Академический Документы
Профессиональный Документы
Культура Документы
DYNAMICS
11 Ferdinand P. Beer
Contents
Introduction Sample Problem 11.5
Rectilinear Motion: Position, Graphical Solution of Rectilinear-Motion
Velocity & Acceleration Problems
Determination of the Motion of a Other Graphical Methods
Particle
Curvilinear Motion: Position, Velocity &
Sample Problem 11.2
Acceleration
Sample Problem 11.3 Derivatives of Vector Functions
Uniform Rectilinear-Motion
Rectangular Components of Velocity and
Uniformly Accelerated Rectilinear- Acceleration
Motion
Motion Relative to a Frame in Translation
Motion of Several Particles: Relative
Tangential and Normal Components
Motion
Sample Problem 11.4 Radial and Transverse Components
Introduction
• Dynamics includes:
- Kinematics: study of the geometry of motion. Kinematics is used to
relate displacement, velocity, acceleration, and time without reference to
the cause of motion.
- Kinetics: study of the relations existing between the forces acting on a
body, the mass of the body, and the motion of the body. Kinetics is used
to predict the motion caused by given forces or to determine the forces
required to produce a given motion.
e.g., x 6t 2 t 3
dx
v 12t 3t 2
dt
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 5
E
dv d 2 x
a dt 2 12 6t
dt
• 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
x t t t
dx
vt dx v t dt dx vt dt x t x0 v t dt
dt x0 0 0
dx dx dv dv
v or dt a or a v f x
dt v dt dx
v x x x
2
v dv f x dx v dv f x dx 1v
2
x 12 v02 f x dx
v0 x0 x0
v t t
dv dv dv
a f v dt dt
dt fv v f v 0
0
v t
dv
t
v0 f v
x t v t
dv v dv v dv
v a f v dx dx
dx f v x0 v0
f v
v t
v dv
xt x0
v0
f v
dv
a 9.81 m s 2
dt
v t t
dv 9.81 dt vt v0 9.81t
v 0
0
m m
v t 10 9.81 2 t
s s
dy
v 10 9.81t
dt
y t t
dy 10 9.81
t dt y t y0 10t 12 9.81t 2
y0 0
yt 20 m 10
m m
t 4.905 2 t 2
s s
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 12
E
y t 20 m 10
m m
t 4.905 2 t 2
s s
y 20 m 10
m
s 4.905 2 1.019 s
m 2
1.019
s s
y 25.1 m
yt 20 m 10
m m
t 4.905 2 t 2 0
s s
t 1.243 s meaningless
t 3.28 s
m m
vt 10 9.81 2 t
s s
m m
v3.28 s 10 9.81 3.28 s
s s2
m
v 22.2
s
vt v0 e kt
v0
x t 1 e
kt
k
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 16
E
v v0 kx
v v0 kx
• Alternatively,
v0
with x t
k
1 e kt
vt
and vt v0 e kt or e kt
v0
v0 vt
xt 1
v0
then
k
v v0 kx
dx
v constant
dt
x t
dx v0 dt
x0
x x0 vt
x x0 vt
v v0 at
x t
dx
v0 at dx v0 at dt x x0 v0t 12 at 2
dt x0 0
x x0 v0t 12 at 2
v x
dv
v
dx
a constant v dv a dx 1
2
v 2 v02 ax x0
v0 x0
v 2 v02 2a x x0
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
aB A a B a A relative acceleration of B
with respect to A
aB a A aB A
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 20
E
9.81 2 t
m m
v B v0 at 18
s s
y B y0 v0 t 12 at 2 12 m 18 m t 4.905 m2 t 2
s s
y E y0 vE t 5 m 2
m t
s
y B 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
v B E 19.81
s
v A2 v A
2a A x A x A 0
2
0
2 2a A 200 mm
300 mm a A 225mm /s 2
v A v A 0 a At
300 mm 225 mm/s 2 t 1.333 s
xD x D 0
vD t
xD xD 0 75 mm/s 1.333
s 100 mm
x A 2 xD xB x A 0
2 xD 0 xB 0
x A x A 0 2xD xD 0 xB xB 0 0
200 mm 2100 mm x B x B 0 0
xB xB 0 400 mm
x A 2 xD xB constant
v A 2v D v B 0
2 75 mm vB 0
300 mm v 450 mm /s
B
a A 2a D a B 0
225 mm/s vB 0 aB 225 mm/s 2
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.
AB tan
BC subnormal to v-x curve
•
Consider
particle which occupies position P defined
by r at time t and P’ defined by r at t + Dt,
Dr dr
v lim
Dt 0 D t dt
• Velocity vector,
dx dy dz
v dt i dt j dt k xi y j zk
vx i v y j vz k
• Acceleration vector,
d 2 x d 2 y d 2 z
a i j k xi y j zk
dt 2 dt 2 dt 2
ax i a y j az k
• Differentiating twice,
vB v A vB A vB A velocity of B relative to A.
a B a A aB aB A acceleration of B relative
A
to A.
• Absolute motion of B can be obtained by combining
motion of A with relative motion of B with respect to
moving reference frame attached to A.
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 38
E
• et and et are tangential unit vectors for the
particle path
respect to P and
theatsame P’. When
srcin, Det drawn with
et et and
D is the angle between them.
dv v 2 dv v2
a et en at an
dt dt
• 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 R 2 eR R 2 R e z k
a n
750 m 1.03 m/s
100 km/ h 27.8 m/s
• Determine acceleration magnitude and direction
75 km/ h 20.8 m/s with respect to tangent to curve.
an 1.03
tan 1 tan 1 49.7
at 0.875
aB OA r 0.240 m s 2