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An Overview of Mechanics
Mechanics: The study of how bodies react to
forces acting on them.
Dynamics:
1. Kinematics analysis of motion of bodies considering geometric aspects like displacement, velocity, acceleration 2. Kinetics - analysis of forces causing motion of bodies
Types of Motion
Rectilinear Motion (Topic for today): motion along a straight-line path. This motion can be analyzed using the Rectangular Coordinate System (x-y-z axes) Curvilinear Motion: motion when a particle moves along a curved path. This can be analyzed using:
(i) Rectangular Coordinates (ii) Normal and Tangential Coordinates (iii) Cylindrical Coordinates
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Particle can travel to the left and right of origin O, thus position can be positive or negative
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The average velocity of a particle during a time interval t is vavg = s / t The instantaneous velocity is the time-derivative of position. v = ds / dt Average speed is the total distance traveled divided by elapsed time: (vsp)avg = sT / t
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a = dv / dt
Acceleration can be positive (speed increasing) or negative (speed decreasing).
By manipulating displacement and velocity equations wrt time (t) the following equation is obtainable
ds = v dv
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Example 1
Spotting a police car you brake your car from a speed of 100km/h to a speed of 80km/h during a displacement of 88m at a constant acceleration.
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Practice
Revise fundamental Scientific concepts
Read pages 1 - 32
Fundamental Problems - All Problems 12.1 12.7 12.17 12.20 12.29 12.31 12.41 - 12.40 12.42 12.50 12.65 12.70
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The position of the particle at any instant is designated by the vector r = r(t). Both the magnitude and direction of r may vary with time.
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As t 0 the direction of r approaches the tangent to the curve. The direction of v(instantaneous) is thus tangential to the curve
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Example
The curvilinear motion of a particle is defined by vx = 50 16t (meters/second) and y = 100 4t2 (meters). The position of x = 0 at t = 0. Plot the path of the particle and determine its velocity and acceleration when the position y=0 is reached
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Example
A rocket has expended all its fuel when it reaches position A, where it has a velocity u at an angle with respect to the horizontal. It then begins unpowered flight and attains a maximum added height h at position B after traveling a horizontal distance s from A. Determine the expressions for h and s, the time t of flight from A to B, and the equation of the path. Assume g for gravitational acceleration!
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Practice
Read pages 32 - 52 Fundamental Problems - All
Problems
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Why would you care about the total acceleration of the car?
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The center of curvature, O, always lies on the concave side of the curve. The radius of curvature, r, is defined as the perpendicular distance from the curve to the center of curvature at that point. The position of the particle at any instant is defined by the distance, s, along the curve from a fixed reference point.
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The magnitude is determined by taking the time derivative of the path function, s(t) where Here v defines the magnitude of the velocity (speed) and ut defines the direction of the velocity vector.
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Here v represents the change in the magnitude of velocity and ut represents the rate of change in the direction of ut. After mathematical manipulation, the acceleration vector can be expressed as: Homework: Understand mathematical manipulation!!!!
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The tangential component is tangent to the curve and in the direction of increasing or decreasing velocity. The normal or centripetal component is always directed toward the center of curvature of the curve. The magnitude of the acceleration vector is
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1) The particle moves along a straight line. . 2/r = 0 r => an = v => a = at = v The tangential component represents the time rate of change in the magnitude of the velocity. 2) The particle moves along a curve at constant speed. . at = v = 0 => a = an = v2/r The normal component represents the time rate of change in the direction of the velocity.
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As before, so and vo are the initial position and velocity of the particle at t = 0. How are these equations related to projectile motion equations? Why?
4) The particle moves along a path expressed as y = f(x). The radius of curvature, r, at any point on the path can be calculated from
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Example
Given:
A boat travels around a circular path, r = 40 m, at a speed that increases with time, v = (0.0625 t2) m/s.
Find:
Example
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Practice
Read pages 52 - 67 Fundamental Problems - All
Problems
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We can express the location of P in polar coordinates as r = r ur. Note that the radial direction, r, extends outward from the fixed origin, O, and the transverse coordinate, , is measured counter-clockwise from the horizontal (in degrees or radians).
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Homework: The mathematical derivation of V Thus, the velocity vector has two components: r, called the radial component, and r called the transverse component. The speed of the particle at any given instant is given by:
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The radial component Vr, is measure of the increase of decrease in radial distance r. The transverse component V can be interpreted as the rate of motion along a circumference having a radius r.
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Example
Given: A tracking radar lies in the vertical plane of the path of a rocket which is coasting in unpowered flight above the atmosphere. For the instant . . o the tracking data gives r = 8x104 m , r = 1200 m/s and when = 30 = 0.8deg/s. Take gravitational acceleration (g) = 9.2 m/s2 Find: The speed at that particular instant r
..
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Example
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Example
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Practice
Read pages 67 - 80 Fundamental Problems - All
Problems
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For instance, if the speed of the cable (P) is known because we know the motor characteristics, how can we determine the speed of the mine car? Will the slope of the track have any impact on the answer?
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The motion of each block can be related mathematically by defining position coordinates, sA and sB. Each coordinate axis is defined from a fixed point or datum line, measured positive along each plane in the direction of motion of each block.
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If the cord has a fixed length, the position coordinates sA and sB are related mathematically by the equation sA + lCD + sB = lT
Here lT is the total cord length and lCD is the length of cord passing over the arc CD on the pulley.
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The negative sign indicates that as A moves down the incline (positive sA direction), B moves up the incline (negative sB direction). Accelerations can be found by differentiating the velocity expression.
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Note that sB is only defined to the center of the pulley above block B, since this block moves with the pulley. Also, h is a constant.
The red colored segments of the cord remain constant in length during motion of the blocks.
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Since lT and h remain constant during the motion, the velocities and accelerations can be related by two successive time derivatives: 2vB = -vA and 2aB = -aA
When block B moves downward (+sB), block A moves to the left (-sA). Remember to be consistent with your sign convention!
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The position, velocity, and acceleration relations then become 2(h sB) + h + sA = lT and 2vB = vA 2aB = aA
Prove to yourself that the results are the same, even if the sign conventions are different than the previous formulation.
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2. Relate the position coordinates to the cord length. Segments of cord that do not change in length during the motion may be left out.
3. If a system contains more than one cord, relate the position of a point on one cord to a point on another cord. Separate equations are written for each cord. 4. Differentiate the position coordinate equation(s) to relate velocities and accelerations. Keep track of signs!
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Example
Given: In the figure on the left, the cord at A is pulled down with a speed of 2 m/s.
Find: The speed of block B. Plan: There are two cords involved in the motion in this example. There will be two position equations (one for each cord). Write these two equations, combine them, and then differentiate them.
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Example
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Practice
Read pages 80 - 100 Fundamental Problems - All
Problems
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When fighter jets take off or land on an aircraft carrier, the velocity of the carrier becomes an issue.
If the aircraft carrier is underway with a forward velocity of 50 km/hr and plane A takes off at a horizontal air speed of 200 km/hr (measured by someone on the water), how do we find the velocity of the plane relative to the carrier? How would you find the same thing for airplane B? How does the wind impact this sort of situation?
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The absolute position of two particles A and B with respect to the fixed x, y, z reference frame are given by rA and rB. The position of B relative to A is represented by
Therefore, if
rB = (10 i + 2 j ) m
and
then
rA = (4 i + 5 j ) m,
rB/A = (6 i 3 j ) m.
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In these equations, vB and vA are called absolute velocities and vB/A is the relative velocity of B with respect to A.
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The time derivative of the relative velocity equation yields a similar vector relationship between the absolute and relative accelerations of particles A and B.
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1. For instance, the velocity vectors in vB = vA + vB/A could be written as two dimensional (2-D) Cartesian vectors and the resulting 2-D scalar component equations solved for up to two unknowns.
2. Alternatively, vector problems can be solved graphically by use of trigonometry. This approach usually makes use of the law of sines or the law of cosines.
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Law of Sines:
sin
Law of Cosines:
A a2 =
b sin B
c sin C
b 2 + c 2 - 2 bc cos A 2 ac cos B
b2 = a2 + c 2 c2 = a 2 +
2 -
2 ab cos C
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Find: Plan:
a) Vector Method: Write vectors vA and vB in Cartesian form, then determine vB vA b) Graphical Method: Draw vectors vA and vB from a common point. Apply the laws of sines and cosines to determine vB/A.
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Practice
Problems 12.215 12.220 12.229 12.231
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