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Dynamics: Vector Mechanics For Engineers

Dynamics lec

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Muhammad Taimoor
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75 views

Dynamics: Vector Mechanics For Engineers

Dynamics lec

Uploaded by

Muhammad Taimoor
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Tenth Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

17 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Plane Motion of Rigid
Lecture Notes: Bodies:
Brian P. Self Energy and Momentum
California State Polytechnic University

Methods

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Introduction
• Method of work and energy and the method of impulse and
momentum will be used to analyze the plane motion of rigid
bodies and systems of rigid bodies.

• Principle of work and energy is well suited to the solution of


problems involving displacements and velocities.
T1  U12  T2

• Principle of impulse and momentum is appropriate for


problems involving velocities and time.
H     M  
 t2
   t2
 
L1    Fdt  L2 O 1 O dt  H O 2
t1 t1

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 2


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Introduction
Approaches to Rigid Body Kinetics Problems

Forces and Velocities and Velocities and


Accelerations Displacements Time

Newton’s Second Work-Energy Impulse-


Law (last chapter) Momentum

 F  ma
t2

G
mv1   F dt  mv2
t1
T1  U12  T2
M  H G G
t2
I G1   M G dt  I G2
t1

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2-3


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Principle of Work and Energy for a Rigid Body
• Work and kinetic energy are scalar quantities.
• Assume that the rigid body is made of a large
number of particles.
T1  U12  T2
T1 , T2  initial and final total kinetic energy of
particles forming body
U12  total work of internal and external forces
acting on particles of body.

• Internal forces between particles A


and B are equal and opposite.

• Therefore, the net work of internal


forces is zero.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 4


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Work of Forces Acting on a Rigid Body
• Work of a force during a displacement of its
point of application,
A2  s
 2
U12   F  dr   F cos ds
A1 s1
 
• Consider the net work of two forces
 F and  F
forming a couple of moment M during a
displacement of their points of application.
     
dU  F  dr1  F  dr1  F  dr2
 F ds2  Fr d
 M d

2
U12   M d
1
 M  2  1  if M is constant.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 5


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Work of Forces Acting on a Rigid Body

Do the pin forces at point


A do work?

YES NO

Does the force P do work?

YES NO

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 6


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Work of Forces Acting on a Rigid Body
Does the normal force N
do work on the disk?

YES NO

Does the weight W do work?

YES NO
If the disk rolls without slip, does
the friction force F do work?
YES NO
dU  F dsC  F vc dt   0

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2-7


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Kinetic Energy of a Rigid Body in Plane Motion
• Consider a rigid body of mass m in plane motion consisting of individual
particles i. The kinetic energy of the body can then be expressed as:

T  12 mv 2  12  Δmi vi2
 12 mv 2  12   ri2Δmi   2
 12 mv 2  12 I  2

• Kinetic energy of a rigid body can be


separated into:
- the kinetic energy associated with the
motion of the mass center G and
- the kinetic energy associated with the
rotation of the body about G.

T  12 mv 2  1
2 I 2
Translation + Rotation
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 8
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Kinetic Energy of a Rigid Body in Plane Motion

• Consider a rigid body rotating about a fixed axis through O.

T 1
2  Δm v  2
i i
1
2  i i
Δm  r    12

2  i
r 2
Δmi   2

 12 I O 2

• This is equivalent to using:

T  12 mv 2  1
2 I 2

• Remember to only use

T  IO 1
2
2

when O is a fixed axis of rotation


© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 9
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Conservation of Energy
• Expressing the work of conservative forces as a
change in potential energy, the principle of work
and energy becomes
T1  V1  T2  V2
• Consider the slender rod of mass m.
T1  0, V1  0
T2  12 mv22  12 I  22

   
2
2 1 ml
 12 m 12 l 1 ml  
 12 12 2 2
2
2 3
V2   12 Wl sin   12 mgl sin

T1  V1  T2  V2
1 ml 2 2 1
0   mgl sin 
• mass m 2 3 2
   sin  
• released with zero velocity 3g
• determine  at   l 
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 10
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Power

• Power = rate at which work is done


 
• For a body acted upon by force F and moving with velocity v ,
dU  
Power   F v
dt

• For a rigid body rotating with an
 angular velocity  and acted
upon by a couple of moment M parallel to the axis of rotation,
dU M d
Power    M
dt dt

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 11


Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Home Work

Sample Problems
17.1, 17.2. 17.3, 17.4, 17.5

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 12

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