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Dynamic force analysis: dynamic forces are associated with accelerating mass.
Figure (a) A mass that is moving in a circular path experiences centripetal acceleration, and there is a dynamic force,
referred to as centrifugal force, associated with this acceleration. This force acts radially outward and will be
transmitted to the support, producing a bearing reaction.
(b) A rotating shaft with an eccentric mass
The purpose of this chapter: (1) to learn how much acceleration will result from a system of
unbalanced forces.
(2) to learn how these dynamic forces can be assessed for system
that are not in equilibrium
15-2
15.2 Centroid and center of mass
Figure 15.1
Particle of mass dmP at location P on a rigid body.
dFp = A p dm p
∑F = ∫ A
ij p dm p
A P = A Q + ω j × (ω j × R PQ ) + α j × R PQ
∑ F = A ∫ dm + ω × (ω × ∫ R dm ) + α × ∫ R
ij Q P j j PQ P j PQ dmP
( ∫ dm = m , ∫ R dm = m R )
p j PQ P j G
∑ F = A m + ω × (ω × m R ) + α × m R
ij Q j j j j G j j G
= m j [ A Q + ω j × (ω j × R G ) + α j × R G ]
= m j AG
15-3
The center of mass
Figure 15.2
(a) Particles of mass distributed along a line. (b) Particles of mass distributed in a plane.
x=
m1 x1 + m2 x2 + m3 x3
=
∑m x
i i
m1 + m2 + m3 ∑m i
RG =
m1R1 + m2 R 2 + m3 R 3 + m4 R 4
=
∑m R
i i
m1 + m2 + m3 + m4 ∑m i
1
mj ∫
RG = Rdm
15-4
Figure 15.3
Center of mass location for (a) a right circular solid, (b) a rectangular solid, and (c) a triangular prism.
15-5
Example 15.1
Figure 15.4
Composite shape for Example 15.1 with dimensions in millimeters.
When the body is of a more irregular shape, the center of mass can often still be found
by considering it to be combination of simpler subshapes.
m1 = (80mm)(200mm)(40mm)( ρ kg / mm 3 ) = 640,000 ρ kg
R G1 = 100i + 20 j − 40k mm
m2 = π (20mm) 2 (40mm)(− ρ kg / mm 3 ) = −50,300kg
R G2 = 160i + 20 j − 40k mm
m3 = 0.5(60mm)(90mm)(20mm)( ρ kg / mm 3 ) = 54,000 ρ kg
R G3 = 30i + 10 j + 20k mm
RG =
m1R1 + m2 R 2 + m3R 3
=
∑m R
i i
m1 + m2 + m3 ∑m i
⎡ I xx − I xy − I xz ⎤
mass monent of inertia ⎢ ⎥
I = ⎢− I yx I yy − I yz ⎥
I xx = ∫ [( R y ) 2 + ( R z ) 2 ]dm ⎢ − I zx
⎣ − I zy I zz ⎥⎦
I yy = ∫ [( R x ) 2 + ( R z ) 2 ]dm
IG
I G = k 2 m or k = k: radius of gyration
I = ∫ [( R ) +( R ) ]dm
zz x 2 y 2
m
I = I G + md 2 Transfer or parallel-axis formula
IG: principal mass moments of inertia
I: mass moment of inertia about a parallel
mass products of inertia axis at distance d
I yz = I zy = ∫ ( R y R z )dm ⎡ I1 0 0⎤
I zx = I xz = ∫ ( R z R x )dm I = ⎢⎢ 0 I2 0 ⎥⎥
⎢⎣ 0 0 I 3 ⎥⎦
15-7
Example 15.2
Figure 15.5
Connecting-rod shape for Example 15.2.
The connecting rod is made of ductile iron with density of 0.260 lb/in3.
Find the mass moment of inertia about the z axis.
mcyl = ρπ (r02 − ri 2 )l
(0.26lb / in 3 )π [(1.5in) 2 − (0.5in) 2 ](0.75)
=
386in / s 2
= 0.00317lb ⋅ s 2 / in
(0.26lb / in 3 )(13in)(1in)(0.75in)
mbar = ρwhl =
1′′ dai. holes 386in / s 2
= 0.00657lb ⋅ s 2 / in
m(ro2 + ri 2 )
I cyl =
2
(0.00317lb ⋅ s 2 / in)[(1.5in) 2 + (0.5in) 2 ]
=
2
= 0.00396in ⋅ lb ⋅ s 2
m( w 2 + h 2 )
I bar =
12
(0.00657lb ⋅ s 2 / in)[(13in) 2 + (1in) 2 ]
=
12
= 0.0931in ⋅ lb ⋅ s 2
15-8
15.4 Inertia Forces and D’Alembert’s Principle
Figure 15.6
(a) An unbalanced set of forces on a rigid body. (b) The accelerations that result from the unbalanced forces.
∑F = F + F + F 1 2 3
∑F = m A
ij j G
∑M = I α Gij G j
∑ F + (−m A ) = 0
ij j G
∑M + ( − I α ) = 0
Gij G j
D’Alembert’s Principle: The vector sum of all external forces and inertia forces acting upon a system of rigid bodies is zero.
The vector sum of all external moments and inertia torques acting upon a system of rigid bodies is zero.
∑F = 0
∑M = 0
15-9
Equivalent Offset Inertia Force
When a graphical solution by a force polygon is desired, ∑ F = 0 and ∑M = 0 can be combined.
Figure 15.7
(a) Unbalanced forces and resulting accelerations. (b) Inertia force and inertia couple. (c) Inertia force offset from center of mass.
I Gα 3
h=
m3 AG
15-10
Example 15.3
Figure 15.8
Solution for Example 15.3: (a) Scale drawing with RBA = 10 in, RGA = 5 in, RAO = 8 in, and RBO = 6 in. (b) Acceleration polygon. (c)
Free-body diagram and force polygon.
VBA = 21.2 ft / s
VA = 12.6 ft / s
VB = 16.2 ft / s
t
ABA
α3 =
RBA
(713 ft / s 2 )(12in / ft ) (0.0479in ⋅ lb ⋅ s 2 )(856rad / s 2 ) FA = 27 jlb
= h= = 1.35in
10in (0.00570in ⋅ lb ⋅ s 2 )(444 ft / s 2 )(12in / ft )
= 856rad / s 2 cw
15-11
Example 15.4:
RAO2 = 60 mm, RO4O2 = 100 mm, RBA = 220 mm, RBO4 = 150 mm, RCO4 = RCB = 120 mm, RG3A = 90 mm, ˆ R ˆ
G4O4 = 90 mm, m3 = 1.5 kg,
m4 = 5 kg, IG2 = 0.025 kg · m2, IG3 = 0.012 kg · m2, IG4ˆ= 0.054 kg · m2, α 2 = 0, α 3 = –119k rad/s2, α 4 = –625k rad/s2, AG3 = 162∠–
73.2° m/s2, AG4 = 104∠233° m/s2, FC = –0.8 j kN.
Figure 15.9
− m2 A G2 = 0
− m3 A G3 = −(1.5)(46.8i − 155 j) = −70.2i + 233 j( N )
− m4 A G4 = −(5.0)(−62.6i − 83.1j) = −313i + 415 j( N )
− I G2 α 2 = 0
− I G3 α 3 = −(0.012)(−119k ) = 1.43k ( N ⋅ m)
− I G4 α 4 = −(0.054)(−625k ) = 33.8k ( N ⋅ m)
15-12
Considering the free-body diagram of link 4 and 3 respectively,
∑M O4 = R G4O4 × (−m4 A G4 ) + (− I G4 α 4 ) + R CO4 × Fc + R BO4 × F34 = 0
∑M A = R G3 A × (−m3 A G3 ) + (− I G3 α 3 ) + R BA × F43 = 0
Linear System: the response or output of a system is directly proportional to the drive or input to the system.
In the absence of Coulomb or dry friction, most mechanisms are linear for force analysis purpose.
The principle of superposition: for linear systems the individual responses to several disturbances or driving
functions can be superposed on each other to obtain the total response
of the system.
Example:
nonlinear factor: static or Coulomb friction, systems with clearances or backlash
systems with springs that change stiffness as they are deflected
15-14
Figure 15.10
Example 15.5: RAO2 = 3 in, RO4O2 = 14 in, RBA = 20 in, RBO4 = 10 in, RCO4 = 8 in, RCB = 6 in, RG3A = 10 in, RG4O4 = 5.69 in, w3 = 7.13 lb,
w4 = 3.42 lb, IG = 0.25 in · lb · s2, IG3 = 0.625 in · lb ·s2, IG4 = 0.037 in · lb · s2, ω 2 = 60 rad/s, and α 2 = 0.
2
15-15
Figure 15.11
Free-body diagrams of link 4 of Example 15.5 showing superposition of forces: (a) F34′ = 24.3 lb, F14′ = 44.3 lb; (b) F34″ = –F14″ = 94.8
′″ = 25 lb, F14
lb; (c) F34 ′″ = 19.3 lb; (d) F34 = 94.3 lb, and F14 = 132 lb.
I G4 α 4 = (0.037)(604) = 22.3in ⋅ ib cw
3.42
m4 AG4 = (349) = 37.1lb
32.2
I G4 α 4
h4 = = 22.3 / 37.1 = 0.602lb
m4 AG4
15-16
Figure 15.12
′ = F43′ = 24.3 lb; (b) F23
Free-body diagrams of link 3 of Example 15.5 showing superposition of forces: (a) F23 ″ = 145 lb, F43″ = 94.8 lb;
′″ = F43
(c) F23 ′″ = 25 lb; (d) F23 = 145 lb, F43 = 94.3 lb.
15-17
Figure 15.13
Free-body diagram of link 2 of Example 15.5: F32 = F12 = 145 lb, M12 = 226 in · lb.
15-18
15.6 Planar rotation about a fixed center
Figure 15.14
Figure 15.15
Four-bar linkage.
• ASSIGNMENT : PROBLEM – 5, 7, 15 - 19
15-20