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12 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinetics of Particles:
Brian P. Self
Newton’s Second Law
F = ma
• Newton’s Second Law of Motion
(Fx i + Fy j + Fz k ) = m(a x i + a y j + a z k )
Fx = ma x Fy = ma y Fz = ma z
Fx = mx Fy = my Fz = mz
25o
Ff
N
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mg 12 - 9
Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Free Body Diagrams and Kinetic Diagrams
Put the inertial terms for the body of interest on the kinetic diagram.
1. Isolate the body of interest (free body)
2. Draw in the mass times acceleration of the particle; if unknown,
do this in the positive direction according to your chosen axes
x y may
225 N
max
25o =
Ff
N
mg
F = ma
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Free Body Diagrams and Kinetic Diagrams
Draw the FBD and KD for block A (note that the
massless, frictionless pulleys are attached to block A
and should be included in the system).
y
T T NB
T
T may = 0
x
T
mg
Ff-B
= max
N1 Ff-1
Copyright © McGraw-Hill Education. Permission required for reproduction or display.
Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Free Body Diagrams and Kinetic Diagrams
eq maq
er
mar
q
q
=
Ff
mg
N
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.1
STRATEGY:
• Resolve the equation of motion for the
block into two rectangular component
equations.
y T1 = (100 kg )a A
T2 = 2940 N - (300 kg )a B
= 2940 N - (300 kg ) 12 a A ( )
T2 − 2T1 = 0
2940 N − (150 kg )a A − 2(100 kg )a A = 0
a A = 8.40 m s 2
a B = 12 a A = 4.20 m s 2
T1 = (100 kg )a A = 840 N
T2 = 2T1 = 1680 N
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.3
REFLECT and THINK
• Note that the value obtained for T2 is not
equal to the weight of block B. Rather
than choosing B and the pulley as
separate systems, you could have chosen
the system to be B and the pulley. In this
case, T2 would have been an internal
force.
Fx = mB a x = mB (a A cos 30 − a B A ) :
− WB sin 30 = (WB g )(a A cos 30 − a B )
x
A
aB A = a A cos 30 + g sin 30
Fy = mB a y = mB (− a A sin 30) :
N1 − WB cos 30 = −(WB g )a A sin 30
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.5
• Solve for the accelerations.
0.5 N1 = (W A g )a A
aA =
(32.2 ft s 2 )(12 lb ) cos 30
2(30 lb ) + (12 lb ) sin 30
a A = 5.07 ft s 2
x A + 3 yB + constants = L
Differentiate this twice to get the
acceleration relationship.
v A + 3vB = 0
a A + 3aB = 0
a A = −3aB (1)
an =
v2
v = an = (2 m )(16.03 m s 2 )
v = 5.66 m s
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.6
REFLECT and THINK:
• If you look at these equations for an
angle of zero instead of 30o, you will see
that when the bob is straight below point
O, the tangential acceleration is zero,
and the velocity is a maximum.
et mat
en =
T N man
dv
at = = 0.4t = 0.4(5) = 2 m/s 2
dt
N = 187.5 N T = 6.0 N
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
et
REFLECT and THINK: mat
How would the problem
change if motion was in the
en
=
vertical plane?
T q N man
You would add an mg term mg
and would also need to
calculate q
B
C
A
r
F = ma r = m
r − rq 2
( )
Fq = maq = m(rq + 2rq )
( )
equations of motion for the block. 0 r0
The 3-kg collar B slides on the frictionless arm AA. The arm is attached to
drum D and rotates about O in a horizontal plane at the rate q = 0.75t where q
and t are expressed in rad/s and seconds, respectively. As the arm-drum
assembly rotates, a mechanism within the drum releases the cord so that the
collar moves outward from O with a constant speed of 0.5 m/s. Knowing that
at t = 0, r = 0, determine the time at which the tension in the cord is equal to
the magnitude of the horizontal force exerted on B by arm AA.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
MODELING and ANALYSIS:
• Given: q = 0.75t r (0) = 0
r = 5 m/s
• Find: time when T = N
Draw the FBD and KD of the collar
maq
eq
er mar
=
T N
q = (0.75t ) rad/s 0
dr = 0
0.5 dt
a) +e1 b) - e1 c) +e2 d) - e2
e) The forces are zero in the e1 and e2 directions
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Angular Momentum of a Particle
Satellite orbits are analyzed using conservation
of angular momentum.
r
F = ma r = m
r − rq 2
( )
Fq = maq = m(rq + 2rq )
• This result may also be derived from conservation
of angular momentum,
H O = mr 2q
r Fq =
d
dt
(
mr 2q )
(
= m r 2q + 2rrq )
Fq = m(rq + 2rq )
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Angular Momentum of a Particle
• H O = r mV = moment of momentum or the angular
momentum of the particle about O.
• H O is perpendicular to plane containing r and mV
H O = rmV sin i j k
= rm vq HO = x y z
= mr 2q mv x mv y mv z
or H O = mr 2q = constant
HO angular momentum
= r 2q = h =
m unit mass
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Conservation of Angular Momentum
• Radius vector OP sweeps infinitesimal area
dA = 12 r 2 dq
dA 1 2 dq 1 2
• Define = 2r = 2 r q = areal velocity
dt dt
where a = 12 (r0 + r1 )
b = r0 r1
( )(
GM = gR 2 = 9.81m s 2 6.37 106 m )2
= 398 1012 m3 s 2
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.14
• Determine the maximum altitude by finding r1
at q = 180o.
1 GM 398 1012 m3 s 2 −9 1
= 2 −C = −
( )
65. 3 10
r1 h 2 2 m
70.4 m s
r1 = 66.7 106 m = 66700 km
max altitude = (66700 - 6370)km = 60300 km
=
( )(
2 ab 2 36.8 106 m 21.4 106 m
=
)
h 70.4 109 m 2 s