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Lecture 1
Learning Objectives
You might comment, Ive seen this material before in 18.03, 8.01. You will use knowledge from previous courses including dierential equations and mechanics. After this course, you will be able to: 1. Apply knowledge to new problems 2. Dene coordinate system 3. Obtain equations of motion 4. Solve equations
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
I. 1st Law - A particle remains at rest or continues to move in a straight line with constant velocity if there is no resultant force acting on it. II. 2nd Law - A particle acted upon by a resultant force moves in such a manner that the time rate of change of its linear momentum is equal to the force.
where F is the force, m is the mass, and a is the acceleration. III. 3rd Law - Forces that result from interactions of particles and such forces be tween two particles are equal in magnitude, opposite in direction, and collinear. a. Read Williams Chapter 1 and 2 for background i. History of Calculus: Leibniz and Newton ii. Principia - Mostly geometric d F = dt (mv) iii. Euler wrote F = ma and Called laws because they have been tested. Cannot prove, but can disprove.
t0
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
r is position, and t is time. The direction of v is in the direction of r as t 0. The acceleration: dv d2 r = 2 dt dt Acceleration is the time rate of change of its velocity. a=
r = rer
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
Figure 2: A polar coordinate system. r is the distance from origin. is the angle made with x-axis. e and er are perpendicular. Figure by MIT OCW. v= a= dr der dr = er + r = r + r e er dt dt dt
dv = r er + re + re + r e r2 er dt r a = ( r2 )er + (r + 2r)e d e = er dt
Proof that
der dt
= e :
Figure 3: Dierentiation of unit vectors. Changes in the direction of unit vector er can be related to changes in . Figure by MIT OCW. der e r |er | d = lim = lim e = e = e t0 t t0 dt t dt er = cos + sin j
d
er = sin + cos j = ( sin + cos j) = e dt
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
Figure 4: A point mass m moves from r(t0 ) to r(t). Figure by MIT OCW.
hB = r mv is the moment of the linear momentum about B. Investigate Properties (Take the Time Derivative)
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].
Figure 5: Vector relationships between moving point mass m and angular momentum around B. B is a general point (could be moving); choose B appro priately to help solve the problem. Figure by MIT OCW.
dhB = r mv + r mv dt = (R RB ) mv + r F = (v mv) v B mv + r F = v B mv + r F
(1) (2)
The rst term in Equation (1) is zero, because the cross product of two parallel vectors is zero. Dene Resultant Torque around B. B = r F is the moment of the total force about B. Combining this denition with Equation (2) yields B = hB + v B mv. If B = 0 and v B = 0 or vB mv hB = 0 (Conservation of Angular Momentum)
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].