PART 1 Dynamics

(Meriam and Kraige,

2007)

Chapter 1. Introduction
Engineering Mechanics

Statics
Dynamics
Strength of Materials
Vibration

Statics: = f(P) deflection and applied force

Dynamics: x(t)= f(F(t)) displacement (function of time and applied force)
Strength of Materials: = f(P) on deformable bodies
Vibration: x(t) = f(F(t)) on particles and rigid bodies
1

Newtonian Dynamics
Kinematics: the relation among

dx(t )
d 2 x(t )
x(t ), x(t ), and x(t ), x
and x
dt
dt 2
without reference to applied force
Kinetics: the relation between

x(t ) and F (t )

Terms to Know
Reference frame: Coordinate system
Inertial System: Newtons 2nd Law of motion
Particle and Rigid body
Scalar and Vector
Earth Gravity

Chap. 2 Kinematics of Particles

Rectangular Coordinates r( x, y, z)
Cylindrical Coordinates r(r, , z)

Spherical Coordinates

r( R, , )

Displacement, Velocity, and Acceleration

ds 2 vdt
t

dv 2 adt
t

v
1

dx xdt
t

xdtdt

Velocity and Acceleration

dr
r
v
dt

dr
r
a
dt
5

Rectangular Coordinates

r xi yj zk
x
x
x

r xi yj zk r y r y r y
z
z
z
r xi yj zk
6

Centrifugal and Tangential Acceleration

dr
r
v
dt

dr
r
dt
vet vet
vet v

en

: radius of curvature
7

Time Derivatives of the Unit Vectors

in Polar (Cylindrical) Coordinates (2D)
de r
e
d
de
e r
d
e r e
e e r

Cylindrical Coordinates (3D)

r rer ze z
r rer r e ze z
r (r r 2 )e r (r 2r )e ze z

Spherical Coordinates
r Re r
r Re r Re r
e z e

sin e r cos e e
sin e r e cos e

er er
o e cos e
r Re r R cos e R e
10
10

Velocity and Acceleration

in Spherical Coordinates
r v v e ve ve
R

v R
R

v R cos

v R

raa e ae ae
R

a R R R cos
2

cos d
R 2 R sin
R dt
1 d
a
R R sin cos

R dt

11

Chap.3 Kinetics of Particles

3.1
3.2
3.3
3.4

Force, Mass, and Acceleration

Work and Energy
Impulse and Momentum
Impact and Orbital Mechanics

3.1 Force, Mass, and Acceleration

Newtons Second Law F mr
Inertial System: A coordinate system where F mr
Equation of Motion: F mr
Free-body diagram

12

Engineering Mechanics Dynamics -- IA

Sample 3/3
The 250-lb concrete block A is released from rest in the position shown and
pulls the 400-lb log up the 30 ramp. If the coefficient of kinetic friction
between the log and the ramp is 0.5, determine the velocity of the block as it
hits the ground at B.

N m1 g cos m1 y1 0
N 2T m g sin m x

1
1 1
, 4 equation for 4 unknowns

m
g

m
y
2 2
2
2 x1 y2 constant
13

Engineering Mechanics Dynamics -- IA

Sample 3/3

0 2aC a A
Fy 0 N 400cos30 0 N 346 lb
400
Fx max 0.5(346) - 2T 400sin 30 =
aC
32.2
250
F ma 250 T
aA
32.2
a A 5.83ft sec 2
aC 2.92ft sec 2
T 205 lb
2 2ax

A 2(5.83)(20) 15.27ft sec

14

Engineering Mechanics Dynamics -- IA

problem 03/17

30 30

A 2B

a
x
mg

The steel ball is suspended from the

accelerating frame by the two cords A
a
and B. Determine the acceleration
of
the frame which will cause the tension in
A to be twice that in B

Fx max
2 B sin 30 B sin 30 ma

Fy 0
2 B cos30 B cos30 mg 0
Eliminate B and get a

15

g
3 3

Engineering Mechanics Dynamics -- IA

problem 03/18

The 10-kg sphere is suspended from the 15-kg frame sliding

down the 20 incline. If the coefficient of kinetic friction
between the frame and incline is 0.15, compute each tension
TA
of wires A and B
25(9.81) N

y
45

45

TB

y
20

x
0.15 N

x
20 10(9.81) N

Sphere alone
Fy 0

(TA TB )cos 45 10(9.81)cos 20 0

Frame and sphere as an unit

Fy N mg cos my 0

TA TB 130.4 N

Fx max

N 25(9.81)cos 20 0
N 230 N
Fx mg cos N mx

(TB TA )sin 45 9.81sin 20 10(1.973)

TB TA 19.56 N

25(9.81)sin 20 0.15(230) 25a

Solution
TA 75.0 N, TB 55.4 N

a 1.973 m/s 2
16

Engineering Mechanics Dynamics -- IA

problem 03/26

The system is released from rest with

the cable taut. Neglect the small
mass and friction of the pulley and
calculate the acceleration of each
body and the cable tension T upon
release if (a) s = 0.25, k = 0.2 and (b)
s = 0.15, k = 0.1

Check for motion. Assume static equilibrium.

From BT 196.2 N
Mass A

m2 g

x
T
A
F

Fx 0
196.2 F (60)(9.81)sin 30 0
F 9.81 N
Fmax s N
(0.25)(60)(9.81)cos30 127.4 N ( a)

m1 g
17

Engineering Mechanics Dynamics -- IA

problem 03/26

The system is released from rest with

the cable taut. Neglect the small
mass and friction of the pulley and
calculate the acceleration of each
body and the cable tension T upon
release if (a) s = 0.25, k = 0.2 and (b)
s = 0.15, k = 0.1

a 0, T 196.2 N
No motion for (a)

m2 g

Fmax (0.15)(60)(9.81)cos30 76.5 N

x
T
A
F

N
m1 g

motion for (b)

A Fx max

T (60)(9.81)sin30 (0.1)(60)(9.81)cos30 60a

B Fy max (20)(9.81) T 20a
2
Solutiona 0.589 m/s , T 208 N
18

Engineering Mechanics Dynamics -- IA

problem 03/47

The chain is released from rest with

the length b of overhanging links just
sufficient to initiate motion. The
coefficients of static and kinetic fiction
between the links and the horizontal
surface have essentially the same
value . Determine the velocity of
the chain when the last link leaves the
edge. Neglect any friction at the
corner.

Let = mass / length

F N g ( L b)

F 0
T0 g ( L b) 0 T0 gb
L
Solve to obtain b
1
19

Engineering Mechanics Dynamics -- IA

problem 03/47

( L b) g

g ( L x)

T0

g ( L x)
g ( L x)
gx

F
N ( L b) g
gb

F ma
T g ( L x) ( L x)a
gx T xa
Eliminate T to obtain
g
a x [ x(1 ) L]
L
d xdx

g
[ x(1 ) L]dx
0
b L
1 2 g x2
[ (1 ) Lx]bL
2
L 2
Substitute b and simplify

20

gL
1

Engineering Mechanics Dynamics -- IA

 xg L x g Lx
xg g L x Lx
g
x 1 L

L
g 1
x
x g
L
x

x e , a 0 a
2

x c1et c2et

21

g 1
L

L
1

Engineering Mechanics Dynamics -- IA

Curvilinear Motion
in Polar Coordinates

F mr
r r 2
Fr

F m
r

2
r

22

Engineering Mechanics Dynamics -- IA

problem 03/51

If the 2-kg block passes over the top B of the circular

portion of the path with a speed of 3.5 m/s, calculate the
magnitude NB of the normal force exerted by the path on
the block. Determine the maximum speed which the
block can have at A without losing contact with the path.

2
Fn man m
(3.5) 2
2(9.81) N 2
2.4
N B 9.41 N
Loss of contact at A N A 0

mg

mg

FB

FA

NA 0

NB
n

2
Fn man m

30

mg cos30 m

2
2.4

4.52 m/s
23

Engineering Mechanics Dynamics -- IA

problem 03/73

A small bead of mass m is carried by a circular hoop of radius r which

rotates about a fixed vertical axis. Show how one might determine
the angular speed of the hoop by observing the angle which
locates the bead. Neglect friction in your analysis, but assume that a
small amount of friction is present to damp out any motion of the bead
relative to the hoop once a constant angular speed has been
established.
F 0

N cos mg 0
N mg / cos

y
r

Fn man

mg

24

N sin m(r sin ) 2

mg
(
)sin mr sin 2
cos
g

r cos
g
Note thatcos 2 1
r
g
2
is a restriction.
r

Engineering Mechanics Dynamics -- IA

problem 03/82

Determine the speed at which the race car will have no reliance
on friction to the banked track. In addition, determine the minimum
and maximum speeds, using the coefficient of static friction s =
0.9.
For no slipping tendency, set F to zero on

FBD

Fy 0

N cos30 mg 0

2
Fn m

N sin 30 m

1200
Solve N 1.155 mg , 149.4 ft/sec

min 0 as
max tan 1 s tan 1 (0.9) 42.0 30

For max , set F Fmax s N

mg

Fy 0

30

N cos30 mg s N sin 30 0

2
Fn m
with s 0.9

N
25

2
max
s N cos30 N sin 30 m

N 2.40 mg
max 345 ft/sec

Engineering Mechanics Dynamics -- IA

problem 03/93

A small vehicle enters the top A of the circular path with a horizontal
velocity 0 and gathers speed as it moves down the path. Determine an
expression for the angle which locates the point where the vehicle
leaves the path and becomes a projectile. Evaluate your expression for
0 = 0. Neglect friction.

Ft mat ,

mg sin mat , at g sin

d at ds, d 0 g sin ( Rd )
0

2 02 2 gR(1 cos )

Fn man ,
0

N mg cos m

mg

02
R

mg (3cos 2

mg cos N m

When N 0, so

2
R

2mg (1 cos )

02
gR

02

2 02
3cos 2
cos (
)
gR
3 3gR
1

2
For 0 0, cos 1 ( ) 48.2
3
26

Engineering Mechanics Dynamics -- IA

3.2 Work and Energy

Work and Kinetic Energy

U F T dr
mr T d r
mr T d r

27

1 T
mr r
2

Engineering Mechanics Dynamics -- IA

Work and Potential Energy

2

U12 F dr ( mgj) (dxi dyj)

1

y2

mg dy mg ( y2 y1 )
y1

U12

Gme m
F dr
e r dre r
1
1
r2
r2 dr
Gme m 2
r1 r
1 1
Gme m( )
r2 r1
2

mgR 2 (

28

1 1
)
r2 r1

Engineering Mechanics Dynamics -- IA

Potential Energy

V F T dr
GMm
dr
2
r
mgR 2
2 dr
r

V F T dr

mgR 2

r r1

mgdy
mgh

29

Engineering Mechanics Dynamics -- IA

Conservative Force

Principle of Work and Energy

T W V 0

V W T
Kinetic energy

i j k
x y
z
F V

dU FT dr
dr
Power P=

FT
FT r
dt
dt
dt

30

Engineering Mechanics Dynamics -- IA

problem 03/179

The chain starts from rest with a sufficient number of links hanging
over the edge to barely initiate motion in overcoming friction
between the remainder of the chain and the horizontal supporting
surface. Determine the velocity of the chain as the last link leaves
the edge. The coefficient of kinetic friction is k. Neglect and friction
at the edge.

= mass per unit length

For equil. at start gb k g ( L b) b

k L
1 k

U T Vg
U dF x

L b
dF
x
dx

T
b

Lb
Lb 2
2

1
L 2
2

( L b) 2
k pgxdx k pg
2
Lb
Vg g ( L b)(
)
2

L b

Lb
2
31

Engineering Mechanics Dynamics -- IA

problem 03/179

The chain starts from rest with a sufficient number of links hanging
over the edge to barely initiate motion in overcoming friction
between the remainder of the chain and the horizontal supporting
surface. Determine the velocity of the chain as the last link leaves
the edge. The coefficient of kinetic friction is k. Neglect and friction
at the edge.

( L b) 2 1
L2 b 2
2
L g
Thus k pg
2
2
2
b
2
g (1 )( L b k [ L b]) Now substitute b
L

k
L
] k [ L k ])
So 2 g (1 k )( L[1
1 k
1 k
1 k

L b
dF
x
dx

Lb
Lb 2
2

gL
1 k

gL
1 k

Lb
2
32

Engineering Mechanics Dynamics -- IA

3.3 Impulse and Momentum

Linear momentum
G mr
F mr
d
( mr )
dt
d
G
dt
G

Impulse

r2
F
dt

m
r
dt

md
r

m
r
|
r1 G

Conservation of Linear Momentum

Fdt G

if F 0 G 0
33

Engineering Mechanics Dynamics -- IA

Sample 3/19
The horizontal velocities of the ball just before and after impact are separately 1 =
50 ft/sec and 2 = 70 ft/sec. If the 4-oz ball is in contact with the racket for 0.02 sec,
determine the magnitude of the average force R exerted by the racket on the ball
and the angle made by R with the horizontal

t2

mgdt

mv1

t2

Rx dt

15 x

m( ) t2 F dt m( )
x 1
x 2
t1 x

4 /16
4 /16

(50) Rx (0.02)
(70cos15 )
32.2
32.2
m( ) t2 F dt m( )
y 1
y 2
t1 y

4 /16
4 /16
(0) Ry (0.02) (4 /16)(0.02)
(70sin15 )
32.2
32.2
Rx 45.7 lb, Ry 7.28 lb
R Rx 2 Ry 2 45.7 2 7.282 46.2 lb

t2

Ry dt

tan

34

Ry
Rx

tan 1

7.28
9.06
45.7

Engineering Mechanics Dynamics -- IA

problem 03/216

The 1.62-oz golf ball is struck by the five-iron and acquires the velocity shown in a
time period of 0.001 sec. Determine the magnitude R of the average force exerted
by the club on the ball. What acceleration magnitude does this force cause, and
what is the distance d over which the launch velocity is achieved, assuming
constant acceleration?

mg

150 ft / sec

25

RT m : R(0.001)=

1.62/16
(150) , R=472 lb
32.2

1.62/16
a , a 150,000 ft / sec2 (4660 g )
32.2
2 02 2ad : 1502 02 2(150,000)d , d 0.075 ft or 0.900in

R ma : 472=

35

Engineering Mechanics Dynamics -- IA

Angular Impulse and Momentum

HO r mv
H O r mv
m ( v z y v y z ) i m ( v x z v z x ) j m ( v y x v x y )k
i j k H x

HO x y z H y
vx v y vz H z
H x m (v z y v y z )
H y m (v x z v z x )
H z m (v y x v x y )
36

Engineering Mechanics Dynamics -- IA

Time Derivative of Angular Momemtum

M O r F r mv
H O r mv
M O H O
H O r mv r mv v mv r mv

Conservation of Angular Momentum

MO HO

t2

t1

M O dt (H O ) 2 (H O )1 H O

The total angular impulse on a particle of mass m

about a fixed point O equals the corresponding
change in angular momentum about that point.
t2

(H O )1 M O dt (HO ) 2
t1

Principle of Conservation of Angular Momentum

if MO 0 , then HO 0 or (HO )1 =(HO )2
37

Engineering Mechanics Dynamics -- IA

problem 03/239

The two spheres of equal mass m are able to slide along the horizontal rotating
rod. If they are initially latched in position a distance r from the rotating axis with
the assembly rotating freely with an angular velocity 0 , determine the new
angular velocity after the spheres are released and finally assume positions
at the ends of the rod at a radial distance of 2r. Also find the fraction n of the
initial kinetic energy of the system which is lost. Neglect the small mass of the
rod and shaft.

H 0 ; 2mr0 (r ) 2m(2r ) (2r ) 0 0 / 4

1
1
T 2( m[r0 ]2 ) 2( m[2r 0 ]2 ) mr 202 (3 / 4)
2
2
4
3
n T / T mr 202 / mr 202 3 / 4
4
38

Engineering Mechanics Dynamics -- IA

problem 03/246

M 0 H0

The simple pendulum of mass m and length l

is released from rest at = 0. Using only the
principle of angular impulse and momentum,
determine the expression for in terms of
and the velocity of the pendulum at = 90.
Compare this approach with a solution by the
work-energy principle.

d
mgl cos ( ml 2 ) ml 2
dt
g
cos
l
From d d

2
2

|0

g
cos d
l

g
sin
l
2g
90
l
so at 90
l 2 gl

By work-energy

V T

mg
39

1
mgl m 2
2

2 gl

Engineering Mechanics Dynamics -- IA

Direct Central Impact

40

Engineering Mechanics Dynamics -- IA

Coefficient of Restitution

t0
t0

0
t

t0
t0

Fr dt

m1[1' (0 )] 0' 1

Fd dt m2 [0 (1 )] 1 0

Fr dt

m2 (2' 0 ) 2' 0

Fd dt m2 (0 2 ) 0 2

2' 1' relative velocity of separation

e

1 2 relative velocity of approach

41

Engineering Mechanics Dynamics -- IA

42

Engineering Mechanics Dynamics -- IA

Oblique Central Impact

m1 (1 ) n m2 (2 ) n m1 (1' ) n m2 (2' ) n
m1 (1 )t m1 (1' )t
m2 (2 )t m2 (2' )t
(2' ) n (1' ) n
e
(1 ) n (2 ) n
43

Engineering Mechanics Dynamics -- IA

Sample 3/29
A ball is projected onto the heavy plate with a velocity of 50 ft/sec at the
30 angular shown. If the effective coefficient of restitution is 0.5, compute
the rebound velocity and its angle .

(2' ) n (1' ) n
e
(1 ) n (2 ) n

0 (1' ) n
0.5
50sin 30 0

(1' ) n 12.5 ft/sec

m(1 )t m(1' )t
(1' )t (1 )t 50cos30 43.3 ft/sec

' (1' ) n 2 (1' )t 2 12.52 43.32

45.1 ft/sec
(1' ) n
12.5
tan ' tan 1
16.10
43.3
(1 )t
'

44

Engineering Mechanics Dynamics -- IA

Sample 3/30
Spherical particle 1 has a velocity 1 = 6 m/s in the
direction shown and collides with spherical particle
2 of equal mass and diameter and initially at rest. If
the coefficient of restitution for these conditions
is e 0.6 , determine the resulting motion of each
particle following impact.
Also calculate the
percentage loss of energy due to the impact.

m1 (1 ) n m2 (2 ) n m1 (1' ) n m2 (2' ) n
5.20 0 (1' ) n (2' ) n
(2' ) n (1' ) n
e
(1 ) n (2 ) n

(2' ) n (1' ) n
0.6
5.20 0

(1' ) n 1.039 m/s

(2' ) n 4.16 m/s

m1 (1 )t m1 (1' )t

(1' )t (1 )t 3 m/s

m2 (2 )t m2 (2' )t

(2' )t (2 )t 0

45

Engineering Mechanics Dynamics -- IA

problem 03/251

As a check of the basketball before the start of a game, the referee

releases the ball from the overhead position shown, and the ball
rebounds to about waist level. Determine the coefficient eof
restitution
and the percentage n of the original energy lost during the impact.

2gh , ' 2gh'

'
h'
1100
e

0.724

h
2100
mgh mgh '
n
(100%)
mgh
2100 1100

(100%)
2100
47.6%
46

Engineering Mechanics Dynamics -- IA

DAlemberts Principle and Inertia Force

F ma 0
F mr 0 mr inertia force

DAlemberts Principle using inertia force

to treat dynamics by statics

47

Engineering Mechanics Dynamics -- IA

Chap. 4 Kinetics of
Systems of Particles
Mass center
mrc mi ri
Equation of motion
F f mi ri
F mrc
Principle of motion of the mass
center the resultant of the
external forces on any system of
masses equal the total mass
times
the
mass
center
acceleration.

fig_04_001

48

Engineering Mechanics Dynamics -- IA

Kinetic Energy
ri rc i
ri rc i
1
T mi riT ri
2
1
(mi rcT rc 2mi rcT i mi Ti i )
2
1
1
T
mrC rC mi iT i
2
2

fig_04_003

49

Engineering Mechanics Dynamics -- IA

Linear Momentum

G mi ri
mi (rc i )
d
mi rc ( mi i )
dt
mrc

50

Engineering Mechanics Dynamics -- IA

Angular Momentum about a Fixed Point

H O (ri mi ri )
H O (r mi ri ri mi ri )
O ri Fi
MO

Angular Momentum about c.g.

H G i miri

H G i mi (rC i ) i miri

i mi (rc i )

O i Fi

(i mirc i mi i )

MG

O (i mii )
51

Engineering Mechanics Dynamics -- IA

Sample 4/3

sp_04_03_01

A shell with a mass of 20 kg is fired from

point O, with a velocity u = 300 m/s in the
vertical x-z plane at the inclination shown.
When it reaches the top of its trajectory at P,
it explodes into three fragments A, B, and C.
Immediately after the explosion, fragment A
is observed to rise vertically a distance of 500
m above P, and fragment B is seen to have a
horizontal velocity vB and eventually lands at
point Q. When recovered, the masses of the
fragments A, B, and C are found to be 5, 9,
and 6 kg, respectively. Calculate the velocity
which fragment C has immediately after the
explosion. Neglect atmosphere resistance.

52

Engineering Mechanics Dynamics -- IA

Sample 4/3

t u z / g 300(4 / 5) / 9.81 24.5s

u z2 [(300)(4 / 5)]2
h

2940m
2g
2(9.81)

A 2 ghA 2(9.81)(500) 99.0m/s

B s / t 4000 / 24.5 163.5m/s
[G1 G 2 ]

sp_04_03_01

mv mA v A mB v B mC vC

3
20(300)( )i 5(99.0k ) 9(163.5)(i cos 45 jsin 45 ) 6 v C
5
6 vC 2560i 1040 j 495k
vC 427i 173.4 j 82.5k m/s

C (427) 2 (173.4)2 (82.5)2 468m/s

53

Engineering Mechanics Dynamics -- IA

Chap.5 Planar Kinematics

fig_05_001

54

Engineering Mechanics Dynamics -- IA

Fixed Axis Rotation

Y

fig_05_00
4

displacement r
velocity r r
acceleration r ( r ) r
55

Engineering Mechanics Dynamics -- IA

Sample 5/3
The right-angle bar rotates
clockwise with an angular
acceleration

4k rad/s2
Write the vector expressions for the
velocity and acceleration of point A when

2k rad/s
sp_05_03_01

[v r ]

v 2k (0.4i 0.3j) 0.6i 0.8 j m / s

[a n ( r )]

a n 2k (0.6i 0.8 j) 1.6i 1.2 j m / s 2

[at r ]

at 4k (0.4i 0.3j) 1.2i 1.6 j m / s

[a a n at ]

a 2.8i 0.4 j m / s 2

0.62 0.82 1 m/s

a 2.82 0.42 2.83 m/s

56

Engineering Mechanics Dynamics -- IA

problem 05/02

Determine the velocity and acceleration

of (a) point A and (b) point B with

6 rad/s, 4rad/s 2
(a) A r A / O (6k 45 j)

270 i mm/s
aA r A / O 2 r A / O
4k 45 j 62 (45 j)
180 i 1620 j mm/s 2
(b) B r B / O 6k (30 i 45 j)

270 i 180 j mm/s

aB r B / O 2 r B / O
4k (30 i 45 j) 62 (30 i 45 j)
900 i 1740 j mm/s 2

p_05_002

57

Engineering Mechanics Dynamics -- IA

Sample 5/8
For this instant, determine the angular
velocities of OA and AB.

v A vB v A/ B
The relative-velocity equation
is rewritten as

OA rA CB rB AB rA / B
OA OAk CB 2k rad / s AB AB k
sp_05_08_0
1

rA 100 j mm rB 75i mm rA/ B 175i 50 j mm

OAk 100 j 2k (75i) ABk (175i 50 j)

100OAi 150 j 175 AB j 50 AB i
100OAi 50 AB 0 25 6 7 AB 0

AB 6 / 7 rad / s and OA 3 / 7 rad / s

58

Engineering Mechanics Dynamics -- IA

Sample 5/8
r2
r3

r1

r r1 r2 r3
r 1 r1 2 r2 3 r3

0 1k 100 j 2k (175i 50 j) 2k 75i

1001 502

175

150
2

sp_05_08_0
1

3
6
1 , 2
7
7

59

Engineering Mechanics Dynamics -- IA

sp_05_14_0
1

Sample 5/14

AB = - 6/7 rad/s OA = - 3/7 rad/s aA aB (a A/ B )n (aA/ B )t

1.

a A OA rA OA (OA rA )
3
3
OAk 100 j ( k ) ( k 100 j)
7
7
3
100 OAi 100( )2 j mm/s 2
7
aB CB rB CB (CB rB )

2.

(a A / B ) n AB (AB rA / B )
6
6
k [( k ) (175i 50 j)]
7
7
6 2
( k ) (175i -50j) mm/s 2
7

0 2k (2k [75i])
300i mm/s 2

(a A / B )t AB rA / B
ABk (175i 50 j)

100OA 429 50 AB 18.37 36.7 175 AB

50 AB i -175 AB j mm/s 2

AB 0.1050 rad/s2 OA 4.34 rad/s2

60

Engineering Mechanics Dynamics -- IA

Sample 5/14
r2
r3

r1

r r1 r2 r3

r 1 r1 2 r2 3 r3
r 1 r1 1 (1 r1 )

sp_05_08_0
1

2 r2 2 (2 r2 )
3 r3 3 (3 r3 )

61

Engineering Mechanics Dynamics -- IA

General Motion: Rotation + Translation

fig_05_005

fig_05_006

62

Engineering Mechanics Dynamics -- IA

Body-Fixed Coordinates in Rotation

Coriolis Acceleration

rA

fig_05_011

rA rB
rA rB +

rA rB + +
rB + 2
63

rA rB + 2

Coriolis acceleration

Engineering Mechanics Dynamics -- IA

Sample 5/16
The motion of slider A is separately controlled, and at this
instant, r = 6 in., r =5 in./sec, and r =81 in./sec2. Determine
the absolute velocity and acceleration of A for this position.
y

vA
v A 4k 6i 5i 24 j 5i in./ sec

A (24)2 (5)2 24.5 in./sec

a A ( ) 2

( ) 4k (4k 6i) 4k 24 j 961 in./sec2

x
sp_05_16_01

10k 6i 60 j in./sec2
2 2(4k ) 5i 40 j in./sec2
81i in./sec2

a A (81 96)i (40 60) j 15i 20 j in./sec2

a A (15)2 (20)2 25 in./sec2
64

Engineering Mechanics Dynamics -- IA

problem 05/161

A vehicle A travels with constant speed v along a

north-south track. Determine the Coriolis
acceleration aCor as a function of the latitude at (a)
the equator and (b) the north pole.

( sin j cos k)

acor 2
2k ( sin j cos k)

B
For 500 km/h

2 sin i (west)

(a) Equator, 0 acor 0

(b) North pole,

500
0.0203 m/s 2
3.6
The track provides the necessary westward
acceleration so that the velocity vector is properly
rotated and reduced in magnitude.

90 acor 2(7.292 105 )

p_05_161

65

Engineering Mechanics Dynamics -- IA

Chap. 6 Dynamics of Planar Rigid Body

Equation of Motion
The resultant of the external forces equals to the inertia of the mass center
The resultant moment about C.G. of the external forces equals to the rate
change of the angular moment about C.G.

F mrG
M G H G

66

Engineering Mechanics Dynamics -- IA

Equation of Motion in 2D
Angular momentum

H G i mi i

i mi i

dm
2

F mrc
M G I

67

Engineering Mechanics Dynamics -- IA

Moment about a Fixed Point

M P H G mrC
I G mrC
I P mrP
if rP 0, P is fixed
I P IO

68

Engineering Mechanics Dynamics -- IA

problem 06/11

Determine the value of the force P which

would cause the cabinet to begin to tip.
What coefficient s of static friction is
necessary to ensure that tipping occurs
without slopping?

0.8m
50(9.81) N
1.2m G

50a

FA

FB

NB

NA

NB and FB 0, when tipping impends

M A mad mg (0.4) ma(0.6)

2
a g or 6.54m/s2
3
As a whole

F ma

P 60(6.54) 392 N
a 2
s
g 3
69

Engineering Mechanics Dynamics -- IA

Center of Percussion

F mrC
M G I G
or
M O I O

The resultant force at the

center of percussion is zero.
70

Engineering Mechanics Dynamics -- IA

problem 06/35

The 20-kg uniform steel plate is freely hinged about the z-axis as
shown. Calculate the force supported by each of the bearings at A
and B an instant after the plate is released from rest in the
horizontal y-z plane.

M O IO

1
20(9.81)(0.2) 20(0.4) 2
3
36.8rad/s 2

a r

2F
0.2m

a 0.2 36.8 7.36m/s 2

Ft mat

0.2m

20(9.81) 2 F 20 7.36
2 F 49.0
FA FB F 24.5 N

20(9.81) N

t
71

Engineering Mechanics Dynamics -- IA

problem 06/37

Determine the angular acceleration and the force on the bearing

at O for (a) the narrow ring of mass m and (b) the flat circular
disk of mass m immediately after each is released from rest in
the vertical plane with OC horizontal.

(a)

M O IO mgr 2mr 2
g / 2r

Fy ma y mg O mr (

g
)
2r

O mg / 2
O

(b)
r

y
mg

mg

72

1 2
M

mgr

(
mr mr 2 )
O O
2
2 g / 3r
2g
F

ma

mg

mr
(
)
y y
3r
O mg / 3

Engineering Mechanics Dynamics -- IA

Sample 6/5
A metal hoop with a radius r = 6 in. is
released from rest on the 20 incline. If the
coefficients of static and kinetic friction are
s = 0.15 and k = 0.12, determine the
angular acceleration of the hoop and the
time for the hoop to move a distance of 10 ft
down the incline.

73

Engineering Mechanics Dynamics -- IA

Sample 6/5

[ Fx max ]

mg sin 20 F ma

[ Fmax k N ]

F 0.12(0.940mg ) 0.1128mg

[ Fy ma y 0] N mg cos 20 0
2
F

mr

r
[ M G I ]
g
32.2
a sin 20
(0.342) 5.51 ft/sec2
2
2 a
g
2
mgr
sin
20

mr

mar
[ M C I m d ]
a sin 20
r
2
g
F mg sin 20 m sin 20 0.1710mg N mg cos 20 0.940mg
2
[ Fmax s N ] Fmax 0.15(0.940mg ) 0.1410mg

[ Fx max ]

[ M G I ]
1
[ x at 2 ]
2

mg sin 20 0.1128mg ma a 0.229(32.2) 7.38 ft/sec2

0.1128(32.2)
0.1128mg (r ) mr 2
7.26 rad/sec2
6 /12
2x
2(10)
t

1.646 sec
7.38

74

Engineering Mechanics Dynamics -- IA

Kinetic Energy
1
T m 2
2

1
T I O 2
2

1
1
T m 2 I C 2
2
2

75

Engineering Mechanics Dynamics -- IA

Linear Momentum

Angular Momentum

H O I O

M O H O
t2

( H O )1 M O dt ( H O ) 2
t1

F G
t2

G1 Fdt G 2
t1

76

Engineering Mechanics Dynamics -- IA

Sample 6/16
The uniform rectangular block of dimensions shown is sliding to the left
on the horizontal surface with a velocity v1 when it strikes the small step
at O. Assume negligible rebound at the step and compute the minimum
value of v1 which will permit the block to pivot freely about O and just
reach the standing position A with no velocity. Compute the percentage
energy loss n for b = c.

77

Engineering Mechanics Dynamics -- IA

Sample 6/16

[ HO IO ]
[( HO )1 ( HO )2 ]

1
c
b
m
( H O )2 { m(b2 c 2 ) m[( )2 ( )2 ]}2 (b2 c 2 )2
12
2
2
3
b m
31b
m1 (b2 c 2 )2 2
2 3
2(b 2 c 2 )
2

1
b c b
2
I

mg
[
[T2 V2 T3 V3 ]
O 2
]
2
2 2 2
3 b
1m 2 2
mg
(b c )[ 2 1 2 ]2
( b 2 c 2 b)
23
2
2(b c )

g
c2
1 2( (1 2 )( b2 c 2 b)
3
b
1 2 1
2
2
m

2 2
2
2
1
O
2

E 2
k
b c
3b
3
2
n

1 O 2 2 b2 c 2

2 2
2
1 2
E
3

2(
b

c
)
c

1
m1
4 1 2
2
b
n 62.5% b c
78

Engineering Mechanics Dynamics -- IA

problem 06/196

The homogeneous sphere of mass m and radius r is projected along the

incline of angle with an initial speed v0 and no angular velocity (0 =
0). If the coefficient of kinetic friction is k, determine the time duration t
of the period of slopping. In addition, state the velocity v of the mass
center G and the angular velocity at the end of the period of slopping.

79

Engineering Mechanics Dynamics -- IA

problem 06/196

0 Fy dt m( y y ) 0 N mg cos
t
0 Fx dt m( x x )
t

( k mg cos mg sin )t m( 0 ) (1)

0 M G dt I ( 0 )
t

mg
G

2
( k mg cos r )t mr 2
(2)
5
We desire the time t when
r (3)

Solution of Eqs. (1)-(3)

20
t
g (7 k cos 2sin )

k N

For slipping to cease,

50 k

7 k 2 tan

7 k cos 2sin
2
or k tan
7

50 k

7 k r 2r tan
80

Engineering Mechanics Dynamics -- IA