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CHAPTER
16
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell
Lecture Notes:
Brian P. Self
Tenth
16 - 2
Tenth
2-3
Tenth
F ma
and
M H
16 - 4
Tenth
m
a
M G HG
System of external forces is
equipollent to the
system
consisting of ma and H G .
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16 - 5
Tenth
H G ri vimi
i 1
n
ri ri mi
i 1
ri 2 mi
After differentiation,
H G I I
Consider a rigid slab in
plane motion.
16 - 6
Tenth
16 - 7
Tenth
16 - 8
Tenth
16 - 9
Tenth
12 - 10
Tenth
M G
ma
I
12 - 11
Tenth
2 - 12
Tenth
Cy
A
L/2
1.
2.
3.
4.
5.
6.
Cx
r
ma y
Isolate body
Axes
Applied forces
Replace supports with forces
Dimensions
Kinetic diagram
max
mg
L/2
2 - 13
Tenth
2 - 14
Tenth
Isolate body
Axes
Applied forces
Replace supports with forces
Dimensions
Kinetic diagram
ma y
P
4 in
=
8 in
max
W
F
N
y
x
2 - 15
Tenth
2 - 16
5. Dimensions
2. Axes
6. Kinetic diagram
0.2
25
1. Isolate body
NB
FB
ma y
I
m
25
0.2
Tenth
max
W
y
NA
FA
2 - 17
Tenth
16 - 18
Tenth
x 20 ft
ft
0 30
s
2a 20 ft
a 22.5
ft
s
Fy Fy eff
Fx Fx eff
N A NB W 0
FA FB ma
k N A N B
kW W g a
k
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a 22.5
0.699
g 32.2
16 - 19
Tenth
M A M A eff
5 ft W 12 ft N B 4 ft ma
1
W W
a
5W 4 a 5 4
12
g 12
g
N B 0.650W
NB
N A W N B 0.350W
N rear 12 N A 12 0.350W
Frear k N rear 0.690 0.175W
N front 12 NV 12 0.650W
N rear 0.175W
Frear 0.122W
N front 0.325W
16 - 20
Tenth
16 - 21
Tenth
Ft Ft eff
W cos 30 ma
mg cos 30
a 9.81m/s 2 cos 30
a 8.50 m s 2
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60o
16 - 22
Tenth
M G M G eff
Fn Fn eff
a 8.50 m s 2
60o
FAE 47.9 N T
FDF 8.70 N C
16 - 23
Tenth
16 - 24
Tenth
M G 10 lb 6 in 5 lb 10 in 10 in lb
rotation is counterclockwise.
note:
I mk 2
W 2
k
g
12 lb 8
ft
2
32.2 ft s 12
0.1656 lb ft s 2
10
ft
12
aB rB
6
12
ft
16 - 25
Tenth
M G M G eff
6
10 lb 126 ft 5 lb 10
ft I mB aB 12
ft m Aa A 10
ft
12
12
10 6 6 5 10 10
10 126 5 10
0
.
1656
12 32.2 12 12
12
32.2 12
I 0.1656 lb ft s 2
a A 10
ft
s
12
aB
12
ft s
2.374 rad s 2
Then,
a A rA
a A 1.978 ft s 2
aB 1.187 ft s 2
10
ft
2.374
rad
s
12
aB rB
6 ft 2.374 rad s 2
12
16 - 26
Tenth
16 - 27
Tenth
Fx Fx eff
ax 0
0 ma x
Fy Fy eff
T W ma y
T W 180 N - 15 kg 9.81m s 2
ay
m
15 kg
M G M G eff
Tr I
a y 2.19 m s 2
12 mr 2
2T
2180 N
15 kg 0.5 m
mr
48.0 rad s 2
16 - 28
Tenth
acord a A t a a A G t
acord 26.2 m s 2
ax 0
a y 2.19 m s 2
48.0 rad s 2
16 - 29
Tenth
16 - 30
Tenth
Fy Fy eff
N W 0
Fx Fx eff
F ma
k mg
N W mg
a k g
M G M G eff
Fr I
k mg r 23 mr 2
5 k g
2 r
NOTE: As long as the sphere both rotates and slides,
its linear and angular motions are uniformly
accelerated.
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16 - 31
Tenth
0 t 0
a k g
5 k g
2 r
t1
v0 k gt1 r
5 k g
5 k g
t1
2
r
2
r
5 v0
7 r
v1 r1 r
2 v0
2 v0
7 k g
5 v0
7 r
v1 75 v0
16 - 32
Tenth
SOLUTION:
Draw the free-body-diagram and
kinetic diagram showing the
equivalence of the external forces
and inertial terms.
Write the equations of motion for
the sum of forces and for the sum
of moments.
Apply any necessary kinematic
relations, then solve the resulting
equations.
2 - 33
Tenth
ma y
FR
max
mg
NF
NR
max
FR max
ma y
N R N F mg 0
I G
60
40
20
N R ( 12
) N F ( 12
) FR ( 12
)0
2 - 34
Tenth
FR max (1)
60
40
20
N R ( 12
) N F ( 12
) FR ( 12
) 0 (4)
(5)(2)
FR N R (3)
N R N F mg 0 (2)
max
N F mg N R mg
(6)
max
(1)(3) N R
(5)
max 60
max
mg
12
40
20
max 0
12
12
Solving this equation, the masses cancel out and you get:
ax 12.3 ft/s
2 - 35
Tenth
ma y
FR
I
max
mg
NF
NR
I G mad
40
20
N R ( 100
12 ) mg ( 12 ) 0 ma x ( 12 )
You can now use this equation with those on the previous slide to solve for
the acceleration
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2 - 36
Tenth
The thin pipe P and the uniform cylinder C have the same outside
radius and the same mass. If they are both released from rest,
which of the following statements is true?
2 - 37
Tenth
2 - 38
Tenth
16 - 39
Tenth
an r 2
16 - 40
Tenth
aG aO aG O
aO aG O aG O
16 - 41
Tenth
16 - 42
Tenth
WE 4 kg 9.81m s 2 39.2 N
40 rad s 2
8 rad/s
24.0 N
I OB
1.600 N m
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16 - 43
Tenth
M O M O eff
F 0.120m I E mOB aOB t 0.200m I OB
Fx Fx eff
WE 39.2 N
WOB 29.4 N
I E 1.156 N m
Rx 24.0 N
Fy Fy eff
I OB 1.600 N m
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R y 24.0 N
16 - 44
Tenth
16 - 45
Tenth
M C M C eff
a r
W sin r ma r I
mr r 52 mr 2
W
2W 2
r r
r
g
5 g
a r
5 g sin
7r
5 g sin 30
7
5 32.2 ft s 2 sin 30
7
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a 11.50 ft s 2
16 - 46
Tenth
g
7
2
F W sin 30 0.143W
7
N W cos 0
Fy Fy
eff
5 g sin
7r
a r 11.50 ft s 2
N W cos 30 0.866W
F 0.143W
N 0.866W
s 0.165
16 - 47
Tenth
0 2 11.50 ft s 2 10 ft
v 15.17 ft s
5 g sin
7r
M G M G eff
0 I
Fx Fx eff
W sin ma
W
a
g
a r 11.50 ft s 2
v 2 v02 2a x x0
0 2 16.1ft s 2 10 ft
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v 17.94 ft s
16 - 48
Tenth
16 - 49
Tenth
I mk 2 50 kg 0.70 m 2
0.245 kg m 2
Assume rolling without slipping,
a r
0.100 m
10.74 rad s 2
Fx Fx eff
F 200 N ma 50 kg 1.074 m s 2
F 146.3 N
Fx Fx eff
N W 0
16 - 50
Tenth
Fx Fx eff
200 N 73.6 N 50 kg a
a 2.53 m s 2
M G M G eff
73.6 N 0.100 m 200 N 0.0.060 m
0.245 kg m 2
18.94 rad s 2
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18.94 rad s 2
16 - 51
Tenth
16 - 52
Tenth
a B a A aB A
With aB A 4 , the corresponding vector triangle and
the law of signs yields
a A 5.46
aB 4.90
a a G a A aG A where aG A 2
Resolving into x and y components,
a x 5.46 2 cos 60 4.46
a y 2 sin 60 1.732
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16 - 53
Tenth
M E M E eff
1
50 lb
2
4
ft
12 32.2 ft s 2
2.07 lb ft s 2
I 2.07
50
4.46 6.93
ma x
32.2
50
1.732 2.69
ma y
32.2
2.30 rad s 2
Fx Fx eff
RB sin 45 6.93 2.30
RB 22.5 lb
Fy Fy eff
RB 22.5 lb
45o
R A 27.9 lb
16 - 54
Tenth
SOLUTION:
Draw the free-body-diagram and
kinetic diagram showing the
equivalence of the external forces
and inertial terms.
Write the equations of motion for
the sum of forces and for the sum
of moments.
Apply any necessary kinematic
relations, then solve the resulting
equations.
2 - 55
Tenth
ma y
y
L/2
L/2
I
max
70o
70o
Ff
NA
max
Ff max
x
ma y
N A mg ma y
I G
N A ( L2 cos(70o)) FF ( L2 sin(70o))
121 mL2 AB
2 - 56
Tenth
rG /A
L/2
1
( L cos(70o)i L sin(70o) j)
2
(0.17101 L)i (0.46985 L)j
L/2
2
aG a A AB rG /A AB
rG /A
0 ( AB k ) (0.17101 L i 0.46985 L j) 0
0.46985 L AB i 0.17101 L AB j
70o
Realize that you get two equations from the kinematic relationship
ax 0.46985 L AB
a y 0.17101 L AB
Ff max
Ff (m)0.46985 L AB
N A mg ma y
N A m(0.17101 L AB g )
2 - 57
Tenth
AB
g
0.513 k
L
F f (m)0.46985 L 0.513 Lg
Ff 0.241mg
N A m(0.17101 L 0.513 Lg g )
N A 0.912mg
2 - 58
Tenth
NA
a) The bar would rotate about point A
b) The bars center of gravity would go straight downwards
c) The bar would not have any angular acceleration
2 - 59