Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
13
CHAPTER
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinetics of Particles:
Lecture Notes:
Energy and Momentum
Brian P. Self
California Polytechnic State University Methods
t2
F maG
T1 U12 T2 mv1 F dt mv2
t1
a) U12 F x
b) U12 F cos x
c) U12 F sin x
d) U12 0
• In the figure above, when is the work done by the weight positive?
YES NO
• Force P acts normal to path and does no
work.
T1 U12 T2
1W 2
• The bob is released 0 Wl v2
2 g
from rest at position A1.
Determine the velocity v2 2 gl
of the pendulum bob at
• Velocity is found without determining
A2 using work & kinetic
expression for acceleration and integrating.
energy.
• All quantities are scalars and can be added
directly.
If you designed the rope to hold twice the weight of the bob, what would happen?
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 17
Edition
Vector Mechanics for Engineers: Dynamics
Tenth
Power and Efficiency
• Power rate at which work is done.
dU F dr
dt dt
F v
• efficiency
output work
input work
power output
power input
v2 0 T2 0
• Determine the distance required for the work
to equal the kinetic energy change.
U12 1500 lb x 4000 lb sin 5x
1151 lb x
T1 U12 T2
481000 ft lb 1151 lb x 0
x 418 ft
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 20
Edition
Vector Mechanics for Engineers: Dynamics
Tenth
Sample Problem 13.2
SOLUTION:
• Apply the principle of work and
energy separately to blocks A and B.
WB 300 kg 9.81 m s 2 2940 N
T1 U12 T2 :
0 Fc 2 m WB 2 m 12 m B v 2
v 4.43 m s
U12 f kW x
k 60 kg 9.81m s 2 0.640 m 377 J k
T1 U1 2 T2 :
187.5 J - 377 J k 112 J 0 k 0.20
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 26
Edition
Vector Mechanics for Engineers: Dynamics
Tenth
Sample Problem 13.3
• Apply the principle of work and energy for the rebound
of the package.
T2 U 23 T3 :
0 36.5 J 12 60 kg v32
v3 1.103 m s
Fn m an :
W m an
W v32 W 225 ft g
3 50 ft
g 3 g 3
The dumbwaiter D and its load have a • In the first case, bodies are in uniform
combined weight of 600 lb, while the motion. Determine force exerted by
counterweight C weighs 800 lb. motor cable from conditions for static
equilibrium.
Determine the power delivered by the
electric motor M when the dumbwaiter • In the second case, both bodies are
(a) is moving up at a constant speed of accelerating. Apply Newton’s
8 ft/s and (b) has an instantaneous second law to each body to
velocity of 8 ft/s and an acceleration of determine the required motor cable
2.5 ft/s2, both directed upwards. force.
Free-body C:
Fy 0 : 2T 800 lb 0 T 400 lb
Free-body D:
Fy 0 : F T 600 lb 0
F 600 lb T 600 lb 400 lb 200 lb
Free-body C:
800
Fy mC aC : 800 2T 1.25 T 384.5 lb
32.2
Free-body D:
600
Fy m D a D : F T 600 2 .5
32.2
F 384.5 600 46.6 F 262.1 lb
Power Fv D 262.1 lb 8 ft s 2097 ft lb s
1 hp
Power 2097 ft lb s 3.81 hp
550 ft lb s
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 33
Edition
Vector Mechanics for Engineers: Dynamics
Tenth
Group Problem Solving
SOLUTION:
The problem deals with a change in
position and different velocities, so use
work-energy.
• Draw FBD of the box to help us
determine the forces that do work.
1 2 1 2
mv A mg d (sin 30 k cos 30) k mg xBC mv0
2 2
Divide by m and solve for d
vC2 /2 g k xBC v A2 /2 g
d
(sin 30 k cos 30) d 6.71 m
(2) 2/(2)(9.81) (0.25)(7) (1)2/(2)(9.81)
sin 30 0.25cos 30
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 36
Edition
Vector Mechanics for Engineers: Dynamics
Tenth
k= 0.25
Weight Yes No
Friction Yes No
1
U12 V g V g
2
• Follows that
T1 V1 T2 V2
E T V constant
T1 0 V1 W • When a particle moves under the action of
T1 V1 W conservative forces, the total mechanical
energy is constant.
1W
T2 12 mv22 2 g W V2 0 • Friction forces are not conservative. Total
2g
mechanical energy of a system involving
T2 V2 W friction decreases.
• Mechanical energy is dissipated by friction
into thermal energy. Total energy is constant.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 44
Edition
Vector Mechanics for Engineers: Dynamics
Tenth
Motion Under a Conservative Central Force
• When a particle moves under a conservative central
force, both the principle of conservation of angular
momentum
r0 mv0 sin 0 rmv sin
and the principle of conservation of energy
T0 V0 T V
1 mv 2 GMm 1 2 GMm
2 0 2 mv
r0 r
may be applied.
V2 Ve Vg 0 Wy 0.5 lb 4 ft 2 ft lb
2
T2 12 mvD
1 0.5 lb
2 32.2 ft s 2
64 . 4 ft 2 2
s 0.5 ft lb
T1 V1 T2 V2
0 18 x 2 0.5 2 x 0.3727 ft 4.47 in.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 49
Edition
Vector Mechanics for Engineers: Dynamics
Tenth
Sample Problem 13.9
SOLUTION:
• For motion under a conservative central
force, the principles of conservation of
energy and conservation of angular
momentum may be applied simultaneously.
• Apply the principles to the points of
minimum and maximum altitude to
A satellite is launched in a direction
determine the maximum altitude.
parallel to the surface of the earth
with a velocity of 36900 km/h from • Apply the principles to the orbit insertion
an altitude of 500 km. point and the point of minimum altitude to
determine maximum allowable orbit
Determine (a) the maximum altitude
insertion angle error.
reached by the satellite, and (b) the
maximum allowable error in the
direction of launching if the satellite
is to come no closer than 200 km to
the surface of the earth
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 50
Edition
Vector Mechanics for Engineers: Dynamics
Tenth
Sample Problem 13.9
• Apply the principles of conservation of energy and
conservation of angular momentum to the points of minimum
and maximum altitude to determine the maximum altitude.
Conservation of energy:
1 mv 2 GMm 1 2 GMm
TA V A TA V A 2 0 2 mv1
r0 r1
Conservation of angular momentum:
r
r0 mv0 r1mv1 v1 v0 0
r1
Combining,
2
1 v 2 1 r0 GM 1 r0 1
r0 2GM
2 0 2 r
r1 r0 1 r1 r0v02
r0 6370 km 500 km 6870 km
v0 36900 km h 10.25 106 m s
2
GM gR 2 9.81m s 2 6.37 106 m 398 1012 m3 s 2
Find TA v A 0 TA 0
Solve for vD
Find VA VA Wy A (560 lb)(90 60)=84,000 ft lbs
Find VD yD 0 VD 0
560 98.2852
F n man N D 560
32.2 240
vD2
ND W m
R
N D 1260 lbs
• Nonimpulsive
forces are forces for which
Ft is small and therefore, may be
neglected – an example of this is the weight
of the baseball.
m p v1 Imp1 2 m p mc v2
x components:
m p v1 cos 30 0 m p mc v2
10 kg 3 m/s cos 30 10 kg 25 kg v2
v2 0.742 m/s
m p v1 Imp1 2 m p v2
Imp12
Ft 18.56 N s i 15 N s j Ft 23.9 N s
10 kg 3m s 45 J
2
T1 12 m p v12 1
2
T1 T2 45 J 9.63 J
0.786
T1 45 J
SOLUTION:
• Draw impulse and momentum diagrams
of the jumper.
e coefficient of restitution
• Period of deformation: m Av A Pdt m Au Rdt u vA
Pdt v A u
0 e 1
• Period of restitution: m Au Rdt m A vA
vB u
• A similar analysis of particle B yields e
u vB
• Note: Validity of last expression does not follow from previous relation for
the coefficient of restitution. A similar but separate derivation is required.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 78
Edition
Vector Mechanics for Engineers: Dynamics
Tenth
Problems Involving Energy and Momentum
• Three methods for the analysis of kinetics problems:
- Direct application of Newton’s second law
- Method of work and energy
- Method of impulse and momentum
• Select the method best suited for the problem or part of a problem
under consideration.
t
• Apply coefficient of restitution relation with zero wall
n velocity.
0 vn evn 0
vn 0.90.866v 0.779v
v 0.779v n 0.500v t
0.779
v 0.926v tan 1 32.7
0.500
The magnitude and direction of the • Total normal component of the momentum
velocities of two identical of the two ball system is conserved.
frictionless balls before they strike
each other are as shown. Assuming • The normal relative velocities of the
e = 0.9, determine the magnitude balls are related by the coefficient of
and direction of the velocity of each restitution.
ball after the impact.
• Solve the last two equations simultaneously
for the normal velocities of the balls after
the impact.
v A 17.7t 15.0n
n
15.0
vA 23.2 ft s tan 1 40.3
17.7
vB 23.7t 34.6n
t 34.6
vB 41.9 ft s tan 1 55.6
23.7
v A 0.5v0t 0.520v0n
0.52
vA 0.721v0 tan 1 46.1
0 . 5
46.1 30 16.1
vB 0.693v0
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 87
Edition
Vector Mechanics for Engineers: Dynamics
Tenth
Sample Problem 13.17
SOLUTION:
• Apply the principle of conservation of
energy to determine the velocity of the
block at the instant of impact.
• Since the impact is perfectly plastic, the
block and pan move together at the same
velocity after impact. Determine that
velocity from the requirement that the
total momentum of the block and pan is
A 30 kg block is dropped from a height conserved.
of 2 m onto the the 10 kg pan of a
• Apply the principle of conservation of
spring scale. Assuming the impact to be
energy to determine the maximum
perfectly plastic, determine the
deflection of the spring.
maximum deflection of the pan. The
constant of the spring is k = 20 kN/m.
m A v A 2 mB vB 2 m A mB v3
306.26 0 30 10v3 v3 4.70 m s
0 1 kx 2
2 3
1
2
20 10 4.91 10
3 3 2
0.241 J
T4 0
restitution between A and B is 0.8. When =40o, find tension in the rope
find (a) the speed of B (b) the tension in the rope.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 91
Edition
Vector Mechanics for Engineers: Dynamics
Tenth
Group Problem Solving
Given: mA= 2-kg mB= 1-kg,
k= 800 N/m, A =0.2, e= 0.8
Find (a) vB (b) Trope
• Use work-energy to find the velocity of
the block just before impact
Determine the friction force acting on the block A
Solve for N
Sum forces in the y-direction N mA g cos
(2)(9.81) cos 20
Fy 0:
18.4368 N
N mA g cos 0 F f k N (0.2)(18.4368)
3.6874 N
1 1
T2 mA v A2 (1) (v A2 ) 1.000 v A2 V2 0
2 2
v2 2.94 m/s
t2
F maG
T1 U12 T2 mv1 F dt mv2
t1