Seventh Edition

15

CHAPTER

VECTOR MECHANICS FOR ENGINEERS:

DYNAMICS
Ferdinand P. Beer E. Russell Johnston, Jr. Lecture Notes: J. Walt Oler Texas Tech University

Kinematics of Rigid Bodies

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Seventh Edition

Vector Mechanics for Engineers: Dynamics

Contents
Introduction Translation Rotation About a Fixed Axis: Velocity Rotation About a Fixed Axis: Acceleration Rotation About a Fixed Axis: Representative Slab Equations Defining the Rotation of a Rigid Body About a Fixed Axis Sample Problem 5.1 General Plane Motion Absolute and Relative Velocity in Plane Motion Sample Problem 15.2 Sample Problem 15.3 Instantaneous Center of Rotation in Plane Motion Sample Problem 15.4 Sample Problem 15.5 Absolute and Relative Acceleration in Plane Motion Analysis of Plane Motion in Terms of a Parameter Sample Problem 15.6 Sample Problem 15.7 Sample Problem 15.8 Rate of Change With Respect to a Rotating Frame Coriolis Acceleration Sample Problem 15.9 Sample Problem 15.10 Motion About a Fixed Point General Motion Sample Problem 15.11 Three Dimensional Motion. Coriolis Acceleration Frame of Reference in General Motion Sample Problem 15.15
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Seventh Edition Seventh Edition

Vector Mechanics for Engineers: Dynamics

Introduction
Kinematics of rigid bodies: relations between time and the positions, velocities, and accelerations of the particles forming a rigid body. Classification of rigid body motions: - translation: rectilinear translation curvilinear translation - rotation about a fixed axis - general plane motion - motion about a fixed point - general motion

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Vector Mechanics for Engineers: Dynamics

Translation
Consider rigid body in translation: - direction of any straight line inside the body is constant, - all particles forming the body move in parallel lines. For any two particles in the body, r r r rB = rA + rB A Differentiating with respect to time, r r r r &B = r &A + r &B A = r &A r r r vB = v A All particles have the same velocity. Differentiating with respect to time again, r r r r & & & & & & & r& B = rA + rB A = rA r r aB = a A All particles have the same acceleration.
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Vector Mechanics for Engineers: Dynamics

Rotation About a Fixed Axis. Velocity
Consider rotation of rigid body about a fixed axis AA
r r Velocity vector v = dr dt of the particle P is tangent to the path with magnitude v = ds dt s = ( BP ) = (r sin ) v= ds = r& sin = lim (r sin ) dt t 0 t

The same result is obtained from r r dr r r v= = r dt r r r = k = &k = angular velocity

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Vector Mechanics for Engineers: Dynamics

Rotation About a Fixed Axis. Acceleration
Differentiating to determine the acceleration, r r dv d v r = ( r ) a= dt dt r r d r r dr = r + dt dt r d r r r = r + v dt r d r = = angular acceleration dt r r r &&k = k = &k = Acceleration of P is combination of two vectors, r r r r r r a = r + ( r ) r r r = tangential acceleration component r r r ( r ) = radial acceleration component
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Vector Mechanics for Engineers: Dynamics

Rotation About a Fixed Axis. Representative Slab
Consider the motion of a representative slab in a plane perpendicular to the axis of rotation. Velocity of any point P of the slab, r r r r r v = r = k r v = r Acceleration of any point P of the slab, r r r r r r a = r + ( r ) r r r = k r 2r Resolving the acceleration into tangential and normal components, r r r at = k r a t = r r 2r an = r a n = r 2
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Vector Mechanics for Engineers: Dynamics

Equations Defining the Rotation of a Rigid Body About a Fixed Axis
Motion of a rigid body rotating around a fixed axis is often specified by the type of angular acceleration. Recall =
d dt or
2

dt =

d d d = 2 = dt d dt

Uniform Rotation, = 0:

= 0 + t
Uniformly Accelerated Rotation, = constant: = 0 + t

= 0 + 0t + 1 t 2 2
2 2 = 0 + 2 ( 0 )
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Vector Mechanics for Engineers: Dynamics

Sample Problem 5.1
SOLUTION: Due to the action of the cable, the tangential velocity and acceleration of D are equal to the velocity and acceleration of C. Calculate the initial angular velocity and acceleration. Apply the relations for uniformly accelerated rotation to determine the velocity and angular position of the pulley after 2 s. Evaluate the initial tangential and normal acceleration components of D.

Cable C has a constant acceleration of 9 in/s2 and an initial velocity of 12 in/s, both directed to the right. Determine (a) the number of revolutions of the pulley in 2 s, (b) the velocity and change in position of the load B after 2 s, and (c) the acceleration of the point D on the rim of the inner pulley at t = 0.
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Vector Mechanics for Engineers: Dynamics

Sample Problem 5.1
SOLUTION: The tangential velocity and acceleration of D are equal to the velocity and acceleration of C. r r r r (a D )t = aC = 9 in. s (v ) = (v ) = 12 in. s

(vD )0 = r0 (vD )0
0 =
r

D 0

C 0

12 = 4 rad s 3

(aD )t = r (aD )t
=
r

9 = 3 rad s 2 3

Apply the relations for uniformly accelerated rotation to determine velocity and angular position of pulley after 2 s.

= 0 + t = 4 rad s + 3 rad s 2 (2 s ) = 10 rad s

= 0t + 1 t 2 2 = 14 rad

3 rad s 2 (2 s )2 = (4 rad s )(2 s ) + 1 2

N = 2.23 rev

1 rev N = (14 rad ) = number of revs 2 rad vB = r = (5 in.)(10 rad s ) yB = r = (5 in.)(14 rad )
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r vB = 50 in. s yB = 70 in.
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Vector Mechanics for Engineers: Dynamics

Sample Problem 5.1
Evaluate the initial tangential and normal acceleration components of D. r r (a D )t = aC = 9 in. s
2 (aD )n = rD0 = (3 in.)(4 rad s )2 = 48 in

s2

r (a D )t = 9 in.

s2

r (a D )n = 48 in.

s2

Magnitude and direction of the total acceleration,

aD =

(aD )t2 + (aD )2 n

aD = 48.8 in. s 2

= 92 + 482 tan = =

(aD )n (aD )t
48 9

= 79.4
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Vector Mechanics for Engineers: Dynamics

General Plane Motion

General plane motion is neither a translation nor a rotation. General plane motion can be considered as the sum of a translation and rotation. Displacement of particles A and B to A2 and B2 can be divided into two parts: - translation to A2 and B1 about A2 to B2 - rotation of B1
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Vector Mechanics for Engineers: Dynamics

Absolute and Relative Velocity in Plane Motion

Any plane motion can be replaced by a translation of an arbitrary reference point A and a simultaneous rotation about A. r r r vB = v A + vB A r r r v B A = k rB A v B A = r r r r r v B = v A + k rB A
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Vector Mechanics for Engineers: Dynamics

Absolute and Relative Velocity in Plane Motion

Assuming that the velocity vA of end A is known, wish to determine the velocity vB of end B and the angular velocity in terms of vA, l, and . The direction of vB and vB/A are known. Complete the velocity diagram.
vB = tan vA v B = v A tan
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vA v = A = cos v B A l

vA l cos
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Vector Mechanics for Engineers: Dynamics

Absolute and Relative Velocity in Plane Motion

Selecting point B as the reference point and solving for the velocity vA of end A and the angular velocity leads to an equivalent velocity triangle. vA/B has the same magnitude but opposite sense of vB/A. The sense of the relative velocity is dependent on the choice of reference point. Angular velocity of the rod in its rotation about B is the same as its rotation about A. Angular velocity is not dependent on the choice of reference point.
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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.2
SOLUTION: The displacement of the gear center in one revolution is equal to the outer circumference. Relate the translational and angular displacements. Differentiate to relate the translational and angular velocities. The double gear rolls on the stationary lower rack: the velocity of its center is 1.2 m/s. Determine (a) the angular velocity of the gear, and (b) the velocities of the upper rack R and point D of the gear. The velocity for any point P on the gear may be written as
r r r vP = v A + vP
A

r r r = v A + k rP

Evaluate the velocities of points B and D.

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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.2
SOLUTION: The displacement of the gear center in one revolution is equal to the outer circumference. For xA > 0 (moves to right), < 0 (rotates clockwise).

xA = 2 r 2 y x

x A = r1

Differentiate to relate the translational and angular velocities.

v A = r1

vA 1.2 m s = r1 0.150 m

= k = (8 rad s )k

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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.2
r r r For any point P on the gear, vP = v A + vP
A

r r r = v A + k rP

Velocity of the upper rack is equal to velocity of point B: r r r r r vR = vB = v A + k rB A r r r = (1.2 m s )i + (8 rad s )k (0.10 m ) j r r = (1.2 m s )i + (0.8 m s )i r r vR = (2 m s )i

Velocity of the point D:

r r r r vD = v A + k rD A r r r = (1.2 m s )i + (8 rad s )k ( 0.150 m )i r r r vD = (1.2 m s )i + (1.2 m s ) j vD = 1.697 m s

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Vector Mechanics for Engineers: Dynamics

Absolute and Relative Acceleration in Plane Motion

Absolute acceleration of a particle of the slab, r r r aB = a A + aB A

r Relative acceleration a B A associated with rotation about A includes tangential and normal components, r r r (a B A ) = r (a B A ) = k rB A

r aB

A n

r 2 rB A

(a B A )n = r 2

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Vector Mechanics for Engineers: Dynamics

Absolute and Relative Acceleration in Plane Motion
r r Given a A and v A , r r determine a B and . r r r aB = a A + aB A r r r = a A + (a B A ) + (a B
n

A t

r Vector result depends on sense of a A and the relative magnitudes of a A and (a B A )

n

Must also know angular velocity .

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Vector Mechanics for Engineers: Dynamics

Absolute and Relative Acceleration in Plane Motion

r r r Write a B = a A + a B

in terms of the two component equations,

0 = a A + l 2 sin l cos

+ x components:
+

y components: a B = l 2 cos l sin

Solve for aB and .

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Vector Mechanics for Engineers: Dynamics

Analysis of Plane Motion in Terms of a Parameter
In some cases, it is advantageous to determine the absolute velocity and acceleration of a mechanism directly.
x A = l sin y B = l cos

vA = x &A = l& cos = l cos

aA = & x &A && cos = l& 2 sin + l = l 2 sin + l cos

vB = y &B = l& sin = l sin

aB = & y &B &&sin = l& 2 cos l = l 2 cos l sin

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Vector Mechanics for Engineers: Dynamics

Instantaneous Center of Rotation in Plane Motion
Plane motion of all particles in a slab can always be replaced by the translation of an arbitrary point A and a rotation about A with an angular velocity that is independent of the choice of A. The same translational and rotational velocities at A are obtained by allowing the slab to rotate with the same angular velocity about the point C on a perpendicular to the velocity at A. The velocity of all other particles in the slab are the same as originally defined since the angular velocity and translational velocity at A are equivalent. As far as the velocities are concerned, the slab seems to rotate about the instantaneous center of rotation C.

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Vector Mechanics for Engineers: Dynamics

Instantaneous Center of Rotation in Plane Motion
If the velocity at two points A and B are known, the instantaneous center of rotation lies at the intersection of the perpendiculars to the velocity vectors through A and B . If the velocity vectors are parallel, the instantaneous center of rotation is at infinity and the angular velocity is zero. If the velocity vectors at A and B are perpendicular to the line AB, the instantaneous center of rotation lies at the intersection of the line AB with the line joining the extremities of the velocity vectors at A and B. If the velocity magnitudes are equal, the instantaneous center of rotation is at infinity and the angular velocity is zero.
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Vector Mechanics for Engineers: Dynamics

Instantaneous Center of Rotation in Plane Motion
The instantaneous center of rotation lies at the intersection of the perpendiculars to the velocity vectors through A and B . v v v = A = A v B = ( BC ) = (l sin ) A l cos AC l cos = v A tan The velocities of all particles on the rod are as if they were rotated about C. The particle at the center of rotation has zero velocity. The particle coinciding with the center of rotation changes with time and the acceleration of the particle at the instantaneous center of rotation is not zero. The acceleration of the particles in the slab cannot be determined as if the slab were simply rotating about C. The trace of the locus of the center of rotation on the body is the body centrode and in space is the space centrode.
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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.4
SOLUTION: The point C is in contact with the stationary lower rack and, instantaneously, has zero velocity. It must be the location of the instantaneous center of rotation. Determine the angular velocity about C based on the given velocity at A. The double gear rolls on the stationary lower rack: the velocity of its center is 1.2 m/s. Determine (a) the angular velocity of the gear, and (b) the velocities of the upper rack R and point D of the gear.
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Evaluate the velocities at B and D based on their rotation about C.

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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.4
SOLUTION: The point C is in contact with the stationary lower rack and, instantaneously, has zero velocity. It must be the location of the instantaneous center of rotation. Determine the angular velocity about C based on the given velocity at A. v 1.2 m s = A= v A = rA = 8 rad s rA 0.15 m Evaluate the velocities at B and D based on their rotation about C.

vR = vB = rB = (0.25 m )(8 rad s ) rD = (0.15 m ) 2 = 0.2121 m

r r vR = (2 m s )i

vD = rD = (0.2121 m )(8 rad s ) vD = 1.697 m s r r r vD = (1.2i + 1.2 j )(m s )

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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.5
SOLUTION: Determine the velocity at B from the given crank rotation data. The direction of the velocity vectors at B and D are known. The instantaneous center of rotation is at the intersection of the perpendiculars to the velocities through B and D. Determine the angular velocity about the center of rotation based on the velocity at B. Calculate the velocity at D based on its rotation about the instantaneous center of rotation.

The crank AB has a constant clockwise angular velocity of 2000 rpm. For the crank position indicated, determine (a) the angular velocity of the connecting rod BD, and (b) the velocity of the piston P.

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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.5
SOLUTION: From Sample Problem 15.3, r r r vB = (403.9i 481.3 j )(in. s ) vB = 628.3 in. s

= 13.95
The instantaneous center of rotation is at the intersection of the perpendiculars to the velocities through B and D.
Determine the angular velocity about the center of rotation based on the velocity at B.
vB = (BC ) BD vB 628.3 in. s = BC 10.14 in.

B = 40 + = 53.95 D = 90 = 76.05
CD 8 in. BC = = sin 76.05 sin 53.95 sin50
BC = 10.14 in. CD = 8.44 in.

BD =

BD = 62.0 rad s

Calculate the velocity at D based on its rotation about the instantaneous center of rotation. vD = (CD ) BD = (8.44 in.)(62.0 rad s )
vP = vD = 523 in. s = 43.6 ft s

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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.6
SOLUTION: The expression of the gear position as a function of is differentiated twice to define the relationship between the translational and angular accelerations. The acceleration of each point on the gear is obtained by adding the acceleration of the gear center and the relative accelerations with respect to the center. The latter includes normal and tangential acceleration components.

The center of the double gear has a velocity and acceleration to the right of 1.2 m/s and 3 m/s2, respectively. The lower rack is stationary. Determine (a) the angular acceleration of the gear, and (b) the acceleration of points B, C, and D.

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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.6
SOLUTION: The expression of the gear position as a function of is differentiated twice to define the relationship between the translational and angular accelerations. x A = r1 v A = r1& = r1

vA 1.2 m s = = 8 rad s r1 0.150 m

&& = r1 a A = r1

aA 3 m s2 = r1 0.150 m

= k = 20 rad s 2 k

)r

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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.6
The acceleration of each point is obtained by adding the acceleration of the gear center and the relative accelerations with respect to the center. The latter includes normal and tangential acceleration components.

r r r r r r a B = a A + aB A = a A + a B A + aB A t n r r r r = a A + k rB A 2 rB A r r r r = 3 m s 2 i 20 rad s 2 k (0.100 m ) j (8 rad s )2 ( 0.100 m ) j r r r = 3 m s 2 i + 2 m s 2 i 6.40 m s 2 j

) (

( (

) ( ) (

) (

r r r aB = 5 m s 2 i 6.40 m s 2 j

) (

aB = 8.12 m s 2

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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.6

r r r aC = a A + aC

r r r r = a A + k rC A 2 rC A r r r r = 3 m s 2 i 20 rad s 2 k ( 0.150 m ) j (8 rad s )2 ( 0.150 m ) j r r r = 3 m s 2 i 3 m s 2 i + 9.60 m s 2 j r r ac = 9.60 m s 2 j r r r r r r r aD = a A + aD A = a A + k rD A 2 rD A r r r r = 3 m s 2 i 20 rad s 2 k ( 0.150 m ) i (8 rad s )2 ( 0.150m ) i r r r = 3 m s 2 i + 3 m s 2 j + 9.60 m s 2 i r r r aD = 12.6 m s 2 i + 3 m s 2 j aD = 12.95 m s 2

( (

) ( ) (

) ( )

( (

) ( ) (

) (

) (

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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.3
SOLUTION: Will determine the absolute velocity of point D with r r r vD = vB + vD B r The velocity v B is obtained from the given crank rotation data.
r velocity v The crank AB has a constant clockwise The directions of the absolute D r and the relative velocity v D B are angular velocity of 2000 rpm. determined from the problem geometry. For the crank position indicated, The unknowns in the vector expression determine (a) the angular velocity of are the velocity magnitudes v D and v D B the connecting rod BD, and (b) the which may be determined from the velocity of the piston P. corresponding vector triangle.

The angular velocity of the connecting rod is calculated from v D B .

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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.3
SOLUTION: Will determine the absolute velocity of point D with r r r vD = vB + vD B
r The velocity vB is obtained from the crank rotation data.

AB = 2000

vB = ( AB ) AB = (3 in.)(209.4 rad s )

rev min 2 rad = 209.4 rad s min 60 s rev

The velocity direction is as shown.

r The direction of the absolute velocity vD is horizontal. r The direction of the relative velocity vD B is perpendicular to BD. Compute the angle between the horizontal and the connecting rod from the law of sines.

sin 40 sin = 8 in. 3 in.

= 13.95

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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.3

Determine the velocity magnitudes vD and vD from the vector triangle.

vD B 628.3 in. s vD = = sin 53.95 sin 50 sin76.05 vD = 523.4 in. s = 43.6 ft s vD
r r r vD = vB + vD
B B

vP = vD = 43.6 ft s

= 495.9 in. s = l BD 495.9 in. s B = 8 in. l = 62.0 rad s vD

r

vD
B

BD =

BD = (62.0 rad s )k
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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.7
SOLUTION: The angular acceleration of the connecting rod BD and the acceleration of point D will be determined from r r r r r r aD = aB + aD B = aB + aD B + aD B

)t (

)n

The acceleration of B is determined from the given rotation speed of AB. Crank AG of the engine system has a constant clockwise angular velocity of 2000 rpm. For the crank position shown, determine the angular acceleration of the connecting rod BD and the acceleration of point D. The directions of the accelerations r r r a D , a D B , and a D B are t n determined from the geometry.

Component equations for acceleration of point D are solved simultaneously for acceleration of D and angular acceleration of the connecting rod.
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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.7
SOLUTION: The angular acceleration of the connecting rod BD and the acceleration of point D will be determined from r r r r r r a D = a B + aD B = aB + aD B + aD B

)t (

)n

The acceleration of B is determined from the given rotation speed of AB.

AB = 2000 rpm = 209.4 rad s = constant AB = 0

2 aB = r AB =

r r r aB = 10,962 ft s 2 ( cos 40i sin 40 j )

3 ft )(209.4 rad s )2 = 10,962 ft s 2 (12

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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.7

r r The directions of the accelerations aD , aD determined from the geometry. r r aD = m aDi

B t , and

r (a D B )n are

From Sample Problem 15.3, BD = 62.0 rad/s, = 13.95o.

2 8 ft )(62.0 rad s )2 = 2563 ft s 2 (aD B )n = (BD ) BD = (12 r r r 2 (a D B )n = (2563 ft s )( cos13.95i + sin 13.95 j ) 8 ft ) (aD B )t = (BD ) BD = (12 BD = 0.667 BD

The direction of (aD/B)t is known but the sense is not known, r r r aD B = (0.667 BD )( sin 76.05i cos 76.05 j )

)t

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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.7

Component equations for acceleration of point D are solved simultaneously. r r r r r r a D = a B + aD B = aB + aD B + aD B

)t (

)n

x components: aD = 10,962 cos 40 2563 cos13.95 + 0.667 BD sin 13.95 y components: 0 = 10,962 sin 40 + 2563 sin 13.95 + 0.667 BD cos13.95

BD = 9940 rad s 2 k

( )r r r aD = (9290 ft s 2 ) i
r
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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.8
SOLUTION: The angular velocities are determined by simultaneously solving the component equations for r r r vD = vB + vD B The angular accelerations are determined by simultaneously solving the component equations for r r r aD = aB + aD B

In the position shown, crank AB has a constant angular velocity 1 = 20 rad/s counterclockwise. Determine the angular velocities and angular accelerations of the connecting rod BD and crank DE.

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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.8
SOLUTION: The angular velocities are determined by simultaneously solving the component equations for r r r vD = vB + vD B
r r r r r r vD = DE rD = DE k ( 17i + 17 j ) r r = 17 DE i 17 DE j r r r r r r vB = AB rB = 20k (8i + 14 j ) r r = 280i + 160 j r r r r r r vD B = BD rD B = BD k (12i + 3 j ) r r = 3 BD i + 12 BD j

x components: y components:
r

17 DE = 280 3 BD 17 DE = +160 + 12 BD
r r

BD = (29.33 rad s )k
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DE = (11.29 rad s )k
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Vector Mechanics for Engineers: Dynamics

Sample Problem 15.8
The angular accelerations are determined by simultaneously solving the component equations for r r r aD = aB + aD B r r r 2 r aD = DE rD DE rD r r r r r = DE k ( 17i + 17 j ) (11.29 )2 ( 17i + 17 j ) r r r r = 17 DE i 17 DE j + 2170i 2170 j r r r r r 2 r aB = AB rB AB rB = 0 (20 )2 (8i + 14 j ) r r = 3200i + 5600 j r r r 2 r aD B = BD rB D BD rB D r r r r r = B D k (12i + 3 j ) (29.33)2 (12i + 3 j ) r r r r = 3 B D i + 12 B D j 10,320i 2580 j x components: 17 DE + 3 BD = 15,690 y components: 17 DE 12 BD = 6010 r r r r BD = 645 rad s 2 k DE = 809 rad s 2 k

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Vector Mechanics for Engineers: Dynamics

Motion About a Fixed Point
The most general displacement of a rigid body with a fixed point O is equivalent to a rotation of the body about an axis through O. With the instantaneous axis of rotation and angular r velocity , the velocity of a particle P of the body is r r dr r r =r v= dt and the acceleration of the particle P is r r r r r r r r d = . a = r + ( r ) dt r The angular r acceleration represents the velocity of the tip of . r As the vector moves within the body and in space, it generates a body cone and space cone which are tangent along the instantaneous axis of rotation. Angular velocities have magnitude and direction and obey parallelogram law of addition. They are vectors.
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Vector Mechanics for Engineers: Dynamics

General Motion
For particles A and B of a rigid body, r r r vB = v A + vB A Particle A is fixed within the body and motion of the body relative to AXYZ is the motion of a body with a fixed point r r r r v B = v A + rB A Similarly, the acceleration of the particle P is r r r aB = a A + aB A r r r r r r = a A + rB A + ( rB A ) Most general motion of a rigid body is equivalent to: - a translation in which all particles have the same velocity and acceleration of a reference particle A, and - of a motion in which particle A is assumed fixed.
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