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Dynamics & Statics Notes

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James Vincent Diaz
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18 views

Dynamics & Statics Notes

Uploaded by

James Vincent Diaz
Copyright
© © All Rights Reserved
Available Formats
Download as PDF or read online on Scribd
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Statics Force A force isa vector quantity. Itis defined when its (1) magnitude, (2) point of application, and (3) direction are known, The vector form ofa force is FoF ASF Resultant (Two Dimensions) The resultant, F, of n forces with components F, ,and F,,has the magnitude of (ge)e(ga)) 0 = arctan $F, f 3 Fl FE Resolution of a Force P= Feos8, f= F e030, 05 0,- F/F —cos8,= F,/F Separating a force into components when the geometry of force is known and R= fx + y° +> FaWRF B= WRF F=@RF Moments (Couples) Asystem of two forces that are equal in magnitude, opposite in direction, and parallel to each other is called a couple. A moment ‘Mis defined as the cross product of the radius vector r and the force F from a point to the line of action of the force. Marek Systems of Forces F-EF, M=ZG,x FR) Equilibrium Requirements ZE,-0 =M,-0 Centroids of Masses, Areas, Lengths, and Volumes ‘The following formulas are for diserete masses, areas, lengths, and volumes: ro Emm, where ‘m, mass of each particle making up the system 17, ~ radius vector to each particle from a selected reference point rr, = radius vector to the centroid of the total mass from the selected reference point ‘The moment of area (M,) is defined as My = 2x40, Maz = Ely ‘The cemtroid of area is defined as The following equations are for an area, bounded by the axes and the funetion y = (x), The centroid of area is defined as [xdA aI [oda »= A= ffdde a = fisdde= gly) The first moment of area with respect to the y-axis and the x-axis, respectively, are: A M,= [x dA M,= Sy da Moment of Inertia ‘The moment of inertia, or the second moment of are: jd is defined as The polar moment of inertia J of an area about a point is equal to the sum of the moments of inertia of the area about any two perpendicular axes in the area and passing through the same point. I, + 1,=Soe+y?) dA Where r= the radius of gyration (as defined below) Moment of inertia Parallel Axis Theorem ‘The moment of inertia of an area about any axis is defined as the moment of inertia of the area about a parallel centroidal axis ied by the square of the perpendicular distance d from the centroidal axis to the axis in plus a term equal to the area mult ‘question, Lahtda Ltd 1, = distance between the two axes in question J, = moment of inertia about the centroidal axis Fok, [o.[, = moment of inertia about the new axis, y Ye % x 0 ibe RC, tring Mechs: States anya, WO, ean Pee Hall, 208 Radius of Gyration ‘The radius of gyration ry rr, i the distance from a reference axis at which all of the area can be considered to be concentrated to produce the moment of inertia, na VhJA r= 4hJA m= VITA Product of Inertia ‘The product of inertia (ly, ete.) is defined as: 1,,= leyd, with respect to the xy-coordinate system ‘The parallet-axis theorem also applies: T= hyy 4 dd, A for the xy-coordinate system, ete, where d= x-axis distance between the two axes in question 1, y-axis distance between the (wo axes in question Friction The largest frictional force is called the limiting friction ‘Any further increase in applied forces will cause motion. FsuN where F=f Hi, = coefficient of static friction V =normal force between surfaces in contact jon force Screw Thread For a serew-jack, square thread, M> Prian (a+) where + is for screw tightening is for screw loosening ‘M_ = external moment applied to axis of serew P= load on jack applied along and on the line of the axis, « mean thread radius = pitch angle of the thread Ht =tan § = appropriate coefficient of friction Belt Friction Aare where F, = force being applied in the direction of impending motion F, = force applied to resist impending motion Ht = coefficient of static friction © =total angle of contact between the surfaces expressed in radians Statically Determinate Truss Plane Truss: Method of Joints ‘The method consists of solving for the forces in the members by writing the two equilil of the truss EFy=Oand 2 F,=0 where rium equations for each joint F,,= horizontal forces and member components F ,= vertical forces and member components Plane Truss: Method of Sections ‘The method consists of drawing a free-body diagram of a portion of the truss in such a way that the unknown truss member force is exposed as an extemal force. Concurrent Forces A concurrent-force system is one in which the lines of action of the applied forces all meet at one point. A bno-force body in st equilibrium has two applied forees that are equal in magnitude, opposite in direction, and collinear. 1, ~file? +ab-+0°)fi2 ‘Aron Cenrold_ | __ Area Moment of tna rar 1, = 636 ee aes 1, ~¥ as tag ¢, Here the vector quantities are defined as r=re, v= ree a=(-rw*)e,+ rag where r= radius of the circle = angle from the x axis to F The values of the angular velocity and acceleration, respectively, are defined as w=6 a=0=6 ‘Arc length, transverse velocity, and transverse acceleration, respectively, are san ware ay = ree ‘The radial acceleration is given by 44, =r? (Nowards the center of the cirele) Normal and Tangential Components e &, PATH Unit vectors ¢,and ¢, are, respectively tangent and normal to the path with e, pointing tothe center of curvature, Thus vevne, a=alrye,+(vilp)ey where = instantaneous radius of curvature Constant Acceleration ‘The equations for the velocity and displacement when acceleration is a constant are given as a) =a, W(0) = a (=F) + % 89) = ay (t= 12 + v5 (1-1) +55 where = displacement at timer, along the Tine of travel = displacement at time fy = velocity along the direction of travel Yo = velocity at time fo y= constant acceleration t= time f= Some initial time For a free-falling body, a= g (downward towards earth). An additional equation for velocity as a function of position may be written as ¥ 3 + 2am (s — 4) For constant angular acceleration, the equations for angular velocity and displacement are a(t) = Oy a(1)= a(t) + 0% 8()= (1) 2+ @9(t— 4) +O where 6 =angular displacement 0, = angular displacement at time f, = angular velocity oy, angular velocity at time fy ay = constant angular acceleration 6 =time f= Some initial time An additional equation for angular velocity as a function of angular position may be written as = 03+20,(6-0,) Projectile Motion % The equations for common projectile motion may be obtained from the constant acceleration equations as yy =-gt+ vosin@) gf2+ vy sin(@)t+yp Non-constant Acceleration ‘When non-constant acceleration, a(), is considered, the equations for the velocity and displacement may be obtained from w= faltdde+ yy = J oldr+s, é For variable angular acceleration o@= faldet + a ‘ fuleiac+ 0, 1G where + is the variable of integration Concept of Weight W =mg where W = weight (N oF Ibf) im = mass (kg or Ibf-sec?/ft) g local acceleration of gravity (m/s? or f/sec*) Particle Kinetics Newton's second law for a particle is EE = d(mwyidt where ZF = sum of the applied forces acting on the particle im =mass of the particle ¥ = velocity of the particle For constant mass, EF =m dvidi=ma One-Dimensional Motion of a Particle (Constant Mass) ‘When motion exists only in a single dimension then, without loss of generality, it may be assumed to be in the x direction, and a,= Fim Where F, = the resultant of the applied forces, which in general ean depend on f,x, and v,. IF only depends on ¢, then a(t) =F (1 )im wi) = fa (ee+%yy vila) ny, where ris the variable of integration, Ifthe force is constant (i.c., independent of time, displacement, and velocity) then a= Fm v= (tf) + Vag x= a,(t- ) 2+ va(t-b) + Normal and Tangential Kinetics for Planar Problems When working with normal and tangential directions, the scalar equations may be written as DE = ma,= mdv,/dt ZF, = ma, = m(v7/p) Principle of Work and Energy If T,and V, are, respectively, the kinetic and potential energy of a particle at state i, then for conservative systems (no energy dissipation or gain), the law of conservation of energy is, The My=T+¥%, If nonconservative forces are present, then the work done by these forces must be accounted for. Hence rh 1+ y+ Up jg, where Uy 49 the work done by the nonconservative forces in moving between state | and state 2. Care must be exercised during computations to correctly compute the algebraic sign of the work term. If the forces serve to increase the energy of the system, U, 2s positive. Ifthe forces, such as friction, serve to dissipate energy, U2 s negative. Kinetic Energy Particle Rigid Body 1 1 (Plane Motion) | T= Lmv?+ Lo? 2 2 subscript ¢ represents the center of mass Potential Energy Ve V+ V,, where y= Wy, Ve= 1/2 ks? ‘The work done by an external agent in the presence of a conservative field is termed the change in potential energy. Potential Energy in Gravity Field V,=mgh where /'= the elevation above some specified datum, Elastic Potential Energy For a linear elastic spring with modulus, stiffness, or spring constant, k, the force in the spring is B=ks where s = the change in length of the spring from the undeformed length of the spring. In changing the deformation in the spring from position s, to s,, the change in the potential energy stored in the spring is. KKK s3—s?)2 Work Work LU is defined as U= I ede Variable force U, = | Fos ds Constant force U, = (F,¢080)As Weight Uy = -Way Spring u, Couple momem Uy Power and Efficiency pe Hn en fon a ow dr U, Aad on Ib, RC. nen cham, Nh, Pec Hl, 2003, Impulse and Momentum Linear Momentum Assuming constant mass, the equation of motion ofa particle may be written as mdvidt= F mdv = Fdt For a system of particles, by integrating and summing over the number of particles, this may be expanded to Zm(w),, = E(u), +B [Rade The term on the left side of the equation is the linear momentum of a system of particles at time ¢,. The first term on the right side of the equation is the linear momentum of a system of particles at time ¢,. The second term on the right side of the equation is the impulse of the force F from time f, to ,. It should be noted that the above equation is a veetor equation, Component sealar equations may be obtained by considering the momentum and force in a set of orthogonal directions. Angular Momentum or Moment of Momentum The angular momentum or the moment of momentum about point 0 for a particle is defined as Hy Hy = ho X my, oF Taking the time derivative of the above, the equation of motion may be written as Hy = (Joon )idt = Mo, where M, is the moment applied to the particle. Now by integrating and summing over a system of any number of particles, this may be expanded to B(Hoy), = (Hai), +2, / Mydlt Th wear ons neds obs enuato isis angular mone atx azeesce paiclxa tne, ew tormconthe right side of the equation is the angular momentum of a system of particles at time /,. The second term on the right side of the equation is the angular impulse of the moment Mg from time f, 10 f. Impact During an impact, momentum is conserved while energy may or may not be conserved. For direct central impact with no extemal forces my t my = my + my where ‘my, my = masses of the two bodies = velocities of the bodies just before impact elocities of the bodies just after impact For impacts, the relative velocity expression is (v4), (1), (y),-(), ‘oeflicient of restitution (%)__ = velocity normal tothe plane of impact just before impact (), pact just after impact where locity normal to the plane of The value of ¢ is such that Se 1, with limiting values |. perfectly elastic (energy conserved) ), perfectly plastic (no rebound) e Knowing the value of ¢, the velocities after the impact are given as 1) _ Ma(v9), (1 + e) + (m — ems) (x), (vi), ty oy _, Malai), (1 + €) — (em — m) (0%), ee Friction ‘The Laws of Friction are 1. The total friction force F that can be developed is independent of the magnitude of the area of contact. 2. The total friction force F that can be developed is proportional to the normal force N. 3. For low velocities of sliding, the total frictional force that can be developed is practically independent of the sliding velocity, although experiments show that the force F necessary to initiate slip is greater than that necessary to maintain the motion. ‘The formula expressing the Laws of Friction is Fen the coefficient of fr where jt ction, In general F

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