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15 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Kinematics of
Lecture Notes:
J. Walt Oler Rigid Bodies
Texas Tech University
• Velocity vector v dr dt of the particle P is
tangent to the path with magnitude v ds dt
s BP r sin
ds
v lim r sin r sin
dt t 0 t
d d
• Recall or dt
dt
d d 2 d
2
dt dt d
• Uniform Rotation, = 0:
0 t
aD n
tan
aD t
48
9 79.4
vB vA vA
tan cos
vA v B A l
v B v A tan vA
l cos
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 14
Edition
Ninth
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.
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 15
Edition
Ninth
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 velocity for any point P on the gear
The double gear rolls on the may be written as
stationary lower rack: the velocity of
its center is 1.2 m/s.
vP v A vP A v A k rP A
Determine (a) the angular velocity of Evaluate the velocities of points B and D.
the gear, and (b) the velocities of the
upper rack R and point D of the gear.
y
Differentiate to relate the translational and angular
velocities.
x
v A r1
vA 1.2 m s
k 8 rad s k
r1 0.150 m
vD B l BD
vD v B vD B vD B 495.9 in. s
BD
l 8 in.
62.0 rad s BD 62.0 rad s k
• 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.
rD 0.15 m 2 0.2121 m
vD rD 0.2121 m 8 rad s
vD 1.697 m s
vD 1.2i 1.2 j m s
vP vD 523in. s 43.6 ft s
a B A t k rB A a B A t r
aB A 2 rB A a B A n r 2
n
• Given a A and v A ,
determine a B and .
aB a A aB A
a A a B A a B
n A t
• Vector result depends on sense of a A and the
relative magnitudes of a A and a B A
n
• Write a B a A a B A in terms of the two component equations,
x components: 0 a A l 2 sin l cos
v A x A v B y B
l cos l sin
l cos l sin
a A xA a B yB
l 2 sin l cos l 2 cos lsin
l 2 sin l cos l 2 cos l sin
a A r1 r1
aA 3 m s2
r1 0.150 m
k 20 rad s2 k
aB a A aB A a A aB A aB A
t n
a A k rB A 2rB 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 s2 j aB 8.12 m s2
2
aC a A aC A a A k rC A 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 j2
aD a A aD A a A k rD A 2rD 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 s2
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 36
Edition
Ninth
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
t
aD aB aD B aB aD B aD B
n
• The acceleration of B is determined from
the given rotation speed of AB.
y components:
0 10,962 sin 40 2563sin 13.95 0.667 BD cos13.95
BD 9940 rad s 2 k
aD 9290 ft s i
2
BD 29.33 rad s k DE 11.29 rad s k
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 42
Edition
Ninth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.8
• The angular accelerations are determined by
simultaneously solving the component equations for
aD aB aD B
2
aD DE rD DE rD
DE k 17i 17 j 11.29 17i 17 j
2
17 DE i 17 DE j 2170i 2170 j
2
aB AB rB ABrB 0 20 8i 14 j
2
3200i 5600 j
2
aD B BD rB D BD rB D
B D k 12i 3 j 29.332 12i 3 j
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
BD 645 rad s k
2
DE 809 rad s k
2
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 43