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Kinetics: The branch of dynamics considering the forces causing the motion.
Dynamics: It is the combination of kinematics and kinetics.
Mechanism is a combination of rigid bodies joined together to provide a specific
absolute motion.
Machine is a device (consisting of fixed and moving parts) which receives energy in some
available form and utilizes it to do some particular type of work.
F
x
Figure (1)
Example: Find the work done if the force is 100N and the distance is 4.0m for the shown
systems in Figure (2).
F=100N
F=100N
F=100N
30
X=4.0m
F=100N
30o
X=4.0m
(a)
(b)
Figure (2)
Energy is the capacity to do work which implies movement of a body by the application
of a force, as for example: raising of a weight, walking, moving of a car etc.
Types of Energies
Energy exists in many forms such as thermal energy, chemical energy, mechanical energy,
electrical energy. Examples:
1. An electric motor converts electrical energy into mechanical energy.
2. An internal combustion engine is one example of a machine that converts chemical
energy to mechanical energy.
3. Steam engine and Car engine convert heat energy to mechanical energy.
The mechanical energy can be kinetic energy (T) or potential energy (V).
where T
mass velocity
2
1
mv 2 , and
2
Power is the rate of doing work and can be expressed mathematically as:
Power (W) = work done (J)/time taken (sec) = force (N) velocity (m/sec)
The unit of the power is the Watt, where 1 Watt = 1 J/sec.
Velocity(v) =
dx
x
dt
(m/sec)
Linear Acceleration is the rate of change of linear velocity of a body with respect to
the time. Mathematically, the linear acceleration is:
Acceleration (a) =
dv d dx d 2 x
x
dt dt dt dt 2
(m/sec2)
Angular Velocity is the rate of change of angular displacement with respect to time.
Angularvelocity( )
dt
(rad/sec)
4
2
N
60
(rad/sec)
Angular Acceleration is the rate of change of angular velocity with respect to time.
Angular acceleration ( )
d d
dt
dt
(rad/sec2)
at
S=r
an
vt
dS d
d
r r
r
dt dt
dt
Radial component
Figure (3)
dv
d
d
at t r r
r
dt
dt
dt
Tangential component
an v
vt
d
v v2
v v
dt
r r
r r
at
at
an
a
Total acceleration
an
at
tan 1
an
Example: The speed of a flywheel increases from 150rpm to 200rpm in 5sec. Find its
angular acceleration in rad/sec.
Where m is the total mass and k is the radius of gyration is the radius.
(1) The mass moment of inertia of a thin disc of radius R ,
R
mR2
.
2
Thin disc
m L2
.
12
G
L
Thin rod
The mass moment of inertia about any other parallel axis may be determined by using a
parallel axis theorem. Then the moment of inertia about a parallel axis is given by:
IO IG m d 2
where I G is the moment of inertia of a body about an axis through its centre of gravity,
and d is the distance between two parallel axes.
Problem: Show that the mass moment of inertia about a parallel axis through the end of
the rod is given by:
IO
m L2
.
3
The linear momentum (LLm) of a system of particles is equal to the product of the total
mass (m) of the system and the velocity (v) of the center of mass.
LLm m v m r
(kg.m/sec)
Fixed axis
Lam m v r m r I o
(kg.m2/sec)
where Io =m r2 is the mass moment of inertia of whole body (m) about the point O.
Inertia Torque
The Newtons second law of motion states that the torque is directly proportional to the
rate of change of the angular momentum, i.e.,
dLam d I o
dt
dt
T Io
d
Io
dt
(N.m)