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CHAPTER
13
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Lecture Notes:
J. Walt Oler
Texas Tech University
Kinetics of Particles:
Energy and Momentum
Methods
Seventh
Edition
13 - 2
Seventh
Edition
13 - 3
Seventh
Edition
13 - 4
Seventh
Edition
U12 =
F dr
A1
s2
s2
s1
s1
(F cos )ds = Ft ds
A2
(Fx dx + Fy dy + Fz dz )
A1
13 - 5
Seventh
Edition
U12 = W dy
y1
= W ( y 2 y1 ) = W y
13 - 6
Seventh
Edition
13 - 7
Seventh
Edition
Mm
r1
r2
U12 = G
dr = G
Mm
Mm
G
r2
r1
13 - 8
Seventh
Edition
13 - 9
Seventh
Edition
r
Consider a particle of mass m acted upon by force F
dv
Ft = mat = m
dt
dv ds
dv
=m
= mv
ds dt
ds
F t ds = mv dv
Integrating from A1 to A2 ,
s2
v2
s1
v1
2
2
Ft ds = m v dv = 12 mv2 12 mv1
U12 = T2 T1
T = 12 mv 2 = kinetic energy
r
The work of the force F is equal to the change in
kinetic energy of the particle.
13 - 10
Seventh
Edition
1W 2
v2
2 g
v2 = 2 gl
13 - 11
Seventh
Edition
Fn = m an
W v22
g l
W 2 gl
P =W +
= 3W
g l
P W =
v2 = 2 gl
13 - 12
Seventh
Edition
or 1 hp = 550
ft lb
= 746 W
s
= efficiency
output work
=
input work
power output
=
power input
2003 The McGraw-Hill Companies, Inc. All rights reserved.
13 - 13
Seventh
Edition
13 - 14
Seventh
Edition
= 88 ft s
h mi 3600 s
v2 = 0
T2 = 0
T1 + U12 = T2
481000 ft lb (1151lb )x = 0
x = 418 ft
2003 The McGraw-Hill Companies, Inc. All rights reserved.
13 - 15
Seventh
Edition
13 - 16
Seventh
Edition
FA = k N A = k W A = 0.25(1962 N ) = 490 N
T1 + U12 = T2 :
0 + FC (2 m ) FA (2 m ) = 12 m A v 2
FC (2 m ) (490 N )(2 m ) = 12 (200 kg )v 2
0 Fc (2 m ) + WB (2 m ) = 12 m B v 2
Fc (2 m ) + (2940 N )(2 m ) = 12 (300 kg )v 2
2003 The McGraw-Hill Companies, Inc. All rights reserved.
13 - 17
Seventh
Edition
13 - 18
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Edition
13 - 19
Seventh
Edition
(U12 ) f
= kW x
T2 = 0
T1 + U1 2 = T2 :
k = 0.20
13 - 20
10
Seventh
Edition
T2 = 0
U 23 = (U 23 ) f + (U 23 )e = (377 J ) k + 112 J
= +36.5 J
T2 + U 23 = T3 :
0 + 36.5 J = 12 (60 kg )v32
v3 = 1.103 m s
13 - 21
Seventh
Edition
13 - 22
11
Seventh
Edition
T1 = 0
T2 = 12 mv22 =
U1 2 = +W (40 ft )
T1 + U1 2 = T2 :
1W 2
v2
2g
0 + W (40 ft ) =
1W 2
v2
2g
v2 = 50.8 ft s
+ Fn = m an :
W + N = m an =
W v22 W 2(40 ft )g
=
g 2 g 20 ft
N = 10000 lb
N = 5W
2003 The McGraw-Hill Companies, Inc. All rights reserved.
13 - 23
Seventh
Edition
0 + W (25 ft ) =
1W 2
v3
2g
v3 = 40.1ft s
W v32 W 2(25 ft )g
=
3
g 3 g
3 = 50 ft
13 - 24
12
Seventh
Edition
13 - 25
Seventh
Edition
2T 800 lb = 0
T = 400 lb
Free-body D:
+ Fy = 0 : F + T 600 lb = 0
Power = (1600 ft lb s )
2003 The McGraw-Hill Companies, Inc. All rights reserved.
1 hp
= 2.91 hp
550 ft lb s
13 - 26
13
Seventh
Edition
aC = 12 a D = 1.25 ft s 2
Free-body C:
+ Fy = mC aC : 800 2T =
800
(1.25)
32.2
T = 384.5 lb
Free-body D:
600
(2.5)
32.2
F + 384.5 600 = 46.6
+ Fy = m D a D : F + T 600 =
F = 262.1 lb
1 hp
= 3.81 hp
550 ft lb s
13 - 27
Seventh
Edition
U12 = (V g ) (V g )
1
13 - 28
14
Seventh
Edition
r2
r1
Potential energy Vg when the variation in the
force of gravity can not be neglected,
Vg =
GMm
WR 2
=
r
r
13 - 29
Seventh
Edition
13 - 30
15
Seventh
Edition
z
x
y
r
V V V
+
+
F =
= grad V
x y z
2003 The McGraw-Hill Companies, Inc. All rights reserved.
13 - 31
Seventh
Edition
Follows that
T1 + V1 = T2 + V2
E = T + V = constant
T1 = 0 V1 = Wl
T1 + V1 = Wl
T2 = 12 mv22 =
T2 + V2 = Wl
1W
(2 gl ) = Wl V2 = 0
2g
13 - 32
16
Seventh
Edition
GMm 1 2 GMm
= 2 mv
r0
r
may be applied.
Given r, the equations may be solved for v and .
At minimum and maximum r, = 90o. Given the
launch conditions, the equations may be solved for
rmin, rmax, vmin, and vmax.
2003 The McGraw-Hill Companies, Inc. All rights reserved.
13 - 33
Seventh
Edition
13 - 34
17
Seventh
Edition
1 20 2
v2 = 0.311v22
2 32.2
Conservation of Energy:
T1 + V1 = T2 + V2
0 + 2 ft lb = 0.311v22 5.5 ft lb
v2 = 4.91ft s
2003 The McGraw-Hill Companies, Inc. All rights reserved.
13 - 35
Seventh
Edition
13 - 36
18
Seventh
Edition
1 0.5 lb
64.4 ft 2 s 2 = 0.5 ft lb
2 32.2 ft s 2
T1 + V1 = T2 + V2
0 + 18 x 2 = 0.5 + 2
13 - 37
Seventh
Edition
13 - 38
19
Seventh
Edition
1 mv 2
0
2
GMm 1 2 GMm
= 2 mv1
r0
r1
2GM
r
1 v 2 1 r0 = GM 1 r0
1+ 0 =
r
2 0
2
r
r
r
r0v02
0
1
1
1
r0 = 6370 km + 500 km = 6870 km
v0 = 36900 km h = 10.25 106 m s
)(
)2
13 - 39
Seventh
Edition
0 = 90 11.5
13 - 40
20