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15 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinematics of
Lecture Notes:
Brian P. Self Rigid Bodies
California Polytechnic State University
Contents
Introduction Absolute and Relative Acceleration in
Translation Plane Motion
Rotation About a Fixed Axis: Velocity Analysis of Plane Motion in Terms of a
Rotation About a Fixed Axis: Parameter
Acceleration Sample Problem 15.6
Rotation About a Fixed Axis: Sample Problem 15.7
Representative Slab Sample Problem 15.8
Equations Defining the Rotation of a Rate of Change With Respect to a
Rigid Body About a Fixed Axis Rotating Frame
Sample Problem 5.1 Coriolis Acceleration
General Plane Motion Sample Problem 15.9
Absolute and Relative Velocity in Plane Sample Problem 15.10
Motion Motion About a Fixed Point
Sample Problem 15.2 General Motion
Sample Problem 15.3 Sample Problem 15.11
Instantaneous Center of Rotation in Three Dimensional Motion. Coriolis
Plane Motion Acceleration
Sample Problem 15.4 Frame of Reference in General Motion
Sample Problem
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Applications
Applications
Applications
Planetary gear systems are used to get high reduction ratios
with minimum weight and space. How can we design the
correct gear ratios?
Applications
Biomedical engineers must determine the velocities and
accelerations of the leg in order to design prostheses.
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
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,
! ! !
rB = rA + rB A
! !
• Velocity vector v = dr dt of the particle P is
tangent to the path with magnitude v = ds dt
Ds = ( BP )Dq = (r sin f )Dq
ds Dq
v= = lim (r sin f ) = rq! sin f
dt Dt ®0 Dt
Concept Quiz
a) → A
b) ← y
L
c) ↑
x
d) ↓
! ! !
vA = w ´ r
!
v A = w kˆ ´ - Liˆ
!
v A = - Lw ˆj
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Concept Quiz
! 2ˆ
an = Lw i
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dq dq
• Recall w = or dt =
dt w
dw d 2q dw
a= = 2 =w
dt dt dq
• Uniform Rotation, a = 0:
q = q 0 + wt
(aD )n
tan f =
(aD )t
48
=
9 f = 79.4°
(aD )n
tan f =
(aD )t
48
=
9 f = 79.4°
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SOLUTION:
• Using the linear velocity and
accelerations, calculate the angular
velocity and acceleration.
æ 37.5 ö
q = arctan ç ÷ = 76.5o
è 9.0 ø
Combine for a final answer
aB
a B = 38.6 in./s 2 76.5°
an= 37.5 in/s2
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Golf Robot
Not ours – maybe Tom Mase has pic? A golf robot is used to test new
equipment. If the angular
velocity of the arm is doubled,
what happens to the normal
acceleration of the club head?
If the arm is shortened to ¾ of its
original length, what happens to
the tangential acceleration of the
club head?
vB vA vA
= tan q = = cosq
vA v B A lw
v B = v A tan q vA
w=
l cosq
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• Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity w 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 w 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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vB vA vA
= tan q = = cosq
vA v B A lw
v B = v A tan q vA
w=
l cosq
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• Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity w 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 w 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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y
Differentiate to relate the translational and angular
velocities.
x
v A = - r1w
vA 1.2 m s ! ! !
w =- =- w = wk = -(8 rad s )k
r1 0.150 m
! ! ! vD B = lw BD
vD = vB + vD B vD B 495.9 in. s
w BD = =
l 8 in. !
!
= 62.0 rad s w BD = (62.0 rad s )k
a) The direction of vB is ↑
b) The direction of vD is →
c) Both a) and b) are correct
w AB = -(4 rad/s)k
vD ,
• 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.
a)
G b)
c)
d)
rD = (0.15 m ) 2 = 0.2121 m
vD = rDw = (0.2121 m )(8 rad s )
vD = 1.697 m s
! ! !
vD = (1.2i + 1.2 j )(m s )
wAB= 4 rad/s
vB
Find b b
b = tan -1
0.06 m
= 21.8°
vD
0.15 m
Calculate wBD
D vB = ( BC )wBD
1 m/s = (0.25 m)wBD
vD w BD = 4 rad/s
Find wDE
0.25 m 1 m/s 0.15 m
vD = ( DC )wBD = (4 rad/s) vD = ( DE )wDE ; = wDE ; w DE = 6.67 rad/s
cosb cosb cosb
! !
• Given a A and v A ,
! !
determine a B and a .
! ! !
aB = a A + aB A
!
( !
)n (
= a A + aB A + aB
!
A t)
!
• 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 w.
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! ! !
• Write a B = a A + a B A in terms of the two component equations,
+
® x components: 0 = a A + lw 2 sin q - la cosq
v A = x! A v B = y! B
= lq! cosq = -lq! sin q
= lw cosq = -lw sin q
a A = !x!A a B = !y!B
= -lq! 2 sin q + lq!! cosq = -lq! 2 cosq - lq!!sin q
= -lw 2 sin q + la cosq = -lw 2 cosq - la sin q
Concept Question
You have made it to the kickball
championship game. As you try to kick
home the winning run, your mind
naturally drifts towards dynamics.
Which of your following thoughts is
TRUE, and causes you to shank the ball
horribly straight to the pitcher?
x A = - r1q
v A = - r1q! = - r1w
vA 1.2 m s
w =- =- = -8 rad s
r1 0.150 m
a A = - r1q!! = - r1a
aA 3 m s2
a =- =-
r1 0.150 m
! !
( )!
a = a k = - 20 rad s 2 k
! ! ! ! !
( !
aB = a A + aB A = a A + aB A + aB A
t n
) ( )
! ! ! !
= a A + a k ´ rB A - w 2 rB A
( 2 !
) ( !
) ! !
= 3 m s i - 20 rad s k ´ (0.100 m ) j - (8 rad s ) (- 0.100 m ) j
2 2
( 2 !
) ( 2 !
= 3 m s i + 2 m s i - 6.40 m s j ) (
2 !
)
!
( !
) ( !
aB = 5 m s 2 i - 6.40 m s 2 j ) aB = 8.12 m s 2
! ! ! ! ! ! 2!
aC = a A + aC A = a A + a k ´ rC A - w rC A
( 2 !
) ( !
) ! !
= 3 m s i - 20 rad s k ´ (- 0.150 m ) j - (8 rad s )2 (- 0.150 m ) j
2
( !
) ( !
) (
= 3 m s 2 i - 3 m s 2 i + 9.60 m s 2 j
!
)
!
ac = 9.60 m s j(2 !
)
! ! ! ! ! ! !
aD = a A + aD A = a A + a k ´ rD A - w 2 rD A
( 2 !
) ( !
) !
= 3 m s i - 20 rad s k ´ (- 0.150 m )i - (8 rad s )2 (- 0.150m )i
2 !
( !
) ( !
) (
= 3 m s 2 i + 3 m s 2 j + 9.60 m s 2 i
!
)
!
( 2 !
aD = 12.6 m s i + 3 m s j) ( 2 !
)
aD = 12.95 m s 2
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!
( )!
a BD = 9940 rad s 2 k
aD = -(9290 ft s ) i
2 !
!
! ! ! ! ! !
vD = w DE ´ rD = w DE k ´ (- 17i + 17 j )
! !
= -17w DE i - 17w DE j
! ! ! ! ! !
vB = w AB ´ rB = 20k ´ (8i + 14 j )
! !
= -280i + 160 j
! ! ! ! ! !
vD B = w BD ´ rD B = w BD k ´ (12i + 3 j )
! !
= -3w BD i + 12w BD j
! ! ! !
w BD = -(29.33 rad s )k w DE = (11.29 rad s )k
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Analyze a B = a A + a AB ´ rB /A - w AB
2
rB /A
Bar AB
a B = -w AB
2
rB/A = -(4)2 (-7i ) = 112 in./s 2 i
Analyze Bar BD
a D = a B + a BD ´ rD /B - wBD
2
rD /B = 112i + a BD k ´ (-8 j) - (0.95455) 2 (-8 j)
a D = (112 + 8 a BD )i + 7.289 j
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Concept Question
Applications
Coriolis Acceleration
• Frame OXY! is fixed and frame Oxy rotates with angular
velocity W .
!
• Position vector rP for the particle P is the same in both
frames but the rate of change depends on the choice of
frame.
Coriolis Acceleration
• Absolute acceleration for the particle P is
" "! " " " d "
[
a P = W ´ r + W ´ (r! )OXY + (r! )Oxy ]
"! " " "dt
but, (r )OXY = W ´ r + (r! )Oxy
d "!
dt
[ "!
] " "
(r )Oxy = (r )Oxy + W ´ (r! )Oxy
!
"! " " " " " "
a P = W ´ r + W ´ (W ´ r ) + 2W ´ (r! )Oxy + (!r!)Oxy
! ! ! " "
v P = W ´ r + (r" )Oxy
! ! • Utilizing the conceptual point P’ on the slab,
= v P¢ + v P F "! " " " "
a P¢ = W ´ r + W ´ (W ´ r )
"
" "
a P F = (!r!) Oxy
Coriolis Acceleration
• Consider a collar P which is made to slide at constant
relative velocity u along rod OB. The rod is rotating at
a constant angular velocity w. The point A on the rod
corresponds to the instantaneous position of P.
• Absolute acceleration of the collar is
! ! ! !
a P = a A + a P F + ac
where
!" ! ! ! !
a A = W ´ r + W ´ (W ´ r )
!
a A = rw 2
" "
a P F = (!r!)Oxy = 0
! ! !
a c = 2W ´ v P F ac = 2wu
Coriolis Acceleration
• Change in velocity over Dt is represented by the
sum of three vectors
!
Dv = RR ¢ + TT ¢¢ + T ¢¢T ¢
• TT ¢¢ is due to change in direction of the velocity of
point A on the rod,
TT ¢¢ Dq
lim = lim v A = rww = rw 2 = a A
Dt ®0 Dt Dt ®0 Dt
!" ! ! ! !
recall, a = W ´ r + W ´ (W ´ r )
!
! ! ! A a = rw 2A
at t , v = vA + u
! ! ! • RR ¢ and T ¢¢T ¢ result from combined effects of
at t + Dt , v ¢ = v A¢ + u ¢
relative motion of P and rotation of the rod
æ RR ¢ T ¢¢T ¢ ö Dq Dr ö
lim çç + ÷÷ = lim æç u +w ÷
Dt ®0è Dt Dt ø Dt ®0è Dt Dt ø
= uw + wu = 2wu
! ! !
recall, ac = 2W ´ v P F ac = 2wu
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Concept Question
You are walking with a y
constant velocity with
respect to the platform, x w
v
which rotates with a constant
angular velocity w. At the
instant shown, in which
direction(s) will you
experience an acceleration
(choose all that apply)?
a) +x
b) -x "! " " " " " "
a P = W ´ r + W ´ (W ´ r ) + 2W ´ (r! )Oxy + (!r!)Oxy
" "
c) +y
d) -y
e) Acceleration = 0
vP = 500 mm s
! ! !
aP¢ = (aP¢ )n + (aP¢ )t
!
( ) !
(aP¢ )n = rw S (- cos 42.4°i - sin 42.4° j )
2 !
! !
(a!P¢ )t = (ra S )(- sin 42.4°i + cos 42.4° j )
! !
(a!P¢ )t = (a S )(37.1mm )(- sin 42.4°i + cos 42.4° j )
note: aS may be positive or negative
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!
• The relative acceleration aP s must be parallel to
the slot.
SOLUTION:
• The absolute acceleration of point D may
be expressed as
! ! ! !
aD = aD ' + aD BC + ac
aC = 2w ´ v D /F
= (3 rad/s)j ´ (16 in./s)k
= (96 in./s 2 )i
a D = a D¢ + a D /F + aC
= -(108 in./s 2 )k + 0 + (96 in./s 2 )i
General Motion
• For particles A and B of a rigid body,
! ! !
vB = v A + vB A
Concept Question
a) It is zero.
b) It is in the +x direction
c) It is in the +z direction
d) It is in the -x direction
e) It is in the -z direction
!
( ) (
2 ! 2 !
) ( 2
a = - 3.54 m s i - 1.50 m s j + 1.80 m s k
!
)
! ! ! !
w1 = 0.30 j w 2 = 0.50k
! ! !
r = 10.39i + 6 j
i j k
! ´r = 0
W 0 -0.10 = (1 ft/s 2 )i
B
0 10 10 3
! ! !
Find (
W´ W´ r )
W ´ [ W ´ rB ] = (0.40i + 0.25 j) ´ é(0.40i + 0.25 j) ´ (10 j + 10 3k ) ù
ë û
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0 10 10 3
! ! !
Find W ´ W ´ r ( )
W ´ [ W ´ rB ] = (0.40i + 0.25 j) ´ é(0.40i + 0.25 j) ´ (10 j + 10 3k ) ù
ë û
= (1 ft/s 2 )i - (1.6 ft/s 2 ) j - (3.8538 ft/s 2 )k
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