208322 Mechanical Vibrations

Lesson 4-1
6 Kinetics of Rigid Body: Force and Acceleration......................................11
Dynamics Review [1] 6.1 Mass Moment of Inertia.....................................................................11
6.2 Planar Kinetic Equations of Motion ..................................................11
1 Kinematics of Particle.................................................................................2 6.3 Friction Problems ..............................................................................12
1.1 Rectilinear Motion: Continuous Motion..............................................2 7 Kinetics of Rigid Body: Work and Energy ..............................................12
1.2 Rectilinear Motion: Erratic Motion .....................................................2 7.1 Work of Various Forces ....................................................................12
1.3 Curvilinear Motion: Rectangular Components ....................................2 7.2 Principle of Work and Energy ...........................................................12
1.4 Curvilinear Motion: Normal and Tangential Components ..................3 7.3 Power .................................................................................................12
1.5 Curvilinear Motion: Polar Components...............................................3 8 Kinetics of Rigid Body: Impulse and Momentum....................................12
1.6 Absolute-Motion Analysis of Dependent Motion................................3 8.1 Momentum.........................................................................................12
1.7 Relative-Motion Analysis Using Translating Axes .............................4 8.2 Principle of Impulse and Momentum ................................................13
2 Kinetics of Particle: Force and Acceleration ..............................................4 8.3 Conservation of Momentum ..............................................................13
2.1 Newtons Laws of Motion ...................................................................4 8.4 Eccentric Impact ................................................................................13
2.2 Equation of Motion for a System of Particles......................................4 9 Miscellany.................................................................................................13
2.3 Equation of Motion: Rectangular Coordinates ....................................5 9.1 Gravitational Constant .......................................................................13
2.4 Equation of Motion: Normal and Tangential Coordinates ..................5 9.2 Systems of Units ................................................................................13
2.5 Equation of Motion: Cylindrical Coordinates......................................5 9.3 Vector Analysis .................................................................................13
3 Kinetics of Particle: Work and Energy .......................................................5 References....................................................................................................14
3.1 The Work of a Force ............................................................................5
3.2 Principle of Work and Energy .............................................................6
3.3 Principle of Work and Energy for a System of Particles .....................6
3.4 Power and Efficiency...........................................................................6
4 Kinetics of Particle: Impulse and Momentum ............................................6
4.1 Principle of Linear Impulse and Momentum .......................................7
4.2 Principle of Linear Impulse and Momentum
for a System of Particles ............................................................................7
4.3 Conservation of Linear Momentum for a System of Particles ............7
4.4 Impact ..................................................................................................7
4.5 Angular Momentum.............................................................................7
4.6 Angular Impulse and Momentum Principles .......................................8
5 Kinematics of Rigid Body ..........................................................................8
5.1 Absolute-Motion Analysis ...................................................................8
5.2 Relative-Motion Analysis for General Plane Motion:
Translating Axes ........................................................................................9
5.3 Relative-Motion Analysis for General Plane Motion:
Rotating Axes...........................................................................................10

1 Copyright 2007 by Withit Chatlatanagulchai

 208322 Mechanical Vibrations
Lesson 4-1
1 Kinematics of Particle For Constant Acceleration
We treat an object as a particle when we only consider the motion
at its mass center and when any rotation of the body is neglected. v2 = v1 + at ,
1
1.1 Rectilinear Motion: Continuous Motion s2 = s1 + v1t + at 2 ,
2
This section discusses the case when position, velocity, and
v2 = v1 + 2a ( s2 s1 ) .
2 2
acceleration are described using mathematical functions.

Only two of the above three equations are independent of one
Position vector, s , is used to specify the location of a particle at any given
another.
time.



Displacement vector, s2 s1 , is defined as the change in position vector.


1.2 Rectilinear Motion: Erratic Motion
Average velocity vector, ( s2 s1 ) / t , is the displacement vector divided by
When position, velocity, and acceleration are described using
time. graphs.



Instantaneous velocity vector is v = ds / dt.
Slope of s - t graph equals velocity ( ds / dt = v. )
Distance, a scalar quantity, equals the total traveling distance of a particle. Slope of v - t graph equals acceleration ( dv / dt = a. )
Average speed, a scalar quantity, equals distance divided by time.
Instantaneous speed, a scalar quantity, is magnitude of the instantaneous
Area under v - t graph equals change in displacement ( v dt = s2 s1. )
velocity, v = ds / dt.

Area under a - t graph equals change in velocity ( a dt = v2 v1. )

Signs
First, set an origin and set positive direction of the position vector.

Area under a - s graph ( a ds =
2
( v2 v1 ) . )
1 2 2

Velocity and accelerations positive directions follow that of the position dv

vector. Velocity multiplies slope of v - s graph equals acceleration ( a = v .)
ds
For Non-constant Acceleration
1.3 Curvilinear Motion: Rectangular Components
ds




v= , r = xi + yj + zk ,
dt




dv v = xi
 + yj
 + zk
 ,
a= ,




dt a = 
xi + 
yj + 
zj .
v dv = a ds.

2 Copyright 2007 by Withit Chatlatanagulchai

 208322 Mechanical Vibrations
Lesson 4-1
Motion of a Projectile 1.5 Curvilinear Motion: Polar Components
Set coordinates for correct signs, x - axis for horizontal and y - axis

for vertical. u

ur
ax = 0,
a y = g.
P
Then apply equations for constant acceleration in Section 1.1. r

1.4 Curvilinear Motion: Normal and Tangential

Components







un v = vr ur + v u = r ur + r u ,




a = ar ur + a u =  (

) (

)
r r 2 ur + r + 2r u .

When r = f ( ) is given, use the chain rule to find velocity and

P acceleration components.

When in 3 dimensions (cylindrical coordinates), add z component as
ut
in Section 1.3.



Sometimes, 2 or more types of coordinates can be used to help
v = v ut = s ut ,
solve a problem.
2




v

a = at ut + anun = v ut + un , 1.6 Absolute-Motion Analysis of Dependent Motion

When the motion of one particle depends on the corresponding
at ds = v dv,
motion of another particle, set position coordinates then relates each
3/ 2
1 + ( dy / dx ) 2 coordinates geometrically, that is,
= .
( d y / dx )
2 2 sa + sb = c,
sa + sb = 0,




When in 3 dimensions, include ub = ut un as the third-component va + vb = 0,
unit vector.
aa + ab = 0.

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 208322 Mechanical Vibrations
Lesson 4-1
1.7 Relative-Motion Analysis Using Translating Axes F=
Gm1m2
,
When an observer A is on a translating axes. r2
m3
y G = 66.73 1012 ,
kg s 2
B
again, obtained from experiments. Weight is found from the law above,
Y therefore, weight is not absolute.
x Inertial frame of reference is a coordinate system that does not
A rotate and is either fixed or translates with a constant velocity. Whenever
the Newtons law is applied, the acceleration must be made from the
inertial frame of reference. Even if the earth is rotating, motions on or near
the surface of the earth can approximately use the earth as the inertial
X frame of reference.




rB = rA + rB / A , 2.2 Equation of Motion for a System of Particles




vB = v A + vB / A , Center of mass of a system of particles is defined by




aB = a A + aB / A .


mrG = mi ri ,
2 Kinetics of Particle: Force and Acceleration therefore,
This method is suitable for solving kinetic problems that involve



force and acceleration. maG = mi ai .
2.1 Newtons Laws of Motion For one particle in the system, we have
From experiments, we have Newtons second law of motion






Fi + fi = mi ai ,
F = ma.


where Fi is an external force and f i is an internal force of the system.
Mass is found from the law above, therefore, mass is an absolute quantity,
For a system of particles, we have
which means it is constant disregarding location.
External attraction force between two bodies is governed by


Newtons law of gravitational attraction, i = maG .
F

Only external forces of the system are taken into account since all the
internal forces are cancelled out.

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 208322 Mechanical Vibrations
Lesson 4-1
2.3 Equation of Motion: Rectangular Coordinates r = f ( ) Tangent

Free-Body Diagram (FBD)

Draw all external forces (


F ) i in the left-hand-side diagram.
Draw all inertia forces ( maG ) in the right-hand-side diagram.

F x = max , r
F y = ma y ,
F z = maz .

Signs of quantities in the FBD r

tan = .
Any positive values are in the same direction as in the FBD. Any dr / d


negative values are in the opposite direction as in the FBD (including a. )
Friction force always acts on the FBD such that it opposes the 3 Kinetics of Particle: Work and Energy
motion of the particle relative to the surface it contacts. This method is suitable for solving kinetic problems that involve
velocity, force, and displacement.
2.4 Equation of Motion: Normal and Tangential
Coordinates 3.1 The Work of a Force


F = ma ,
t t ds F
F = ma ,


n n

F = 0.
b


r2 dr


2.5 Equation of Motion: Cylindrical Coordinates r1



Fr = mar , dU = F dr ,
F = ma , dU = F ds cos .

F = ma .
z z Signs of Work



depends on angle between F and dr ,

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 208322 Mechanical Vibrations
Lesson 4-1
if 0 < < 90, work U is positive, 3.2 Principle of Work and Energy
if 90 < < 180, work U is negative,
if = 90, work U is zero. dU = dT ,
1 2 1 2
Work of a Variable Force U 1 2 = T2 T1 =
2
mv2 mv1 .
2
s2
U12 = F cos ds. The principle of work and energy cannot be used to determine
s1
normal force. Instead, it can be used to find v and then apply

Work of a Constant Force Moving along a Straight Line F n = man = mv 2 / .

U12 = FC cos ( s2 s1 ) . 3.3 Principle of Work and Energy for a System of

Particles
Work of a Weight
U 1 2 = T2 T1.
U12 = mg y.
Work and kinetic energy are of all internal and external forces
Signs depend on whether moving up (negative work) or moving acting on the particles of the system because each particle does not travel
down (positive work.) the same path, therefore internal forces are not cancelled out.

Work of a Spring Force 3.4 Power and Efficiency

Power is given by
1 1
U12 = ks22 ks12 ,
2 2 dU dT


P= = = F v.
dt dt
when s1 and s2 are distance from its unstretched position.
For signs, if the direction of spring force and the direction of the Efficiency is given by
displacement vector are the same, work is positive. If opposite, work is
output power output energy
negative. = = .
input power input energy

4 Kinetics of Particle: Impulse and Momentum

This method is suitable for solving kinetic problems that involve
velocity, force, and time.

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 208322 Mechanical Vibrations
Lesson 4-1
4.1 Principle of Linear Impulse and Momentum For the y direction (plane of contact),

mAv Ay 2 mAv Ay1 = 0,

t2
F dt = mv2 mv1.
t1
mB vBy 2 mB vBy1 = 0.
4.2 Principle of Linear Impulse and Momentum for a Energy loss during collision equals
System of Particles






U 1 2 = T2 T1.
F dt = mi vi 2 mi vi1 = mvG 2 mvG1.
t2

t1 y
v A2 vB 2
4.3 Conservation of Linear Momentum for a System
of Particles Line of impact
A B x



m v m vi i2 i i1 = 0.
v A1 v B1
Internal impulses are always cancelled out. If the time period over
Plane of contact
which the motion is studied is very short, we can neglect some external
forces (nonimpulsive forces.)
4.5 Angular Momentum
4.4 Impact
z
Central Impact
From conservation of linear momentum,

mAv A1 + mB vB1 = mAv A 2 + mB vB 2 .

y
Coefficient of restitution is

d
e=
R 1 dt v v
= B 2 A 2 , ( 0 e 1) .


r
x
R 2 dt v A1 vB1

mv

Oblique Impact
For the x direction (line of impact), use 2 formulas above.

7 Copyright 2007 by Withit Chatlatanagulchai

 208322 Mechanical Vibrations
Lesson 4-1
( H o ) z = ( d )( mv ) , 5.1 Absolute-Motion Analysis




H o = r mv , Translation



M o = H o , All points in the rigid body subjected to either curvilinear or
rectilinear translations move with the same velocity and acceleration.



= L.
F


v A = vB ,



For system of particles, only external forces and moments are a A = aB .
considered since internal forces and moments are cancelled out.
Rotation about a Fixed Axis
4.6 Angular Impulse and Momentum Principles All points in the rigid body subjected to rotation about a fixed axis
t2


move with the same angular velocity and angular acceleration.
oM
t1
dt = ( H )
o 2 ( H o )1 . For non-constant acceleration,

d
Conservation of Angular Momentum = ,
dt
For a particle,
d


= ,
(H ) = (H )
o 1 o 2 . dt
d = d .
For system of particles,
For constant acceleration,



( H o )1 = ( H o )2 . 2 = 1 + t ,
In some cases, particles angular momentum is conserved but linear 1
2 = 1 + 1t + t 2 ,
momentum is not, for example, particle subjected to central forces. 2
22 = 12 + 2 ( 2 1 ) .
5 Kinematics of Rigid Body
There are 3 types of rigid-body motions: translation (rectilinear or Signs are similar to those in Section 1.1 but with clockwise and counter-
curvilinear), rotation about a fixed axis, and general plane motion. clockwise directions.
Motion of a point P is given by




v = r,









a = at + an = r + ( r ) .

8 Copyright 2007 by Withit Chatlatanagulchai

 208322 Mechanical Vibrations
Lesson 4-1
General Plane Motion mechanism linkages with pivoted joints
The general plane motion is a combination of the translation and fixed slides
rotation motions and can be described by rolling without slip

s = f ( ) .

s is measured from a fixed origin and is directed along the

straight-line path. is the angular position of a line lying in the body.
Differentiating by chain rule gives velocity and acceleration.

5.2 Relative-Motion Analysis for General Plane

Motion: Translating Axes
When an observer A is on translating axes and B is another point
on the rigid body. The rigid body rotates with an angular velocity . The
general plane motion can be broken down to translation of point A and
rotation of the rigid body.

Points, which are coincident at a pin, move with the same

y acceleration.

B Points, which are in contact without slipping and move along
different paths, have the same velocity and tangential component of
acceleration but have different normal components of acceleration.
Y

x 1
A

2

X an1 an 2




rB = rA + rB / A ,







vB = v A + vB / A = v A + rB / A ,











aB = a A + ( aB / A )t + ( aB / A )n = a A + rB / A + ( rB / A ) .


at v

This analysis is suitable for

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 208322 Mechanical Vibrations
Lesson 4-1
Rotation without slip can be broken down to pure translation and 5.3 Relative-Motion Analysis for General Plane
pure rotation (Chasles theorem.)
Motion: Rotating Axes

When an observer A is on axes that are both rotating and


translating.

= +
y
B


,

For rotation without slip, velocity at center is vG = r i and acceleration at Y


x
center is aG = ri .
A
Instantaneous Center of Zero Velocity

A A X


IC vA




rB = rA + rB / A ,
vA





IC vB = v A + rB / A + ( vB / A ) xyz ,
B

vB







rB / A + ( rB / A ) + 2 ( vB / A ) xyz + ( aB / A ) xyz .




B aB = a A +
IC


vB

A

vA

B


vB

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 208322 Mechanical Vibrations
Lesson 4-1




This analysis is suitable for F1
F2 maG
rigid body with free sliding at its connection M1

motions of 2 points that are on different rigid bodies I G
kinematics of particle when the particle is moving along a rotating y G y G
path

mg
6 Kinetics of Rigid Body: Force and Acceleration
This method is suitable for solving kinetic problems that involve
force and acceleration.
P x P x
6.1 Mass Moment of Inertia

F3
Mass moment of inertia about an axis is given by
Free-body diagram Kinetic diagram
I = r 2 dm = r 2 dV .



= maG ,
m V
F



Parallel-axis theorem states that
P k )P .
M = ( M
I = I G + md 2 .
To prevent sign errors, when writing the FBD and the kinetic



diagram, acceleration vectors and aG must be in the same sense of
Radius of gyration is defined as k , when
direction and friction forces must oppose the relative movement of the
contact surfaces.
I = mk . 2



I G and couple moment M 1 are free vectors and can therefore
For composite bodies, finding the mass moment of inertia is done act at any point.
by adding algebraically the moments of inertia of all composite shapes For rotation about a fixed axis at point O,
about an axis.


o = I o = IG + maG d = ( I G + md 2 ) .
Mass center is given by




M

y=
( ym
 )
.
m
6.2 Planar Kinetic Equations of Motion
For a general plane motion, we can write an FBD and a kinetic
diagram of a rigid body as follows.

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 208322 Mechanical Vibrations
Lesson 4-1


6.3 Friction Problems The work is positive when M and the angular displacement have the
same direction and negative if not.
Work of a constant force, weight, and spring are the same as those
in Section 3.
Forces that do no work are as follows
Forces that act at the instantaneous center, IC, for example, F and
F N.
Forces that act at fixed points, for example, at pins.
Forces with direction perpendicular to their displacement.
N
7.2 Principle of Work and Energy
Rolling without Slip
When F S N , then aG can be related to by the kinematics U 1 2 = T2 T1 ,

equation aG = r. 1 2 1
T= mvG + I G 2 .
2 2
Rolling with Slip
Unlike the case of system of particles, the work of the bodys
When F > S N , then aG cannot be related to and the internal forces does not have to be considered since the body is rigid and
relationship F = K N can be used instead. they cancelled out.

7 Kinetics of Rigid Body: Work and Energy 7.3 Power

This method is suitable for solving kinetic problems that involve
dU dT


velocity, force, and displacement. P= = = F v.
dt dt
7.1 Work of Various Forces
Work of a variable force is given by 8 Kinetics of Rigid Body: Impulse and Momentum
This method is suitable for solving kinetic problems that involve
U F = F cos ds. velocity, force, and time.
S
8.1 Momentum
Work of a couple moment is given by Linear momentum is given by
2


U M = M d . LG = mvG .
1

Angular momentum is given by

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 208322 Mechanical Vibrations
Lesson 4-1



H G = I G . when v A and vB are velocities in the direction of the line of impact.

Angular momentum at any point P is given by 9 Miscellany

H P = I G + ( d ) ( mvG ) . 9.1 Gravitational Constant
In SI unit, g = 9.807 m / s .
2

8.2 Principle of Impulse and Momentum

In US customary unit, g = 32.17 ft / s .
2

F dt = ( LG )2 ( LG )1 or F = L.
t2

t1 9.2 Systems of Units

System SI Metric British US






M P dt = ( H P )2 ( H P )1 or
t2
M = H . length m m ft ft
t1
time s s s s
mass kg metric lb slug
8.3 Conservation of Momentum slug lb s 2
For system of rigid bodies, kg s
2

ft



0 = ( LG )2 ( LG )1 , m = 32.2 lb


force N kg poundal lb = 16 oz
0 = ( H P ) 2 ( H P )1 . kg m lb ft
2 2
s s
Internal impulses are always cancelled out. If the time period over which
the motion is studied is very short, we can neglect some external forces
(non-impulsive forces.) 9.3 Vector Analysis
Vector is constant if and only if both its magnitude and direction are
8.4 Eccentric Impact constant.
The eccentric impact occurs when the line connecting the mass
( ) = d A u






centers of the two bodies does not coincide with the line of impact. dA d A uA
du
A
Use the conservation of momentum above together with the = A + A ,
dt dt dt dt
coefficient of restitution


d ( A B)



dA

dB
( vB )2 ( vA )2 = B + A ,
e= , ( 0 e 1) , dt dt dt
( vA )1 ( vB )1


d ( A B)


dA

dB


= B + A .
dt dt dt
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 208322 Mechanical Vibrations
Lesson 4-1
References
[1] Engineering Mechanics: Dynamics, by Russell C. Hibbeler, Prentice
Hall, 2006

14 Copyright 2007 by Withit Chatlatanagulchai