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11 STATICS
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Kinematics of Particles
Lecture Notes:
J. Walt Oler
Texas Tech University
Kinematics Kinetics
Particle Particle
Rectilinear motion Newton’s 2nd law
Curvilinear motion Work and Energy
Relative motion
Impulse and Momentum
Dependent motion
• 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
dx dx dv dv
v or dt a or a v f x
dt v dt dx
v x x x
v dv f x dx v dv f x dx 1 v x 2
2
12 v02 f x dx
v0 x0 x0
m m
vt 10 9.81 2 t
s s
dy
v 10 9.81t
dt
y t t
dy 10 9.81t dt y t y0 10t 12 9.81t 2
y0 0
m m
yt 20 m 10 t 4.905 2 t 2
s s
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 14
Edition
Ninth
Vector Mechanics for Engineers: Statics
DYNAMICS
Sample Problem 11.2
• Solve for t at which velocity equals zero and evaluate
corresponding altitude.
m m
vt 10 9.81 2 t 0
s s
t 1.019s
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 s
y 25.1m
m m
vt 10 9.81 2 t
s s
m m
v3.28 s 10 9.81 2 3.28 s
s s
m
v 22.2
s
vt v0 e kt
xt
v0
k
1 e kt
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 18
Edition
Ninth
Vector Mechanics for Engineers: Statics
DYNAMICS
Sample Problem 11.3
• Integrate a = v dv/dx = -kv to find v(x).
v x
dv
a v kv dv k dx dv k dx
dx v0 0
v v0 kx
v v0 kx
• Alternatively,
with xt
v0
k
1 e kt
vt
and vt v0 e kt or e kt
v0
v vt
then xt 0 1
k v0
v v0 kx
dx
v constant
dt
x t
dx v dt
x0 0
x x0 vt
x x0 vt
x t
dx
dt
v0 at dx v0 at dt x x0 v0t 12 at 2
x0 0
x x0 v0t 12 at 2
v 2 v02 ax x0
v x
dv
v a constant v dv a dx 1
2
dx v0 x0
v 2 v02 2a x x0
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 21
Edition
Ninth
Vector Mechanics for Engineers: Statics
DYNAMICS
Motion of Several Particles: Relative Motion
• For particles moving along the same line, time
should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.
xB A xB x A relative position of B
with respect to A
xB x A xB A
vB A vB v A relative velocity of B
with respect to A
vB v A vB A
a B A a B a A relative acceleration of B
with respect to A
aB a A aB A
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 22
Edition
Ninth
Vector Mechanics for Engineers: Statics
DYNAMICS
Sample Problem 11.4
SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
yB E
12 18t 4.905t 2 5 2t 0
t 0.39 s meaningless
t 3.65 s
v B E 18 9.81t 2
16 9.813.65
m
vB E 19.81
s
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 25
Edition
Ninth
Vector Mechanics for Engineers: Statics
DYNAMICS
Motion of Several Particles: Dependent Motion
• Position of a particle may depend on position of one
or more other particles.
• Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A 2 x B constant (one degree of freedom)
• Positions of three blocks are dependent.
2 x A 2 xB xC constant (two degrees of freedom)
v 2A v A 02 2a A x A x A 0
2
in. in.
12 2a A 8 in. aA 9
s s2
v A v A 0 a At
in. in.
12 9 2t t 1.333 s
s s
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.
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 29
Edition
Ninth
Vector Mechanics for Engineers: Statics
DYNAMICS
Sample Problem 11.5
• 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
vB 0 6
in. in.
or 6 s
© 2010 The McGraw-HillsCompanies, Inc.sAll rights reserved. 11 - 30
Edition
Ninth
Vector Mechanics for Engineers: Statics
DYNAMICS
Graphical Solution of Rectilinear-Motion Problems
using dv = a dt ,
v1
x1 x0 v0t1 t1 t a dt
v0
v1
t1 t a dt first moment of area under a-t curve
v0 with respect to t = t1 line.
• 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
After substituting,
v2 dv v2
a v et en at v an
dt
• Tangential component of acceleration reflects
change of speed and normal component reflects
change of direction.
• Tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 42
Edition
Ninth
Vector Mechanics for Engineers: Statics
DYNAMICS
Circular Motion:
• With the velocity vector expressed as v vet
the particle acceleration may be written as
Using
v r
After substituting,
v2
a v et en
v2
where at v r an r 2 v
r
• Position vector,
r R e R z k
• Velocity vector,
dr
v R eR R e z k
dt
• Acceleration vector,
dv
a
dt
R 2
R eR R 2 R e z k
1 an 1 3.10
tan tan 48.4
at 2.75
a B OA r 0.240 m s 2