MECH 2210: Dynamics & Orbital Mechanics

Kinetics (Revision)

Han Huang

Outline of This Lecture

Kinetics of particles
Force, Force mass mass, acceleration Work, energy, impulse and momentum

Kinetics of rigid bodies

General equations of motion, translation, rotation, plane motion Work and Energy Acceleration from work-energy Virtual work Impulse-Momentum

Kinetics of Particles
Force, mass and acceleration
Newtons Ne tons 2nd law la

Work and energy

Kinetic energy Potential energy

Impulse and momentum

Linear Impulse and momentum Angular Impulse and momentum

Equation of Motion
When a particle of mass m is subjected to the action of concurrent forces F1, F2, whose vector sum is F. When applying Newtons 2nd Law, Law the equation of motion can be expressed as

G G F = ma

In scalar form for rectilinear motion

Fx = ma x Fy = ma y

In scalar form for curvilinear motion

Fn = man Ft = mat

Fr = mar F = ma

Work and Energy

G G dU = F dr dU = Ft ds = F cos ds
G G U = F dr = (Fx dx + Fy dy ) or U = Ft ds
Definition of work:

Elastic Potential Energy

U1 2 = Fdx =
x1 x2 1 2 kxdx = k x2 x12 x1 2

x2

Elastic Potential Energy occurs in the deformation of an elastic body.

x 1 Ve = kxdx = kx 2 0 2 1 2 Ve = k ( x2 x12 ) 2

Kinetic & Potential Energy

Kinetic Energy T of the particle is defined as

T=

1 2 mv 2

Kinetic Energy is always positive, regardless of the direction of the velocity

The total work done on a particle to bring it from v1 to v2 is

U12 =

1 1 2 2 mv 2 mv 1 = T2 T1 = T 2 2

Potential Energy V of a particle

Vg = mgh

Linear Impulse & Momentum

Applying Newtons 2nd Law on particle, we have

 = (mv ) F = mv dt d
In scalar form:

or o
 =G y

F =G
F
z

G 

F
Fdt = G
t2 t1

 =G x

 =G z

Linear impulse-Momentum Principle

G t2 G1 Fx dt = (mv x )2 (mv x )1
t1

F dt = (mv ) (mv )
t2 t1 y y 2

y 1

Angular Impulse & Momentum

The moment of linear momentum about the fixed point O is defined as angular momentum Ho of P about O and is given by

G G G HO = r mv

In scalar form:

H o = mv (r sin )

To relate the moment of the forces acting on P to its angular momentum, we have

G G G G  = r F = r mv G G G G G G G G G G G   mv  =v  =r  Ho = r + r mv mv + r mv mv G G  M = H O o

Kinetics of Rigid Body

2D plane kinetics of rigid bodies. Kinetics of rigid bodies deals with the relationships between the external forces acting on a body and the corresponding translational and rotational movements of the body. All the forces applied on the body will be projected onto the plane of motion.

Force, Mass & Acceleration

Recall studies before, forces acting on a rigid body may be replaced by a resultant force applied at a chosen point and a corresponding couple.

If th the chosen h point i ti is th the mass center t of f the th body, b d then th we have, h

F = ma

G  = HG G G   = I M G = H G = I
G

Alternative Moment Eqs.

G G F = ma G M G = I

If you wish to eliminate reference to F1 and F3, then chose their intersection as the reference point P.

G G G G  = H G + ma = I + mad

If P is chosen as a fixed point to the body, so we may write the eq. as

G G M P = I P + maP G M O = I O

If P becomes a point O fixed on an inertial reference system, then ap=0, we have

Translation & Fixed-Axis Rotation

Translation

G G F = ma

= I = 0

Fixed-Axis Rotation

= I O

F = ma G M = I
G

If O is the mass center of the body, then

G G F = ma = 0

Fixed Axis Rotation

Kinematics
at = r a n = r 2

Motion eqns.

F =m a F =mr , F M = I M =I I
t G O o o

= mr 2 = I + mr
2

Interconnected Rigid Bodies

Two or more connected rigid bodies whose motions are related kinematically. It is convenient to analyze the bodies as an entire system The resultant force equals the vector sum of all the external applied forces. The sum of the moment of all the external forces equals the moment of all the resultants.

F = ma M = I + mad
P

Constrained Motion
In engineering application, most of the motion is under constraint, such as gear transmission, engine piston motion etc. For constrained motions, kinematic relationships of the bodies need to be determined and to combine them with force and moment equations.

Work & Energy

It is convenient to use work-energy relations to describe motion which resulted from the cumulative effect of forces acting through distances. distances If forces are conservative, by analyzing the energy conditions, velocity changes at the beginning and end of the motion interval can be determined.

Work of done by a force, F

G G U = F dr or U = (F cos )ds

Work of done by a couple M

U = Md

Kinetic Energy
Energy of translating rigid body

T=

1 2 mv 2

Energy of a rigid body with fixed-axis rotation

T=

1 I o 2 2

E Energy of f a rigid i id body b d with ith plane l motion ti

T=

1 2 1 2 mv + I 2 2

Work-Energy Relation
Potential Energy Gravitational Potential Energy

Vg = mgh
Elastic Potential Energy

Ve =

1 2 kx 2

Work-Energy Relation

U ' = T + Vg + Ve
The work-energy method is useful for conservative systems of interconnected bodies, where energy loss due to negative work of friction forces is negligible.

Virtual Work
Virtual displacement: assumed displacement away from the natural or actual position For connected body system, virtual displacement must be consistent with the system constraints Virtual work is expressed as

U ' = mi a si + I i i + mi g hi + k j x j x j

G G

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Impulse - Momentum
Linear momentum of any mass system, rigid or non-rigid, can be expressed as

G G G = mv , G G 

Newtons second law and its integrated form

F = G,

t t 2 F dt = G2 G1 1
Rewrite it in scalar form

t 1 t2 t Fy dt 1

t 2 Fx dt

= Gx 2 Gx1 = G y 2 G y1

Momentum cont.
Angular momentum about the mass center is expressed as

HG = I
Newtons second law and its integrated form are written as

 =H G

M
t2 t1

dt = HG2 HG1

Angular momentum about any point O is expressed as

HO = I + mvd
Angular momentum about fixed point O and its integrated form

HO = I + mr 2 = I + mr 2 = IO

 = IO

M
t2 t1

dt = IO (2 1 )

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Summary
Force, mass and acceleration for plane motion
Pay attention to those alternative equations as they are very useful for solving some problems

Work by force and couple Kinetic energy, potential energy, elastic energy p How to use virtual work to solve problems Momentum

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