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Particle:
A particle has a mass but negligible size and shape.
A particle can undergo only translational motion.
Objects like rockets, projectile, or vehicle may be considered
as particles provided motion of the body is characterized by
motion of its mass center (a point) and any rotation of the
body is neglected.
Chapter 12 15 are devoted to dynamics of particles.
Rigid Body:
A rigid body has mass, size and shape. A rigid body can
undergo both translational and rotational motion.
Chapters 16 - 21 are devoted to rigid body dynamics.
Dynamics:
1. Kinematics concerned with
the geometric aspects of motion
2. Kinetics - concerned with
the forces causing the motion
RECTILINEAR KINEMATICS
(Section 12.2)
Linear motion (also called rectilinear motion) is motion along a
straight line, and can therefore be described mathematically using
only one spatial dimension.
Position of a Particle
This is step 1 in particle analysis.
The position of the particle at any instant, relative to the fixed
origin, O, is defined by the position vector r, or the scalar s. Scalar
s can be positive or negative. Typical units for r and s are meters
(m) or feet (ft).
Displacement of a Particle
Scalar form: s = s - s
VELOCITY
Velocity is a measure of the rate of change in the position of a particle.
It is a vector quantity (it has both magnitude and direction).
Mathematically, v = ds/dt
Direction: A positive value of velocity indicates that the particle is
moving along the assumed positive direction of the coordinate axis. A
negative value indicates that the particle moves in the opposite
direction.
ACCELERATION
Acceleration is the rate of change in the velocity of a particle. It is a
vector quantity. Typical units are m/s2 or ft/s2.
The instantaneous acceleration is the time
derivative of velocity.
Vector form: a = dv / dt
Scalar form: a = dv / dt = d2s / dt2
Acceleration can be positive (speed
increasing) or negative (speed decreasing,
also called as decelerating).
As the text indicates, the derivative equations for velocity and
acceleration can be manipulated to get
a ds = v dv
v = ds/dt
a = dv/dt
a = v dv/ds
v = ds/dt
a = dv/dt
a ds = v dv
dv a
dt
yields
vv at
ds v dt
yields
s s v t (1/2) a t 2
yields
v 2 (vo )2 2a (s - s )
vo
so
v
v dv a ds
vo
so
MOTION OF A PROJECTILE
(Section 12.6)
Horizontal Component
Fx Max 0
Vertical Component
ax 0
ay g
dvx
0
dt
vx Cons tan t
a y Cons tan t
Fy Ma y Mg
vy = voy g t
y = yo + (voy) t g t2
Curved road
CURVILINEAR MOTION
Since the path is often described in 3-D, vector analysis will be
used to formulate the particles position, velocity and
acceleration.
A particle moves along a curve
defined by the path function, s.
VELOCITY
Velocity represents the rate of change in the position of a
particle.
The instantaneous velocity is the
time-derivative of position
v = dr/dt .
The velocity vector, v, is always
tangent to the path of motion.
ACCELERATION
Acceleration represents the rate of change in the velocity of a particle.
a = dv/dt = d2r/dt2
az = vz = z = dvz /dt
The magnitude of the acceleration vector is
a = [(ax)2 + (ay)2 + (az)2 ]0.5
The direction of a is usually
not tangent to the path of the
particle.
IMPORTANT EQUATIONS
=> an = v / a = at = v
The tangential component represents the time rate of change in
the magnitude of the velocity.
2) The particle moves along a curve at constant speed.
.
at = v = 0 => a = an = v2/
dy
1
dx
d2y
dx 2
3
2
rA = (4 i + 5 j ) m,
then
rB/A = (6 i 3 j ) m.
RELATIVE VELOCITY
To determine the relative velocity of B
with respect to A, the time derivative of
the relative position equation is taken.
vB/A = vB vA
or
vB = vA + vB/A
In these equations, vB and vA are called absolute velocities
and vB/A is the relative velocity of B with respect to A.
Note that vB/A = - vA/B .
RELATIVE ACCELERATION
The time derivative of the relative
velocity equation yields a similar
vector relationship between the
absolute and relative accelerations
of particles A and B.
These derivatives yield: aB/A = aB aA
or
aB = aA + aB/A
SOLVING PROBLEMS
Since the relative motion equations are
vector equations, problems involving
them requires resolving velocity (or
acceleration) vector along x and y and
then performing the vector operation:
vB = vA + vB/A
aB = aA + aB/A
Given:
vA = 650 km/h
vB = 800 km/h
Find:
vB/A
EXAMPLE (continued)
Solution:
vA = (650 i ) km/h
vB = 800 cos 60 i 800 sin 60 j
= ( 400 i 692.8 j) km/h
vB/A = vB vA = (1050 i 692.8 j) km/h
vB /A km/h
= tan-1(
) = 33.4
DEPENDENT MOTION
(continued)
In this example, position
coordinates sA and sB can be
defined from fixed datum lines
extending from the center of
the pulley along each incline
to blocks A and B.
Since, the cord has a fixed length, the position coordinates
sA and sB are related mathematically by the equation
sA + lCD + sB = lT
Here lT is the total cord length and lCD is the length of cord
passing over the arc CD on the pulley.
DEPENDENT MOTION
(continued)
The velocities of blocks A and B
can be related by differentiating
the position equation. Note that
lCD and lT remain constant, so
dlCD/dt = dlT/dt = 0
dsA/dt + dsB/dt = 0 => vB = -vA
The negative sign indicates that as A moves down the incline
(positive sA direction), B moves up the incline (negative sB
direction).
Accelerations can be found by differentiating the velocity
expression. aB = -aA .
EXAMPLE-1
Given: In the figure on the left, the
cord at A is pulled down
with a speed of 2 m/s.
Find: The speed of block B.