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15 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinematics of
Lecture Notes:
Brian P. Self Rigid Bodies
California Polytechnic State University
• Velocity vector v dr dt of the particle P is
tangent to the path with magnitude v ds dt
s BP r sin
ds
v lim r sin r sin
dt t 0 t
a) → A
b) ← y
L
c) ↑
x
d) ↓
vA r
vA kˆ Liˆ
vA L ˆj
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 10
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Rotation About a Fixed Axis. Acceleration
• Differentiating to determine the acceleration,
dv d
a r
dt dt
d dr
r
dt dt
d
r v
dt
d
• angular acceleration
dt
k k k
an ( Liˆ) 2
2ˆ
an L i
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 13
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Equations Defining the Rotation of a Rigid Body About a Fixed Axis
d d
• Recall or dt
dt
d d 2 d
2
dt dt d
• Uniform Rotation, = 0:
0 t
aD n
tan
aD t
48
9 79.4
aD n
tan
aD t
48
9 79.4
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 18
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
SOLUTION:
• Using the linear velocity and
accelerations, calculate the angular
velocity and acceleration.
9.0
Combine for a final answer
aB
a B 38.6 in./s2 76.5
an= 37.5 in/s2
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 21
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Golf Robot
Not ours – maybe Tom Mase has pic? A golf robot is used to test new
equipment. If the angular
velocity of the arm is doubled,
what happens to the normal
acceleration of the club head?
If the arm is shortened to ¾ of its
original length, what happens to
the tangential acceleration of the
club head?
vB vA vA
tan cos
vA v B A l
v B v A tan vA
l cos
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 26
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Velocity in Plane Motion
• Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
• Angular velocity of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 27
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Velocity in Plane Motion
vB vA vA
tan cos
vA v B A l
v B v A tan vA
l cos
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 28
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Velocity in Plane Motion
• Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
• Angular velocity of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 29
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.2
SOLUTION:
• The displacement of the gear center in
one revolution is equal to the outer
circumference. Relate the translational
and angular displacements. Differentiate
to relate the translational and angular
velocities.
• The velocity for any point P on the gear
The double gear rolls on the may be written as
stationary lower rack: the velocity of
its center is 1.2 m/s.
vP v A v P A v A k rP A
Determine (a) the angular velocity of Evaluate the velocities of points B and D.
the gear, and (b) the velocities of the
upper rack R and point D of the gear.
y
Differentiate to relate the translational and angular
velocities.
x
v A r1
vA 1.2 m s
k 8 rad s k
r1 0.150 m
vD B l BD
vD v B vD B vD B 495.9 in. s
BD
l 8 in.
62.0 rad s BD 62.0 rad s k
a) The direction of vB is ↑
b) The direction of vD is →
c) Both a) and b) are correct
AB (4 rad/s)k
• The velocity of all other particles in the slab are the same
as originally defined since the angular velocity and
translational velocity at A are equivalent.
a)
G b)
c)
d)
rD 0.15 m 2 0.2121 m
vD rD 0.2121 m 8 rad s
vD 1.697 m s
vD 1.2i 1.2 j m s
vP vD 523in. s 43.6 ft s
AB= 4 rad/s
vB
Find
tan 1
0.06 m
21.8
vD
0.15 m
Calculate BD
D vB ( BC )BD
1 m/s (0.25 m)BD
vD BD 4 rad/s
Find DE
0.25 m 1 m/s 0.15 m
vD ( DC )BD (4 rad/s) vD ( DE )DE ; DE ; DE 6.67 rad/s
cos cos cos
aB A t k rB A aB A t r
• Given a A and v A ,
determine a B and .
aB a A aB A
a A a B A a B
n A t
• Vector result depends on sense of a A and the
relative magnitudes of a A and a B A
n
• Write a B a A a B A in terms of the two component equations,
x components: 0 a A l 2 sin l cos
v A x A v B y B
l cos l sin
l cos l sin
a A xA a B yB
l 2 sin l cos l 2 cos lsin
l 2 sin l cos l 2 cos l sin
a A r1 r1
aA 3 m s2
r1 0.150 m
k 20 rad s2 k
aB a A aB A a A aB A aB A
t n
a A k rB A 2rB A
2
3 m s i 20 rad s k 0.100 m j 8 rad s 0.100 m j
2 2
2
2
3 m s i 2 m s i 6.40 m s j
2
aB 5 m s 2 i 6.40 m s2 j aB 8.12 m s2
2
aC a A aC A a A k rC A rC A
2
3 m s i 20 rad s k 0.150 m j 8 rad s 2 0.150 m j
2
3 m s 2 i 3 m s 2 i 9.60 m s 2 j
ac 9.60 m s j2
aD a A aD A a A k rD A 2rD A
2
3 m s i 20 rad s k 0.150 m i 8 rad s 2 0.150m i
2
3 m s 2 i 3 m s 2 j 9.60 m s 2 i
2
aD 12.6 m s i 3 m s j 2
aD 12.95 m s2
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 61
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.7
SOLUTION:
• The angular acceleration of the
connecting rod BD and the acceleration
of point D will be determined from
t
aD aB aD B aB aD B aD B
n
• The acceleration of B is determined from
the given rotation speed of AB.
y components:
0 10,962 sin 40 2563sin 13.95 0.667 BD cos13.95
BD 9940 rad s 2 k
aD 9290 ft s i
2
BD 29.33 rad s k DE 11.29 rad s k
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 67
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.8
• The angular accelerations are determined by
simultaneously solving the component equations for
aD aB aD B
2
aD DE rD DE rD
DE k 17i 17 j 11.29 17i 17 j
2
17 DE i 17 DE j 2170i 2170 j
2
aB AB rB ABrB 0 20 8i 14 j
2
3200i 5600 j
2
aD B BD rB D BD rB D
B D k 12i 3 j 29.332 12i 3 j
3 B D i 12 B D j 10,320i 2580 j
x components: 17 DE 3 BD 15,690
y components: 17 DE 12 BD 6010
BD 645 rad s k
2
DE 809 rad s k
2
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 68
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
AB= 4 rad/s
DE 2.55 rad/s BD 0.955 rad/s
Analyze aB a A AB rB /A AB
2
rB /A
Bar AB
aB AB
2
rB/A (4)2 (7i) 112 in./s2i
Analyze Bar BD
aD aB BD rD /B BD
2
rD /B 112i BDk (8j) (0.95455)2 (8j)
aD (112 8 BD )i 7.289j
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 71
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
Analyze Bar DE
a D DE rD /E DE
2
rD /E
DE k (11i 3j) (2.5455)2 (11i 3j)
AB= 4 rad/s
11 DE j 3 DE i 71.275i 19.439 j
d
dt
r Oxy r Oxy r Oxy
a P r r 2 r Oxy rOxy
v P r r Oxy
• Utilizing the conceptual point P’ on the slab,
v P v P F
a P r r
a P F r
Oxy
a P F rOxy 0
ac 2 v P F ac 2u
vP 500 mm s
aP aP n aP t
aP n r S cos 42.4i sin 42.4 j
2
aP t r S sin 42.4i cos 42.4 j
aP t S 37.1mm sin 42.4i cos 42.4 j
note: S may be positive or negative
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 85
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.10
• The direction of the Coriolis acceleration is obtained
by rotating the direction of the relative velocity vP s
by 90o in the sense of S.
ac 2 S vP s sin 42.4i cos 42.4 j
24.08 rad s 477 mm s sin 42.4i cos 42.4 j
3890 mm s 2 sin 42.4i cos 42.4 j
• The relative acceleration aP s must be parallel to
the slot.
SOLUTION:
• The absolute acceleration of point D may
be expressed as
aD aD ' aD BC ac
aD r r 2 r Oxy
r
Oxy
aC 2 v D /F
(3 rad/s)j (16 in./s)k
(96 in./s 2 )i
a D a D a D /F aC
(108 in./s2 )k 0 (96 in./s 2 )i
a) It is zero.
b) It is in the +x direction
c) It is in the +z direction
d) It is in the -x direction
e) It is in the -z direction
2 2
a 3.54 m s i 1.50 m s j 1.80 m s k
2
1 0.30 j 2 0.50k
r 10.39i 6 j
v P v A rP A rP A
Axyz
v P v P F
a P a A rP A rP A
Consider:
- fixed frame OXYZ,
2 rP A rP A
- translating frame AX’Y’Z’, and
Axyz Axyz
- translating and rotating frame Axyz
or F. a P a PF a c
a P F D F D F rP A
2
2 k 2 R i 2 R j
ac 2 v P F
21 j 2 R i 21 2 Rk
2 2
a P 1 L i 2 Rj 21 2 Rk
• Angular velocity and acceleration of the disk,
D F 1 j 2 k
F
1 j 1 j 2 k
1 2i
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 101
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
The crane shown rotates at the constant rate 1= 0.25 rad/s; simultaneously, the
telescoping boom is being lowered at the constant rate 2= 0.40 rad/s. Knowing
that at the instant shown the length of the boom is 20 ft and is increasing at
the constant rate u= 1.5 ft/s determine the acceleration of Point B.
SOLUTION:
• Define a moving reference frame Axyz or
F attached to the arm at A.
• The acceleration of P is found from
aB aB ' aB F ac
• The angular velocity and angular
acceleration of the disk are
B F
F
aD r r 2 r Oxy
r
Oxy
2 i 1 j 1 j 2 i
(0.40 rad/s)i (0.25 rad/s) j. 12k
(0.10 rad/s 2 )k.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 103
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
aD r r 2 r Oxy
r Oxy
Determine the position vector rB/A
rB/ A rB
(20 ft)(sin 30 j cos30k )
(10 ft) j (10 3 ft)k
Find r
i j k
rB 0 0 0.10 (1 ft/s 2 )i
0 10 10 3
Find
r
rB (0.40i 0.25j) (0.40i 0.25j) (10 j 10 3k )
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 104
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
aD r r 2 r Oxy
r
Oxy
Determine the position vector rB/A
rB/ A rB
(20 ft)(sin 30 j cos30k )
(10 ft) j (10 3 ft)k
Find r
i j k
rB 0 0 0.10 (1 ft/s 2 )i
0 10 10 3
Find r
rB (0.40i 0.25 j) (0.40i 0.25 j) (10 j 10 3k )
(1 ft/s 2 )i (1.6 ft/s 2 ) j (3.8538 ft/s2 )k
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 105
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
aD r r 2 r Oxy
r
Oxy
Determine the Coriolis acceleration – first
define the relative velocity term
v B/F u (sin 30 j cos30k )
(1.5 ft/s)sin 30 j (1.5 ft/s) cos30k