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Dynamics: Kinematics of Rigid Bodies

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213 views

Dynamics: Kinematics of Rigid Bodies

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Seventh Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

15 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr. Kinematics of
Lecture Notes:
Rigid Bodies
J. Walt Oler
Texas Tech University

© 2003 The McGraw-Hill Companies, Inc. All rights reserved.


Vector Mechanics for Engineers: Dynamics
Edition
Seventh

LEARNING OUTCOMES
At the end of the lecture the students would be able to:
• Determine the relations between the time, the positions, the velocities and the
accelerations of a rigid body (CO2-PO3)
• Solve motion of rigid body (CO2-PO3)

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 2


Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Contents
Introduction
Translation
Rotation About a Fixed Axis: Velocity
Rotation About a Fixed Axis: Acceleration
Rotation About a Fixed Axis: Representative
Slab
Equations Defining the Rotation of a Rigid
Body About a Fixed Axis
Sample Problem 5.1

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 3


Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Introduction
• Kinematics of rigid bodies: relations between
time and the positions, velocities, and
accelerations of the particles forming a rigid
body.
• Classification of rigid body motions:
- translation:
• rectilinear translation
• curvilinear translation
- rotation about a fixed axis
- general plane motion
- motion about a fixed point
- general motion

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 4


Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Translation
• Consider rigid body in translation:
- direction of any straight line inside the
body is constant,
- all particles forming the body move in
parallel lines.
• For any two particles in the body,

• Differentiating with respect to time,

All particles have the same velocity.


• Differentiating with respect to time again,

All particles have the same acceleration.


© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 5
Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Rotation About a Fixed Axis. Velocity


• Consider rotation of rigid body about a
fixed axis AA’

• Velocity vector of the particle P


is tangent to the path with magnitude

• The same result is obtained from

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 6


Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Rotation About a Fixed Axis. Acceleration


• Differentiating to determine the acceleration,

• Acceleration of P is combination of two


vectors,

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 7


Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Rotation About a Fixed Axis. Representative Slab


• Consider the motion of a representative slab in
a plane perpendicular to the axis of rotation.

• Velocity of any point P of the slab,

• Acceleration of any point P of the slab,

• Resolving the acceleration into tangential and


normal components,

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 8


Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Equations Defining the Rotation of a Rigid Body


About a Fixed Axis
• Motion of a rigid body rotating around a fixed axis
is often specified by the type of angular
acceleration.
• Recall

• Uniform Rotation, a = 0:

• Uniformly Accelerated Rotation, a = constant:

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 9


Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Sample Problem 15.1


SOLUTION:
• Due to the action of the cable, the
tangential velocity and acceleration of
D are equal to the velocity and
acceleration of C. Calculate the initial
angular velocity and acceleration.
• Apply the relations for uniformly
accelerated rotation to determine the
velocity and angular position of the
Cable C has a constant acceleration of
pulley after 2 s.
225 mm/s2 and an initial velocity of
300 mm/s, both directed to the right. • Evaluate the initial tangential and
normal acceleration components of D.
Determine (a) the number of revolutions
of the pulley in 2 s, (b) the velocity and
change in position of the load B after 2 s,
and (c) the acceleration of the point D on
the rim of the inner pulley at t = 0.
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 10
Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Sample Problem 15.1


SOLUTION:
• The tangential velocity and acceleration of D are equal to the
velocity and acceleration of C.

• Apply the relations for uniformly accelerated rotation to


determine velocity and angular position of pulley after 2 s.

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 11


Vector Mechanics for Engineers: Dynamics
Edition
Seventh

Sample Problem 15.1


• Evaluate the initial tangential and normal acceleration
components of D.

Magnitude and direction of the total acceleration,

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 12

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