Linear Momentum Conservation Principle:

If the resultant force on a particle is zero, the linear momentum
of the particle remains constant in both magnitude and direction.
Systems of Units
• Of the units for the four primary dimensions (force,
mass, length, and time), three may be chosen arbitrarily.
The fourth must be compatible with Newton’s 2nd Law.
• International System of Units (SI Units): base units are

the units of length (m), mass (kg), and time (second).
The unit of force is derived,
 m kg  m
1 N  1 kg 1 2   1 2
 s  s
• U.S. Customary Units: base units are the units of force

(lb), length (m), and time (second). The unit of mass is
derived,
1lb 1lb lb  s 2
1lbm  2
1slug  2
1
32.2 ft s 1ft s ft

Equations of Motion in 3-D
 
• Newton’s second law  F  ma
• Can use scalar component equations, e.g., for
rectangular components,
 
 Fx i  Fy j  Fz k   ma x i  a y j  a z k 
   
 Fx  ma x  Fy  ma y  Fz  ma z
 Fx  mx  Fy  my  Fz  mz

Free Body Diagrams and Kinetic Diagrams
The free body diagram is the same as you have done in statics; we
will add the kinetic diagram in our dynamic analysis.
1. Isolate the body of interest (free body)
2. Draw your axis system (e.g., Cartesian, polar, path)
3. Add in applied forces (e.g., weight, 225 N pulling force)
4. Replace supports with forces (e.g., normal force)
5. Draw appropriate dimensions (usually angles for particles)
x y
225 N
25o
Ff
N
Copyright © McGraw-Hill Education. Permission required for reproduction or display.
mg 12 - 8
Put the inertial terms for the body of interest on the kinetic diagram.
1. Isolate the body of interest (free body)
2. Draw in the mass times acceleration of the particle; if unknown,
do this in the positive direction according to your chosen axes
x y may
225 N
max
25o 
Ff
N
mg
F  ma
Draw the FBD and KD for block A (note that the
massless, frictionless pulleys are attached to block A
and should be included in the system).

1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions (already drawn)
6. Kinetic diagram
y
T T NB
T
T may = 0
x
T
mg
Ff-B
= max
N1 Ff-1
Draw the FBD and KD for the collar B. Assume

there is friction acting between the rod and collar,
motion is in the vertical plane, and q is increasing

1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions
6. Kinetic diagram
eq maq
er
mar
q
q
=
Ff
mg
N
Sample Problem 12.1
STRATEGY:
• Resolve the equation of motion for the
block into two rectangular component
equations.
• Unknowns consist of the applied force

P and the normal reaction N from the
plane. The two equations may be
solved for these unknowns.
A 80-kg block rests on a horizontal

plane. Find the magnitude of the force
P required to give the block an
acceleration of 2.5 m/s2 to the right. The
coefficient of kinetic friction between
the block and plane is mk  0.25.

Sample Problem 12.1
MODELING and ANALYSIS:
• Resolve the equation of motion for the block
into two rectangular component equations.
 Fx  ma :
P cos30 0.25 N 80kg 2.5m s 2
y
200 N
O
x  Fy  0 :
N P sin 30 785 N 0
• Unknowns consist of the applied force P and
the normal reaction N from the plane. The two
equations may be solved for these unknowns.
N P sin 30 785 N
P cos30 0.25 P sin 30 785 N 200 N
P 535 N

Group Problem Solving
STRATEGY:
• Write the kinematic relationships for the
dependent motions and accelerations of
the blocks.
• Draw the FBD and KD for each block
• Write the equations of motion for the
blocks and pulley.
• Combine the kinematic relationships
with the equations of motion to solve for
the accelerations and cord tension.
The two blocks shown are originally at

rest. Neglecting the masses of the pulleys
and the effect of friction in the pulleys and
between block A and the horizontal
surface, determine (a) the acceleration of
each block, (b) the tension in the cable.
xA • Write the kinematic relationships for the
dependent motions and accelerations of
the blocks.
This is the same problem worked last
yB
chapter - write the constraint equation.
xA  3 yB  constants  L
Differentiate this twice to get the
acceleration relationship.
vA  3vB  0
aA  3aB  0
aA  3aB (1)

• Draw the FBD and KD for each block
2T T mAg A
B +y
maAx
T
= =
maBy +x
mBg NA
• Write the equation of motion for each block
Fx  mAaA :
Fy  mB aB T  mAaB
WB  3T  mB aB (2) From Eq (1) T  3mA aB (3)
• Solve the three equations, 3 unknowns
(3) (2) mB g  3(3mAaB )  mB aB T  3  30 kg  0.83136 m/s2
g 9.81 m/s2 T  74.8 N
aB    0.83136 m/s2
mA 30 kg
1 9 1 9 a A  2.49  2.49 m/s2
mB 25 kg
REFLECT and THINK:
• The acceleration of Block A is to the right
as would be expected
• The tension force in the cable has to be
less than 1/3 of the weight of Block B.
(Otherwise the block would not move
downward)
25𝑘𝑔 𝑚
𝑇 = 74.8 𝑁 < × 9.81 2 = 81.8 𝑁
3 𝑠

Kinetics: Normal and Tangential Coordinates
Aircraft and roller coasters can both experience large

normal forces during turns.

Equations of Motion
 
• Newton’s second law  F  ma
• For tangential and normal components,

F  ma t
 F n  man
t
v2
F t m
dv
dt
F n m


Sample Problem 12.6
STRATEGY:
• Resolve the equation of motion for the
bob into tangential and normal
components.
• Solve the component equations for the
normal and tangential accelerations.
• Solve for the velocity in terms of the
normal acceleration.
The bob of a 2-m pendulum describes
an arc of a circle in a vertical plane. If
the tension in the cord is 2.5 times the
weight of the bob for the position
shown, find the velocity and accel-
eration of the bob in that position.

Sample Problem 12.6
• Resolve the equation of motion for the bob into
tangential and normal components.
• Solve the component equations for the normal and
tangential accelerations.
 Ft  mat : mg sin 30  mat
at  g sin 30
at  4.9 m s 2
 Fn  man : 2.5mg  mg cos 30  ma n

an  g 2.5  cos 30
an  16.03 m s 2
• Solve for velocity in terms of normal acceleration.
an 
v2
v  an  2 m 16.03 m s 2 

v  5.66 m s
v STRATEGY:
• Draw the FBD and KD for the collar.
collar.
• Determine kinematics of the collar.
• Combine the equations of motion with
The 3-kg collar B rests on the
kinematic relationships and solve.
frictionless arm AA. The collar is
held in place by the rope attached to
drum D and rotates about O in a
horizontal plane. The linear velocity
of the collar B is increasing according
to v= 0.2 t2 where v is in m/s and t is
in sec. Find the tension in the rope
and the force of the bar on the collar
after 5 seconds if r = 0.4 m.
• Given: v= 0.2 t2, r = 0.4 m
• Find: T and N at t = 5 sec
Draw the FBD and KD of the collar
et mat
en =
T N man
Write the equations of motion

Fn  man Ft  mat
v2 dv
N m T m
 dt
et
Kinematics : find vt, an, at mat
vt  0.2t 2  0.2(52 ) =5 m/s en
2 2
=
5 v
an    62.5 (m/s2 )
 0.4 T q N man
dv
at   0.4t  0.4(5)  2 m/s2
dt
Substitute into equations of motion

Fn  man Ft  mat
N  3.0(62.5) T  3.0(2)
N  187.5 N T  6.0 N
et
REFLECT and THINK: mat
How would the problem
change if motion was in the
en
=
vertical plane?
T q N man
You would add an mg term mg
and would also need to
calculate q

Kinetics: Radial and Transverse Coordinates
Hydraulic actuators, extending robotic arms, and

centrifuges as shown below are often analyzed using
radial and transverse coordinates.

Eqs of Motion in Radial & Transverse Components
• Consider particle at r and q, in polar coordinates,
 r
F  ma r  m 
r  rq 2
 
 Fq  maq  mrq  2rq 

Sample Problem 12.10
STRATEGY:
• Write the radial and transverse
equations of motion for the block.
• Integrate the radial equation to find an
expression for the radial velocity.
• Substitute known information into the
A block B of mass m can slide freely on transverse equation to find an
a frictionless arm OA which rotates in a expression for the force on the block.
horizontal plane at a constant rate q0 .
Knowing that B is released at a distance
r0 from O, express as a function of r
a) the component vr of the velocity of B
along OA, and
b) the magnitude of the horizontal force
exerted on B by the arm OA.

• Integrate the radial equation to find an
expression for the radial velocity.
dv dv dr dv
r  vr  r  r  vr r
dt dr dt dr
dv dv dr dv
r  vr  r  r  vr r
dt dr dt dr
vr dvr  rq 2 dr  rq02 dr
MODELING and ANALYSIS: vr r
 vr dvr  q0  r dr
• Write the radial and transverse 2
 
equations of motion for the block. 0 r0
 Fr  m ar : 0  m r  rq  2  vr2  q 02 r 2  r02
 F q  m aq : F  mrq  2rq  • Substitute known information into the

transverse equation to find an expression
for the force on the block.
F  2mq 02 r 2
 r0 
2 12

STRATEGY:
• Draw the FBD and KD for the collar.
collar.
• Determine kinematics of the collar.
• Combine the equations of motion with
kinematic relationships and solve.
The 3-kg collar B slides on the frictionless arm AA. The arm is attached to
drum D and rotates about O in a horizontal plane at the rate q  0.75t where q
and t are expressed in rad/s and seconds, respectively. As the arm-drum
assembly rotates, a mechanism within the drum releases the cord so that the
collar moves outward from O with a constant speed of 0.5 m/s. Knowing that
at t = 0, r = 0, determine the time at which the tension in the cord is equal to
the magnitude of the horizontal force exerted on B by arm AA.
• Given: q  0.75t r (0)  0
r  5 m/s
• Find: time when T = N
Draw the FBD and KD of the collar
maq
eq
er mar
=
T N
Write the equations of motion

Fr  mar Fq  mB aq
T  m(r  rq 2 ) N  m(rq  2rq )

r  5 m/s
Kinematics : find expressions for r and q r t
q  (0.75t ) rad/s  0
dr   0
0.5 dt
q  0.75 rad/s2 r  (0.5t ) m

r 0
Substitute values into ar , aq
ar  r  rq 2  0  [(0.5t ) m][(0.75t ) rad/s]2  (0.28125t 3 ) m/s2
aq  rq  2rq  [(0.5t ) m][0.75 rad/s 2 ]  2(0.5 m/s)[(0.75t ) rad/s]

 (1.125t ) m/s2
Substitute into equation of motion Set T = N
Fr  mar :  T  (3 kg)(0.28125t ) m/s 3 2 (0.84375t 3 )  (3.375t )
Fq  mB aq : N  (3 kg)(1.125t ) m/s 2 t 2  4.000
t  2.00 s
Angular Momentum of a Particle
Satellite orbits are analyzed using conservation
of angular momentum.

Angular Momentum of a Particle
  
• H O  r  mV  moment of momentum or the angular
momentum of the particle about O.
  
• H O is perpendicular to plane containing r and mV
  
H O  rmV sin  i j k

 rm vq HO  x y z
 mr 2q mv x mv y mv z
• Derivative of angular momentum with respect to time,

        
H O  r  mV  r  mV  V  mV  r  ma

 rF

  MO
• It follows from Newton’s second law that the sum of
the moments about O of the forces acting on the
particle is equal to the rate of change of the angular
momentum of the particle about O.
Conservation of Angular Momentum
• When only force acting on particle is directed
toward or away from a fixed point O, the particle
is said to be moving under a central force.
• Since the line of action of the central force passes

through O,  M O  H O  0 and
  
r  mV  H O  constant
• Position vector and motion
 of particle are in a
plane perpendicular to H O .
• Magnitude of angular momentum,

H O  rmV sin   constant
 r0 m V0 sin 0
or H O  mr 2q  constant
HO angular momentum
 r 2q  h 
m unit mass
Eqs of Motion in Radial & Transverse Components
• Consider particle at r and q, in polar coordinates,
 r
F  ma r  m 
r  rq 2
 
 Fq  maq  mrq  2rq 
• This result may also be derived from:
H O  mr 2q
r  Fq 
d
dt
mr 2q  

 m r 2q  2rrq 
 Fq  mrq  2rq 

Conservation of Angular Momentum
• Radius vector OP sweeps infinitesimal area
dA  12 r 2 dq
dA 1 2 dq 1 2 
• Define  2r  2 r q  areal velocity
dt dt
• Recall, for a body moving under a central force,

h  r 2q  constant
• When a particle moves under a central force, its

areal velocity is constant.

Newton’s Law of Gravitation
• Gravitational force exerted by the sun on a planet or by
the earth on a satellite is an important example of a
central force.
• Newton’s law of universal gravitation - two particles of
mass M and m attract each other with equal and opposite
force directed along the line connecting the particles,
Mm
F G 2
r
G  constant of gravitation
m3 ft 4
 66.73  10 12  34.4  10 9
kg  s 2 lb  s 4
• For particle of mass m on the earth’s surface,
MG m ft
W  m 2  mg g  9.81 2  32.2 2
R s s

STRATEGY:
• Since the satellite is moving under a
central force, its angular momentum is
constant. Equate the angular momentum
at A and B and solve for the velocity at B.
A satellite is launched in a direction

parallel to the surface of the earth
with a velocity of 30,000 km/h from
an altitude of 400 km. Determine the
velocity of the satellite as it reaches it
maximum altitude of 4000 km. The
radius of the earth is 6370 km.

• Since the satellite is moving under a
central force, its angular momentum is
constant. Equate the angular momentum
at A and B and solve for the velocity at B.
rmv sin HO constant
rA mv A rB mvB
REFLECT and THINK: rA
vB vA
• Note that in order to increase rB
velocity, a spacecraft often applies 6370 400 km
thrusters to push it closer to the 30,000 km h
earth. This central force means the 6370 4000 km
spacecraft’s angular momentum vB 19,590km h
remains constant, its radial distance
r decreases, and its velocity v
increases.
Trajectory of a Particle Under a Central Force
• For particle moving under central force directed towards force center,
 
m r  rq 2   Fr   F mrq  2rq    Fq  0
• Second expression is equivalent to r 2q  h  constant , from which,

h h2 d 2  1 
q  and r   2 2  r 
r 2
r dq
• After substituting into the radial equation of motion and simplifying,

d 2u F 1
u  where u 
dq 2 mh 2u 2 r
• If F is a known function of r or u, then particle trajectory may be

found by integrating for u = f(q), with constants of integration
determined from initial conditions.

Application to Space Mechanics
• Consider earth satellites subjected to only gravitational pull
of the earth,
d 2u F 1 GMm
u  where u  F  GMmu 2
dq 2 mh 2u 2 r r2
d 2u GM
u   constant
dq 2
h 2
• Solution is equation of conic section,

1 GM Ch 2
u   2 1   cosq    eccentricity
r h GM
• Origin, located at earth’s center, is a focus of the conic section.
• Trajectory may be ellipse, parabola, or hyperbola depending

on value of eccentricity.

• Trajectory of earth satellite is defined by
1 GM Ch 2
 2 1   cosq    eccentricity
r h GM
• hyperbola,  > 1 or C > GM/h2. The radius vector

becomes infinite for
1  1  1  GM 
1   cosq1  0 q1   cos      cos 
   C h2 
 
• parabola,  = 1 or C = GM/h2. The radius vector
becomes infinite for
1  cosq 2  0 q 2  180
• ellipse,  < 1 or C < GM/h2. The radius vector is finite

for q and is constant, i.e., a circle, for  = 0.

• Integration constant C is determined by conditions
at beginning of free flight, q =0, r = r0 ,
1 GM  Ch 2 
 2 1 cos 0 
r0 h  GM 

1 GM 1 GM
C  2  
r0 h r0 r0 v0 2
• Satellite escapes earth orbit for

  1 or C  GM h 2  GM r0 v0 2
2GM
vesc  v0 
r0
• Trajectory is elliptic for v0 < vesc and becomes

circular for  = 0 or C = 0,
GM
vcirc 
r0
• Recall that for a particle moving under a central
force, the areal velocity is constant, i.e.,
dA 1 2  1
 2 r q  2 h  constant
dt
• Periodic time or time required for a satellite to
complete an orbit is equal to area within the orbit
divided by areal velocity,
 ab 2 ab
 
h2 h
where a  12 r0  r1 
b  r0 r1

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VECTOR MECHANICS FOR ENGINEERS:

Copyright © McGraw-Hill Education. Permission required for reproduction or display.

• Explain the relationship between mass, force, and acceleration.

• Model physical systems by drawing complete free-body

• Apply Newton’s second law of motion to solve particle kinetics

• Analyze central force motion problems using principles of

• We can consider an actual body (e.g. car, rocket or airplane) as a

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 2-2

We must analyze all of the forces acting on the racecar in order to

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 12 - 3

• If the resultant force acting on a particle is not

• Must be expressed with respect to a Newtonian (or inertial)

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 12 - 4

• Linear Momentum Conservation Principle:

• International System of Units (SI Units): base units are

• U.S. Customary Units: base units are the units of force

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 12 - 6

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 12 - 7

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 12 - 10

Draw the FBD and KD for the collar B. Assume

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 12 - 12

• Unknowns consist of the applied force

A 80-kg block rests on a horizontal

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 12 - 14

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 12 - 15

The two blocks shown are originally at

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 12 - 17

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 12 - 19

Aircraft and roller coasters can both experience large

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 12 - 20

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 12 - 21

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 12 - 22

 Fn  man : 2.5mg  mg cos 30  ma n

Write the equations of motion

Substitute into equations of motion

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 12 - 27

Hydraulic actuators, extending robotic arms, and

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 Fr  m ar : 0  m r  rq  2  vr2  q 02 r 2  r02

 F q  m aq : F  mrq  2rq  • Substitute known information into the

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Write the equations of motion

T  m(r  rq 2 ) N  m(rq  2rq )

q  0.75 rad/s2 r  (0.5t ) m

ar  r  rq 2  0  [(0.5t ) m][(0.75t ) rad/s]2  (0.28125t 3 ) m/s2

aq  rq  2rq  [(0.5t ) m][0.75 rad/s 2 ]  2(0.5 m/s)[(0.75t ) rad/s]

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• Derivative of angular momentum with respect to time,

• Since the line of action of the central force passes

• Magnitude of angular momentum,

• Consider particle at r and q, in polar coordinates,

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• Recall, for a body moving under a central force,

• When a particle moves under a central force, its

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A satellite is launched in a direction

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• Second expression is equivalent to r 2q  h  constant , from which,

• After substituting into the radial equation of motion and simplifying,

• If F is a known function of r or u, then particle trajectory may be