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CHAPTER
11
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell
Lecture Notes:
Brian P. Self
Kinematics of Particles
Tenth
11 - 2
Tenth
2-3
Tenth
Fdrag
Flift
Kinetics: study of the relations existing between the forces acting on
a body, the mass of the body, and the motion of the body. Kinetics is
used to predict the motion caused by given forces or to determine the
forces required to produce a given motion.
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11 - 4
Tenth
11 - 5
Tenth
11 - 6
Tenth
Average velocity
t
x
lim
Instantaneous velocity
t 0 t
Instantaneous velocity may be positive or
negative. Magnitude of velocity is referred
to as particle speed.
From the definition of a derivative,
x dx
v lim
dt
t 0 t
e.g., x 6t 2 t 3
dx
v
12t 3t 2
dt
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11 - 7
Tenth
2
dt dt
t 0 t
e.g. v 12t 3t 2
dv
a
12 6t
dt
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11 - 8
Tenth
2-9
Tenth
dx
12t 3t 2
dt
dv d 2 x
a
12 6t
dt dt 2
What are x, v, and a at t = 2 s ?
- at t = 2 s,
x = 16 m, v = vmax = 12 m/s, a = 0
11 - 10
Tenth
a spring
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drag
11 - 11
Tenth
a a x
a a v
Kinematic relationship
Integrate
dv
a (t )
dt
dt
dx
dv
and a
v
dt
v dv a x dx
dv
a (v )
dt
dv
v a v
dx
v0
dv a t dt
v0
x0
v dv a x dx
v
dv
v a v 0 dt
0
x
v dv
x dx v a v
0
0
2 - 12
Tenth
Determine:
velocity and elevation above ground at
time t,
highest elevation reached by ball and
corresponding time, and
time when ball will hit the ground and
corresponding velocity.
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11 - 13
Tenth
v t 10
dy
v 10 9.81t
dt
y t
t
dy 10 9.81t dt
y0
m
m
9.81 2 t
s
s
y t y0 10t 12 9.81t 2
m
m
y t 20 m 10 t 4.905 2 t 2
s
s
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11 - 14
Tenth
m
m
9.81 2 t 0
s
s
t 1.019 s
y t 20 m 10 t 4.905 2 t 2
s
s
m
m
s
y 25.1 m
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11 - 15
Tenth
y t 20 m 10 t 4.905 2 t 2 0
s
s
t 1.243 s meaningless
t 3.28 s
v t 10
m
m
9.81 2 t
s
s
v 3.28 s 10
m
m
9.81 2 3.28 s
s
s
v 22.2
m
s
11 - 16
Tenth
11 - 17
Tenth
dv
a
kv
dt
dv
v v k 0 dt
0
ln
v t
kt
v0
v t v0 e kt
Integrate v(t) = dx/dt to find x(t).
v t
dx
v0 e kt
dt
kt
dx
v
e
0
dt
x t v0
1
e kt
k
x t
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v0
1 e kt
k
11 - 18
Tenth
v0
dv k dx
dv k dx
v v0 kx
v v0 kx
Alternatively,
v0
1 e kt
k
with
x t
and
v t v0 e kt or e kt
then
x t
v0
v t
1
k
v0
v t
v0
v v0 kx
11 - 19
Tenth
+y
(a)
(b)
dv a t dt
v0
v dv
x dx v a v
0
0
(c)
v0
x0
v dv a x dx
v
(d)
dv
v a v 0 dt
0
2 - 20
Tenth
+y
2 - 21
Tenth
a 3 0.001v
11 - 22
Tenth
Find:
v after lap
Maximum speed
dv
v a v
dx
v dv
x dx v a v
0
0
00
x r 3.14(200) 628.32 m
2 - 23
Tenth
v dv
dx
x
v a v
0
0
628.32
v
dv
2
3 0.001v
0
dx
v
0
3 0.001v 2 e 0.15802
2 - 24
Tenth
3 0.001v 2 e 0.15802
3 e 0.15802
v
2146.2
0.001
2
v 46.3268 m/s
How do you determine the maximum speed the car can reach?
Velocity is a maximum when
acceleration is zero
This occurs when
vmax
0.001
a 3 0.001v 2
0.001v 2 3
2 - 25
Tenth
dx
v constant
dt
x
x0
dx v dt
x x0 vt
x x0 vt
Careful these only apply to
uniform rectilinear motion!
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11 - 26
Tenth
11 - 27
Tenth
dv
a constant
dt
dx
v0 at
dt
dv a dt
v0
dx v0 at dt
x0
dv
v a constant
dx
v v0 at
x x0 v0t 12 at 2
v0
x0
v dv a dx
v 2 v02 2a x x0
11 - 28
Tenth
2 - 29
Tenth
v B v A relative velocity of B
with respect to A
vB v A vB A
vB
a B a A relative acceleration of B
with respect to A
aB a A aB A
aB
11 - 30
Tenth
11 - 31
Tenth
m
m
9.81 2 t
s
s
m
m
y B y0 v0 t 12 at 2 12 m 18 t 4.905 2 t 2
s
s
Substitute initial position and constant velocity of
elevator into equation for uniform rectilinear
motion. m
vE 2
s
m
y E y0 v E t 5 m 2 t
s
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11 - 32
Tenth
12 18t 4.905t 2 5 2t 0
t 0.39 s meaningless
t 3.65 s
y E 12.3 m
18 9.81t 2
16 9.81 3.65
vB
19.81
m
s
11 - 33
Tenth
11 - 34
Tenth
11 - 35
Tenth
12
2a A 8 in.
aA 9
in.
s2
v A v A 0 a At
12
in.
in.
9 2t
s
s
t 1.333 s
11 - 36
Tenth
x A x A 0 2 x D xD 0 xB x B 0 0
8 in. 2 4 in. x B x B 0 0
x B x B 0 16 in.
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11 - 37
Tenth
12
in.
in.
3 vB 0
s
s
v B 18
in.
s
a A 2a D a B 0
in.
vB 0
a B 9
in.
s2
11 - 38
Tenth
Solution steps
2 - 39
Tenth
Find: vB
x A 3 yB constants L
Differentiate the constraint equation to
get velocity
6 m/s + 3vB 0
v B 2 m/s
Note that as xA gets bigger, yB gets smaller.
2 - 40
Tenth
Acceleration data
from a head impact
during a round of
boxing.
2 - 41
Tenth
11 - 42
Tenth
11 - 43
Tenth
v1
t1 t dv
v0
using dv = a dt ,
x1 x0 v0 t1
v1
t1 t a dt
v0
v1
v0
11 - 44
Tenth
av
11 - 45
Tenth
11 - 46
Tenth
and P defined by r at t + t,
11 - 47
Tenth
t 0 t
dt
Instantaneous speed
(scalar)
s ds
t 0 t
dt
v lim
11 - 48
Tenth
r
r
v dv
r
a lim
11 - 49
Tenth
dP
P
P u u P u
lim
lim
du u 0 u u 0
u
Derivative of vector sum,
d P Q dP dQ
du
du du
Delete or put in
bonus slides
d f P df
dP
P f
du
du
du
Derivative of scalar product and vector product,
d P Q dP dQ
Q P
du
du
du
d P Q dP
dQ
Q P
du
du
du
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11 - 50
Tenth
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
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11 - 51
Tenth
0 gt
y v y y 12 gt 2
0
vy vy
vz 0
z0
11 - 52
Tenth
11 - 53
Tenth
(y)o =150 m
11 - 54
Tenth
11 - 55
Tenth
a)
b)
c)
d)
A launch angle of 45
A launch angle less than 45
A launch angle greater than 45
It depends on the launch velocity
2 - 56
Tenth
SOLUTION:
A baseball pitching machine
throws baseballs with a
horizontal velocity v0. If you
want the height h to be 42 in.,
determine the value of v0.
11 - 57
Tenth
1 2
gt
2
1 2
3.5 5 gt
2
1
1.5 ft (32.2 ft/s 2 )t 2
2
40 ft (v0 )(0.305234 s)
v0 131.047 ft/s 89.4 mi/h
t 0.305234 s
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2 - 58
Tenth
2 - 59
Tenth
r
Vector B A joining A and B defines the position of
B with respect to the moving frame Axyz and
rB rA rB A
Differentiating twice,
vB v A vB A vB
a B a A aB
aB
A
A
velocity of B relative to A.
acceleration of B relative
to A.
11 - 60
Tenth
11 - 61
Tenth
At t = 5 s
11 - 62
Tenth
At t = 5 s
11 - 63
Tenth
v B v A v B/ A
6 j 10i v B/ A
v B/ A 6 j 10i (m/s)
a B a A a B/ A
1.2 j 0i a B/ A
a B/ A 1.2 j (m/s 2 )
Physically, a rider in car A would see car B travelling south and west.
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11 - 64
Tenth
a)
25o
c)
b)
25o
d)
2 - 65
Tenth
2 - 66
Tenth
= the instantaneous
radius of curvature
v v et
en
et
v= vt et
dv
v2
a e t en
dt
11 - 67
Tenth
et
sin 2
lim
lim
en en
0
0 2
det
en
d
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11 - 68
Tenth
With the velocity vector expressed as v vet
the particle acceleration may be written as
de dv
de d ds
dv dv
a
et v
et v
dt dt
dt dt
d ds dt
but
det
ds
en
d ds
v
d
dt
After substituting,
dv
v2
dv v 2
a et en
at
an
dt
dt
11 - 69
Tenth
dv
at
dt
v2
an
en principal normal
eb binormal
Acceleration has no component along the binormal.
11 - 70
Tenth
11 - 71
Tenth
et
en
The deceleration constant, therefore
11 - 72
Tenth
Some possibilities:
Reduce the allowed speed
Increase the turn radius
(difficult and costly)
Have the racers wear g-suits
2 - 73
Tenth
at 0.5 t (m/s 2 )
where t is in seconds and at is in
m/s2. If the centrifuge starts from
fest, determine the total acceleration
magnitude of the cab after 10
seconds.
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11 - 74
Tenth
en
2 t
vt 0.5 t dt 0.25t
0.25t 2
Top View
vt 0.25 10 25 m/s
2
et
en
78.125 m/s
Tenth
a)
b)
c)
d)
11 - 76
Tenth
2 - 77
Tenth
r re r
The particle velocity vector is
r
r
r
&
v r&er r e
The particle acceleration vector is
r
r
2 r
&
&
&
&
a &
r& r er r 2r&
e
11 - 78
Tenth
r re r
der
e
d
der dr
dr
d
d
v re r e r r
er r
e
dt
dt
dt
dt
dt
r er r e
de
er
d
der der d d
e
dt
d dt
dt
de de d
d
er
dt
d dt
dt
d 2 r dr der dr d
d 2
d de
2 er
e r 2 e r
dt dt dt dt
dt dt
dt
dt
r r 2 er r 2r e
11 - 79
Tenth
2 - 80
Tenth
vectors e R , e , and k .
Position vector,
r R e R z k
Velocity vector,
dr
v
R e R R e z k
dt
Acceleration vector,
dv
2
R eR R 2 R e z k
a
R
dt
11 - 81
Tenth
11 - 82
Tenth
0.15 t 2
30 0.524 rad
t 1.869 s
11 - 83
Tenth
v vr2 v2
v 0.524 m s
31.0
ar r r 2
0.240 m s 2 0.481m 0.561rad s 2
0.391m s 2
a r 2r
a
tan 1
ar
a 0.531m s
42.6
11 - 84
Tenth
11 - 85
Tenth
11 - 86
Tenth
er
Acceleration is a function
of position, so use:
&
&
d &d&
er
e
&
Top View
0.05 d &d&
0.05
2
2 2(2 )
&
&
2 0
2
2
2
&
0.05 2(2 )
11 - 87
Tenth
er
Magnitude:
amag ar2 a2 (63.166 ) 2 + 5.0265
Tenth
r
r
2 r
&
&
&
&
a &
r& r er r 2r&
e
11 - 89