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Dynamics
a.k.a. Spinning & Shaking
Outline
Course Web Site
Recommended textbooks
Homework
Course Coverage
This (review) Lecture:
HomeHoneowork
Course Web Site,
Lectures & Homework
The course web site is
http://www.zabaras.com/Courses/Dynamics/Dynamics.html
Recommended Textbooks
Vector Mechanics for Engineers, F. Beer,
Textbook
E.R. Johnston and
R. Cornwell, 10th
Edition.
Engineering Mechanics: Dynamics, A.
Bedford and W. Fowler (course pack)
Engineering Mechanics, Dynamics, R. C.
Hibbeler, 13th Edition
Notes: Our Lectures and Lecture slides will closely follow the textbooks by Beer et al. and
Hibbeler.
Introduction to Dynamics (N. Zabaras)
Office Hours
Office
Hours
Office Hours :
4:30 6:30 pm on Mondays (during the duration of the
lectures)
Location
Building: Eng.
Room: 408B (close to the Chemistry bldg.)
Attendance
Attendance
We will work with the hope that no lecture is waste of
your valuable time.
We recommend that you download and study the
lecture notes from the web before attending so you can
maximize your understanding of the class material.
Even with 300+ students, we encourage your questions,
in class or during office hrs.
Out of respect for each other, if you come to class you
come to learn. Not allowed in class: Phones on, reading
papers, bla bla with each other, playing computer
games, etc.
Introduction to Dynamics (N. Zabaras)
Course Coverage
coverage
Course
Kinematics of a particle (Hibbeler, Chapter 12)
Force and acceleration (Hibbeler, Chapter 13)
Work and energy relations (Hibbeler, Chapter 14, B&F Chapter
15)
Impulse and Momentum (Hibbeler, Chapter 15)
Introduction
Dynamics includes:
Introduction to Dynamics
Statics:
Study
bodies at rest
Areas
ofofmechanics
(section12.1)
F 0
F 0
M 0
x
s, v, a
Kinetics, is a study of forces F that cause the
motion
F ma
F ma
M I
x
10
Frame of Reference
Frame of reference is a place or object that you
assume is fixed
observations of how objects move are
defined in relation to that frame of
reference.
11
lim
Instantaneous velocity
Dt 0 Dt
dt
Dt 0 Dt
e.g. x 6t 2 t 3
,
dx
v
12t 3t 2
dt
Introduction to Dynamics (N. Zabaras)
12
2
dt dt
Dt 0 Dt
e.g. v 12t 3t 2
a
dv
12 6t
dt
13
at t = 0, x = 0, v = 0, a = 12 m/s2
at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0
at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2
at t = 6 s, x = 0, v = -36 m/s, a = 24 m/s2
Introduction to Dynamics (N. Zabaras)
14
15
Motion 11
Motion
16
Motion 22
Motion
17
Motion 33
Motion
slowing
18
Motion 44
Motion
bottom
Introduction to Dynamics (N. Zabaras)
19
Motion 55
Motion
speeding
up
Introduction to Dynamics (N. Zabaras)
20
Motion 66
Motion
Still
rising
21
Motion 77
Motion
top
22
Velocity Acceleration
1
Velocity Acceleration
5
2
6
3
7
4
bottom
23
24
dt
v
0
dx
vt
dt
x t
dx vt dt
vt v0 f t dt
0
dx vt dt
x0
xt x0 vt dt
dx
dx
or dt
dt
v
v dv f x dx
a
v x
dv
dv
or a v f x
dt
dx
x
v dv f x dx
v0
x0
1 v x 2
2
12 v02
f x dx
x0
25
dv
dt
f v
v t
dv
f v t
v0
dv
v a f v
dx
xt x0
v t
v dv
dx
f v
v t
t
dv
f v dt
0
v0
x t
v t
v dv
dx f v
v0
x0
v dv
f v
v0
26
dx
v
dt
Acceleration
dv
dt
dx
dt
v
dt
dv
a
dx dv
v
a
adx vdv
Introduction to Dynamics (N. Zabaras)
27
Example of applying a dx = v dv
A car starts from rest and moves along a straight line with an
acceleration of a = ( 3 x -1/3 ) m/s2. where x is in meters. Determine the
cars acceleration when t = 4 s.
Rest t = 0 , v = 0
1
x 3 dx 3dt
adx vdv
s
3x
0
1
3
dx vdv
0
2
3
1 2
3
(3) x v
2
2
v 3x
1
3
1
dx
v
3x 3
dt
x
0
1
3
dx 3dt
0
3 23
x 3t
2
x (2t )
3
2
3
2
9
2
x(4) (2 4) 2
a (4) 3 2
9
2
1
3
3
2 2
m / s2
28
Example Problem
SOLUTION:
Integrate twice to find v(t) and y(t).
Solve for t at which velocity equals
zero (time for maximum elevation) and
evaluate corresponding altitude.
Determine:
velocity and elevation above ground at
time t,
highest elevation reached by ball and
corresponding time, and
time when ball will hit the ground and
corresponding velocity.
Introduction to Dynamics (N. Zabaras)
29
Example Problem
SOLUTION:
Integrate twice to find v(t) and y(t).
dv
a 9.81 m s 2
dt
v t
t
vt v0 9.81t
dv 9.81 dt
v0
vt 10
dy
v 10 9.81t
dt
y t
t
dy 10 9.81t dt
y0
m
m
9.81 2 t
s
s
y t y0 10t 12 9.81t 2
m
m
yt 20 m 10 t 4.905 2 t 2
s
s
30
Example Problem
Solve for t at which velocity equals zero and
evaluate corresponding altitude.
vt 10
m
m
9.81 2 t 0
s
s
t 1.019 s
m
m
y t 20 m 10 t 4.905 2 t 2
s
s
m
m
y 20 m 10 1.019 s 4.905 2 1.019 s 2
s
y 25.1 m
Introduction to Dynamics (N. Zabaras)
31
Example Problem
Solve for t at which altitude equals zero and
evaluate corresponding velocity.
m
m
yt 20 m 10 t 4.905 2 t 2 0
s
s
t 1.243 s meaningles s
t 3.28 s
vt 10
m
m
9.81 2 t
s
s
v3.28 s 10
m
m
9.81 2 3.28 s
s
s
v 22.2
m
s
32
Example Problem
SOLUTION:
a kv
33
Example Problem
SOLUTION:
dt
v v
0
0
ln
vt
kt
v0
vt v0 e kt
kt
xt v0 e kt
dx v0 e dt
k
0
0
0
v
xt 0 1 e kt
k
34
Example Problem
Integrate a = v dv/dx = -kv to find v(x).
dv
a v kv
dx
dv k dx
v0
dv k dx
v v0 kx
v v0 kx
a k v0 kx
Alternatively,
with
v
xt 0 1 e kt
k
kt
kt vt
v
t
v
e
or
e
and
0
v0
v0 vt
1
x
t
then
k
v0
Introduction to Dynamics (N. Zabaras)
v v0 kx
35
x0
dx v dt
x x0 vt
x x0 vt
36
v0
dv a dt
v v0 at
v v0 at
dx
v0 at
dt
x0
dx v0 at dt
x x0 v0t 12 at 2
x x0 v0t 12 at 2
dv
v a constant
dx
v0
x0
v dv a dx
1
2
v 2 v02 ax x0
v 2 v02 2a x x0
Introduction to Dynamics (N. Zabaras)
37
dv
dt
dv ac dt
v
dv a dt
c
vo
v v0 act
Introduction to Dynamics (N. Zabaras)
dx (v
so
act )dt
1 2
x x0 v0t act
2
Introduction to Dynamics (N. Zabaras)
v dv a
v0
dx
s0
1 2 1 2
v v0 ac ( x x0 )
2
2
v v 2ac ( x x0 )
2
2
0
vA < vB
(b) vA = vB
A
v0
v0
(c) vA > vB
B
H
vA
vB
41
v 2 v02 2( g ) H H 0
B
v0
v = v0
H
y=0
Introduction to Dynamics (N. Zabaras)
42
A
B
A
v0
v 2 v02 2( g ) 0 H
v v 2( g ) 0 H
2
v0
2
0
same !!
y=H
y=0
43
Summary
Time dependent acceleration
x(t )
dx
v
dt
dv d 2 x
a
2
dt dt
adx vdv
Constant acceleration
v v0 act
1 2
x x0 v0t act
2
v v 2ac ( x x0 )
2
2
0
a g 9.81 m / s 2 32.2 ft / s 2
44
x B x A relative position of B
with respect to A
xB x A xB A
xB
v B v A relative velocity of B
with respect to A
vB v A vB A
vB
a B a A relative acceleration of
B with respect to A
aB a A aB A
aB
45
Relative Motion
A
160 km/h
180 km/h
VA VB VA/B
VA/B VA - VB 160 180 20 km / h
VB VA VB/A
VB/A VB - VA 180 160 20 km / h
Introduction to Dynamics (N. Zabaras)
46
Example
The passenger aircraft B is flying east with velocity vB = 800 km/h. A
jet is traveling south with velocity vA = 1200 km/h. What velocity does
A appear to a passenger in B ?
y
v B 800 i
Solution
vA B
v A 1200 j
VA
VB VA B
1200 j 800 i v A B
VA B 800 i 1200 j
Introduction to Dynamics (N. Zabaras)
47
Example
A/ B
Absolute value
:
8002 12002
1442 km / h
VB 800 i
tan
800
1200
33.7 West of
South
vA B
VA 1200 j
Introduction to Dynamics (N. Zabaras)
48
Example
A train travels at a constant speed of 60 mi/
h and crosses over a road. If the automobile
A is traveling at 45 mi /h along the road
T 60 mi/h
A 45 mi/h
31.8
tan
(T / A ) x 28.2
48.5o
Example
At the instant shown, the car at A is traveling at 10 m/s around
the curve while increasing its speed at 2 m/s2. The car at B is
traveling at 18.5 m/s along the straightway and increasing its
speed at 5 m/s2. Determine the relative velocity and relative
acceleration of A with respect to B at this instant
VA VB VA/B
a A a B a A/B
(10) 2
(10) 2
a A {2 cos 45 i 2 sin 45 jcos 45 i sin45 j }
100
100
aB 5 i
o
50
Sample Problem
SOLUTION:
Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
51
Sample Problem
SOLUTION:
Substitute initial position and velocity and constant
acceleration of ball into general equations for
uniformly accelerated rectilinear motion.
v B v0 at 18
m
m
9.81 2 t
s
s
m
m
y B y0 v0t 12 at 2 12 m 18 t 4.905 2 t 2
s
s
Substitute initial position and constant velocity of
elevator into equation for uniform rectilinear
motion.
vE 2
m
s
m
y E y0 v E t 5 m 2 t
s
Introduction to Dynamics (N. Zabaras)
52
Sample Problem
Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.
yB
12 18t 4.905t 2 5 2t 0
t 0.39 s meaningles s
t 3.65 s
Substitute impact time into equations for position of
elevator and relative velocity of ball with respect to
elevator.
y E 5 23.65
y E 12.3 m
v B E 18 9.81t 2
16 9.813.65
v B E 19.81
Introduction to Dynamics (N. Zabaras)
m
s
53
Position
How to establish the position
coordinate
Reference from a fixed point
(O) or fixed datum.
Measures along each
inclined plane in the
direction of motion
Has positive sense from C
to A and from D to B.
s A lCD sB lT
55
Velocity
Velocity is the time derivative
of the position
From the total cord length
equation
s A lCD sB lT
s A sB lT lCD const
Velocity
ds A dsB
0 or B A
dt
dt
56
Acceleration
Acceleration is the time
derivative of the velocity
From the velocity equation
B A
Acceleration
d B d A
dt
dt
aB a A
57
Example Problem
Position coordinate
2 sB h s A l
2 sB s A l h const.
Velocity
2 B A
Acceleration
1
B A
2
2 aB a A
Introduction to Dynamics (N. Zabaras)
58
Example Problem
Position coordinate
2 B A
Acceleration
2 aB a A
Positive signs, why?
59
60
Sample Problem
SOLUTION:
Define origin at upper horizontal surface
with positive displacement downward.
61
Sample Problem
SOLUTION:
Define origin at upper horizontal surface with
positive displacement downward.
Collar A has uniformly accelerated rectilinear
motion. Solve for acceleration and time t to reach
L.
v 2A v A 02 2a A x A x A 0
2
in.
12 2a A 8 in.
s
aA 9
in.
s2
v A v A 0 a At
12
in.
in.
9 2t
s
s
t 1.333 s
62
Sample Problem
Pulley D has uniform rectilinear motion.
Calculate change of position at time t.
x D x D 0 v D t
in.
x D x D 0 3 1.333 s 4 in.
s
Block B motion is dependent on motions of collar
A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A 2 x D x B x A 0 2 x D 0 x B 0
x A x A 0 2xD xD 0 xB xB 0 0
8 in. 24 in. x B x B 0 0
x B x B 0 16 in.
63
Sample Problem
Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A 2 x D x B constant
v A 2v D v B 0
in. in.
12 2 3 v B 0
s s
v B 18
in.
s
a A 2a D a B 0
in.
9 2 vB 0
s
in.
a B 9 2
s
64
Dt,
Dr dr
v lim
dt
Dt 0 Dt
instantaneous velocity (vector)
Ds ds
dt
Dt 0 Dt
v lim
65
velocity v at t + Dt,
Dv dv
a lim
dt
Dt 0 Dt
instantaneous acceleration
(vector)
66
dP
DP
Pu Du Pu
lim
lim
du Du 0 Du Du 0
Du
d P Q dP dQ
du
du du
Derivative of product of scalar and vector functions,
d f P df
dP
P f
du
du
du
Derivative of scalar product and vector product,
d P Q dP dQ
Q P
du
du
du
d P Q dP
dQ
Q P
du
du
du
Introduction to Dynamics (N. Zabaras)
67
Curvilinear Motion
We will investigate particle motion along a curved path
using three coordinate systems
Rectangular Components
68
r xi y j zk
Velocity vector,
dx dy dz
v i j k xi y j zk
dt
dt
dt
vx i v y j vz k
Acceleration vector,
d 2 x d 2 y d 2 z
a 2 i 2 j 2 k xi y j zk
dt
dt
dt
ax i a y j az k
Introduction to Dynamics (N. Zabaras)
69
a x x 0
a y y g
x0 y0 z0 0
a z z 0
v x 0 , v y 0 , v z 0 0
v x v x 0
x v x 0 t
v y v y gt
0
y v y y 12 gt 2
0
vz 0
z0
70
Example Problem
The position of a particle is described by rA= {2t i +(t2-1) j} ft. where t is
in seconds.
Determine the position of the point and the speed at 2 seconds.
rA 2(2)i (22 1) j 4i 3 j
drA
vA
2i 2t j 2i 4 j
dt
speed
v A 2 4 4.47 ft/s
2
71
Acceleration
Acceleration is the first time
derivative of v
dv
a
ax i a y j az k
dt
Where
ax x x
ay y y
az z z
Magnitude of acceleration
a
ax ay az
2
72
Example Problem
At any instant the horizontal postition of the weather
balloon is defined by x = (8t) ft, where t is in second . If
the equation of the path is y=x2/10 determine the distance
of the balloon from A, the magnitude and direction of the
velocity and the acceleration when t=2sec.
Position
x 8(2) 16 ft
y (16) 2 /10 25.6 ft
x=8t
Velocity
d
x x (8t ) 8ft/s
dt
d
y y ( x 2 /10) 2 xx /10 2(16)(8) /10 25.6 ft/s
dt
y
25.6
tan 1
72.6o
x
8
Acceleration
d
(8) 0 ft/s
dt
d
a y y (2 xx /10) 2( x) x /10 2 x( x) /10 12.8ft/s 2
dt
ax x
ay
ax
tan 1
12.8
90o
0
73
Example
r 0.5sin(2t )i 0.5cos(2t ) j 0.2tk
( rad 180o )
0.15
0.499 0.0354
ur
i
j
k 0.955i 0.0678j-0.287k
0.522
0.522
0.522
cos 1 (0.955) 17.2o
74
Motion of a Projectile
Projectile: a body that is given an initial velocity and then
follows a path determined by gravitational acceleration
and air resistance.
Trajectory path followed by a projectile
75
76
Projectile
77
78
Horizontal Motion
Acceleration : ax= 0
() v v0 ac t
vx (v0 ) x
1 2
() x x0 v0t ac t
2
() v v 0 2ac ( s s0 )
2
x x0 (v0 ) x t
vx (v0 ) x
79
Vertical Motion
ac= -g = 9.81 m/s2 = 32.2 ft/s2
( ) v v0 act
1
( ) y y0 v0t act 2
2
( ) v v 0 2ac ( s s0 )
2
v y (v0 ) y gt
1
y y0 (v0 ) y t gt 2
2
2
v v0
2 g ( y y0 )
80
Projectile Motion
Assumptions:
(1) free-fall acceleration
(2) neglect air resistance
Choosing the y direction as positive upward:
ax = 0;
ay = - g (a constant)
Take x0= y0 = 0 at t = 0
Initial velocity v0 makes an
y
angle 0 with the horizontal
v0
v0 x v0 cos0
v0 y v0 sin0
81
Maximum Height
At the peak of its trajectory, vy = 0.
From
v y v0 y gt voy gt 0
t1
v0 y
g
1
y v0 y t gt 2
2
h ymax
v02y
2g
82
Projection Angle
The optimal angle of projection is dependent on the
goal of the activity.
For maximal height the optimal angle is 90o.
For maximal distance the optimal angle is 45o.
83
84
85
86
87
88
v vx2 v y2
22.2 m / s
(10.0 m / s ) 2
24.3 m / s
10.0 m / s
arctan
arctan 0.450 24.2
22.2 m / s
89
29.6 m / s
t1
3.02 s
2
g 9.80 m / s
1
H v0 y t1 gt12
2
1
(29.6 m / s)(3.02 s) (9.80 m / s 2 )(3.02 s) 2
2
44.7 m
90
1
1
2
y 0 v0 y t2 gt2 t2 (v0 y gt2 )
2
2
t2 0 and t2
2v0 y
g
2(29.6 m / s )
6.04 s
2
9.80 m / s
91
Example Problem
A ball is traveling at 25 m/s drive off of the
edge of a cliff 50 m high. Where does it
land?
Horizontally
25 m/s
x = x0 + (v0)x t
Initial
Conditions
x = 25 *3.19 = 79.8 m
Vertically
vx = 25 m/s
v = v0-gt
vy0 = 0 m/s
y = y0 + v0t + 1/2gt2 .
a =- 9.8 m/s2
v2 = v02 - 2g(y-y0).
t=0
y0 = 0 m
y =- 50 m
x0 =0 m
79.8 m
Introduction to Dynamics (N. Zabaras)
92
rB rA rB
Differentiating twice,
vB v A vB
a B a A aB
vB
aB
velocity of B relative to A.
acceleration of B relative
to A.
93
Det 2 sinD 2
Det
sinD 2
lim
lim
en en
D 0 D
D 0 D 2
det
en
d
Introduction to Dynamics (N. Zabaras)
94
a
but
de dv
de d ds
dv dv
et v t et v t
dt dt
dt dt
d ds dt
det
en
d
d ds
ds
v
dt
After substituting,
dv v 2
a et en
dt
dv
at
dt
an
v2
95
dv v 2
a et en
dt
dv
at
dt
an
v2
eb et en
en principal normal
eb binormal
Acceleration has no component along binormal.
Introduction to Dynamics (N. Zabaras)
96
Radius of curvature ()
For the Circular motion :
() = radius of the circle
For y = f(x):
1 (dy / dx) 2 3/2
d 2 y / dx 2
97
Example Problem
Find the radius of curvature
of the parabolic path in the
figure at x = 150 ft.
y
1 2
x 200
200
dy / dx
d 2 y / dx 2
1
x
100
1
100
1 (dy / dx) 2
d 2 y / dx 2
3/2
1 2
x
1
100
1
100
3/2
585.9 ft
x 150
98
Example Problem
A skier travels with a constant
speed of 20 ft/s along the parabolic
path shown. Determine the velocity
at x = 150 ft.
y
1 2
x 200
200
1
dy / dx
x
100
1
dy / dx
x x 150 1.5
100
150 20 ft/s
99
Special case
1- Straight
lineamotion
n 0
a at
2- Constant speed
curve motion
(centripetal
acceleration)
2
a an
at 0
Introduction to Dynamics (N. Zabaras)
100
r rer
der
e
d
der dr
dr
d
d
v rer er r
er r
e
dt
dt
dt
dt
dt
r er r e
de
er
d
der der d d
e
dt
d dt
dt
de de d
d
er
dt
d dt
dt
d
d dr
a er r
e
dt dt
dt
d 2 r dr der dr d
d 2
d de
2 er
e r 2 e r
dt dt dt dt
dt dt
dt
dt
r r 2 er r 2r e
101
r R e R z k
Velocity vector,
dr
v
R eR R e z k
dt
Acceleration vector,
dv
R eR R 2 R e z k
a
R
dt
102
Sample Problem
SOLUTION:
Calculate tangential and normal
components of acceleration.
Determine acceleration magnitude
and direction with respect to tangent
to curve.
A motorist is traveling on curved
section of highway at 60 mph. The
motorist applies brakes causing a
constant deceleration rate.
103
Sample Problem
SOLUTION:
Calculate tangential and normal components of
acceleration.
at
an
60 mph 88 ft/s
45 mph 66 ft/s
Dv 66 88 ft s
ft
2.75 2
Dt
8s
s
v2
88ft s
2500 ft
3.10
ft
s2
at2
tan
an2
1 an
at
2.75 3.10
tan
1 3.10
2.75
a 4.14
ft
s2
48.4
104
Sample Problem
SOLUTION:
Evaluate time t for = 30o.
105
Sample Problem
SOLUTION:
Evaluate time t for = 30o.
0.15 t 2
30 0.524 rad
t 1.869 s
106
Sample Problem
Calculate velocity and acceleration.
vr r 0.449 m s
v r 0.481m 0.561rad s 0.270 m s
v
tan 1
v vr2 v2
vr
v 0.524 m s
ar r r 2
31.0
a
tan 1
ar
a 0.531m s
42.6
107
Sample Problem
Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is
rectilinear and defined by coordinate r.
a B OA r 0.240 m s 2
108