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12 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinetics of Particles:
Lecture Notes:
Brian P. Self
Newton’s Second Law
California Polytechnic State University
Contents
Introduction Angular Momentum of a Particle
Newton’s Second Law of Equations of Motion in Radial &
Motion Transverse Components
Linear Momentum of a Particle Conservation of Angular Momentum
Systems of Units Newton’s Law of Gravitation
Equations of Motion Sample Problem 12.7
Dynamic Equilibrium Sample Problem 12.8
Sample Problem 12.1 Trajectory of a Particle Under a
Sample Problem 12.3 Central Force
Sample Problem 12.4 Application to Space Mechanics
Sample Problem 12.5 Sample Problem 12.9
Sample Problem 12.6 Kepler’s Laws of Planetary Motion
Kinetics of Particles
High swing velocities can
We must analyze all of the forces
result in large forces on a
acting on the wheelchair in order
swing chain or rope, causing
to design a good ramp
it to break.
Introduction
SF = ma
• Newton’s Second Law of Motion
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.
Equations of Motion
! !
• Newton’s second law å F = ma
• Can use scalar component equations, e.g., for
rectangular components,
Dynamic Equilibrium
• Alternate expression of Newton’s second law,
! !
å F - m a =0
!
- ma º inertial vector
• With the inclusion of the inertial vector, the system
of forces acting on the particle is equivalent to
zero. The particle is in dynamic equilibrium.
• Methods developed for particles in static
equilibrium may be applied, e.g., coplanar forces
may be represented with a closed vector polygon.
• Inertia vectors are often called inertial forces as
they measure the resistance that particles offer to
changes in motion, i.e., changes in speed or
direction.
• Inertial forces may be conceptually useful but are
not like the contact and gravitational forces found
in statics.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 8
Vector Mechanics for Engineers: Dynamics
Edition
Tenth
25o
Ff
N
mg
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 9
Vector Mechanics for Engineers: Dynamics
Edition
Tenth
25o =
Ff
N
mg
SF = ma
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 10
Vector Mechanics for Engineers: Dynamics
Edition
Tenth
y
T T NB
T
T may = 0
x
T
mg
Ff-B
= max
N1 Ff-1
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 12
Vector Mechanics for Engineers: Dynamics
Edition
Tenth
eq maq
er
mar
q =
q
Ff
mg
N
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 14
Vector Mechanics for Engineers: Dynamics
Edition
Tenth
y T1 = (100 kg )a A
T2 = 2940 N - (300 kg )a B
(
= 2940 N - (300 kg ) 12 a A )
T2 - 2T1 = 0
2940 N - (150 kg )a A - 2(100 kg )a A = 0
a A = 8.40 m s 2
a B = 12 a A = 4.20 m s 2
T1 = (100 kg )a A = 840 N
T2 = 2T1 = 1680 N
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 19
Vector Mechanics for Engineers: Dynamics
Edition
Tenth
x
å Fx = mB a x = mB (a A cos 30° - a B A ) :
- WB sin 30° = (WB g )(a A cos 30° - a B A )
aB A = a A cos 30° + g sin 30°
å Fy = mB a y = mB (- a A sin 30°) :
N1 - WB cos 30° = -(WB g )a A sin 30°
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 21
Vector Mechanics for Engineers: Dynamics
Edition
Tenth
aA =
(32.2 ft s 2 )(12 lb ) cos 30°
2(30 lb ) + (12 lb ) sin 30°
a A = 5.07 ft s 2
x A + 3 yB + constants = L
Differentiate this twice to get the
acceleration relationship.
v A + 3vB = 0
a A + 3aB = 0
a A = -3aB (1)
Concept Quiz
Equations of Motion
! !
• Newton’s second law å F = ma
• For tangential and normal components,
å
F = ma t
å F n = man
t
dv v2
åF t =m
dt
åF n =m
r
an =
v2
v = ran = (2 m )(16.03 m s 2 )
r
v = ±5.66 m s
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 30
Vector Mechanics for Engineers: Dynamics
Edition
Tenth
v = 64.7 ft s = 44.1 mi h
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 32
Vector Mechanics for Engineers: Dynamics
Edition
Tenth
et mat
en =
T N man
dv
at = = 0.4t = 0.4(5) = 2 m/s 2
dt
Substitute into equations of motion
SFn = man SFt = mat
N = 3.0(62.5) T = 3.0(2)
N = 187.5 N T = 6.0 N
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 35
Vector Mechanics for Engineers: Dynamics
Edition
Tenth
Concept Question
B
C
A
å r
F = ma r = m !!
r - r q! 2
( )
å Fq = maq = m(rq!! + 2r!q! )
F= 2mq 02 (r 2
- r0 )
2 12
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¢.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 42
Vector Mechanics for Engineers: Dynamics
Edition
Tenth
r - rq! 2 )
-T = m(!! N = m(rq!! + 2r!q!)
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 43
Vector Mechanics for Engineers: Dynamics
Edition
Tenth
q! = (0.75t ) rad/s ò 0
dr = ò 0
0.5 dt
Concept Quiz
e2
e1
Top View v
å r
F = ma r = m !
r! - r q! (
2
)
å Fq = maq = m(rq!! + 2r!q! )
• This result may also be derived from conservation
of angular momentum,
H O = mr 2q!
r å Fq =
d
dt
(
mr 2q! )
(
= m r 2q!! + 2rr!q! )
å Fq = m(rq!! + 2r!q! )
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 47
Vector Mechanics for Engineers: Dynamics
Edition
Tenth
dA 1 2 dq 1 2 !
• Define = 2r = 2 r q = areal velocity
dt dt
where a = 12 (r0 + r1 )
b = r0 r1
( )(
GM = gR 2 = 9.81m s 2 6.37 ´ 106 m )2
= 398 ´ 1012 m3 s 2
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 60
Vector Mechanics for Engineers: Dynamics
Edition
Tenth
t=
( )(
2p ab 2p 36.8 ´ 106 m 21.4 ´ 106 m
=
)
h 70.4 ´ 109 m 2 s