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7
Plane Motion of Rigid
Lecture Notes: Bodies:
J. Walt Oler
Energy and Momentum
Texas Tech University
Methods
Introduction
• Method of work and energy and the method of impulse and
momentum will be used to analyze the plane motion of rigid
bodies and systems of rigid bodies.
• We may also apply the principle of work and energy to the entire system,
T1 U12 T2 T1 ,T2 = arithmetic sum of the kinetic energies of
all bodies forming the system
U12 = work of all forces acting on the various
bodies, whether these forces are internal
or external to the system as a whole.
Conservation of Energy
• Expressing the work of conservative forces as a
change in potential energy, the principle of work
and energy becomes
T1 V1 T2 V2
• Consider the slender rod of mass m.
T1 0, V1 0
T2 12 mv22 12 I 22
2
12 m 12 l 2
12 2
1 ml
12
1 ml
2
2 3
2
T1 V1 T2 V2
1 ml 2 2 1
0 mgl sin
• mass m 2 3 2
sin
• released with zero velocity 3g
• determine at l
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 8
Vector Mechanics for Engineers: Dynamics
Edition
Ninth
Power
Solution
Solution
1190 J
Solution
Solution
Solution
Solution
Solution
Solution
1
15 0.752 12 7.8122 8.1222
2
at r at r
M O M O eff 0 I m r r 0
Fx Fx eff Rx m r Rx 0
F F
y y eff R y 147.15 N man
15 kg 11 .97 m s 2
R y 32.4 N
R 32.4
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 24
Vector Mechanics for Engineers: Dynamics
Edition
Ninth
W mg 6 kg 9.81m s 2
58.86 N
vD CD
0.513 m 3.90 rad s
2.00 m s
vD 2.00 m s
and a couple equal to the sum of their moments about the mass center,
H G ri vi Δmi
• For the plane motion of a rigid slab or of a rigid body symmetrical with
respect to the reference plane,
H G I
moments about A:
0 FtrA I A A 2
Ft 0.250 m 0.400 kg m 25.1rad s
Ft 40.2 N s
moments about B:
0 Mt FtrB I B B 2
6 N m t Ft 0.100 m
0.0192 kg m 2 62.8 rad s
• Solve the angular momentum equations for the two gears simultaneously
for the unknown time and tangential force.
t 0.871 s F 46.2 N
v2 r 2
5 k g t
2 v1
v1 k gt r t
2 r 7 k g
I S 52 ma 2 2
5
1 kg 0.1m 2 0.004 kg m 2
mS r12 1 kg 0.1 m 0.01 kg.m 2 mS r22 1 kg 0.6 m 0.36 kg.m 2
2 2
2 2.08 rad s
T 2 12 mS v 2 12 I S 2 12 I R 2 12 2mS r 2 2 I S I R 2
From conservation of energy, T1 = T2 Energy lost in impact T1-T3 Recalling the numerical values found
above, we have:-
T1 1
2 0.428 6 2 7.704 J
T3 12 1.128 2.08 2.932 J
2
Eccentric Impact
uA n uB n
Period of deformation Period of restitution
Impulse Rdt Impulse Pdt
x components:
mB vB Ax t m p v2
0.025 450 Ax 0.0006 101.08
Ax 750 N Ax 750 N
y components:
0 Ay t 0 Ay 0
Moments about B:
mv1 12 a 0 mv2
I 2
2
a 2 v2 a
2
2
2 I 16 m a 2
mv a 0 m a a
1
1 2 2
2
2 2
2 1 ma 2
6
2
v1 43 a 2
T2 12 mv22 12 I 22
h3 2
a 0.707 a v1 43 a 2 43 a 0.285 g a v1 0.712 ga
2
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 52