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UNIT :-4
Introduction
Kinematics is the branch of dynamics which describes the motion
of
bodies without reference to the forces which either cause the
motion or
are generated as a result of the motion. Kinematics is often
described as
the geometry of motion. Some engineering applications of
kinematics
include the design of cams, gears, linkages, and other machine
elements
to control or produce certain desired motions, and the calculation
of
flight trajectories for aircraft, rockets, and spacecraft. A thorough
working
knowledge of kinematics is a prerequisite to kinetics, which is the
study of the relationships between motion and the corresponding
forces
which cause or accompany the motion.
Rectilinear Motion
lim s
t
t 0
Or
v=
ds
=s
dt
a=
lim v
t
t 0
Or
a=
dv
=v
dt
PROJECTILE MOTION
INTRODUCTION
IMPORTANT TERMS
The following terms, which will be frequently used in this chapter,
should be clearly understood
at this stage :
MOTION OF A PROJECTILE
Consider a particle projected upwards from a point O at an angle
, with the horizontal, with
an initial velocity u m/sec as shown in Fig. 20.4.
Now resolving this velocity into its vertical and horizontal
components,
V = u sin and H = u cos
We know that the vertical component (u sin ) is subjected to
retardation due to gravity. The
particle will reach maximum height, when the vertical component
becomes zero. After this the particle
will come down, due to gravity, and this motion will be subjected
to acceleration due to gravity.
FIG:-3
Consider a particle projected from a point O at a certain angle
with the horizontal. As already
discussed, the particle will move along certain path OPA, in the
air, and will fall down at A as shown
in Fig. 20.5.
Let u = Velocity of projection, and
= Angle of projection with the horizontal.
Consider any point P as the position of particle, after t seconds
with x and y as co-ordinates as
shown in Fig.3. We know that horizontal component of the velocity
of projection. = u cos
and vertical component = u sin
y=u sint-1/2gt2 ..(1)
and x=u cos t
or t = x/u cos
Substituting the value of t in equation (i),
It is the time, for which the projectile has remained in the air. We
have already discussed in that the co-ordinates of a projectile
after time t.
1 2
y=u sin t g t
2
2 usin
g
2usin
g
ucos
2 usin 2 u sincos
=
g
g
R=
u sin 2
g
or =45
u2 sin 90 u2
Rmax=
=
g
g
usin +0 usin
=
2
2
usin
g
=
2
g
2g
1
0=usin ( ) t ( gcos) 2
t
2
0=usin(-) (gcos)t
t=
2 u sin ( )
gcos
2 u sin ( )
gcos
2 u sin ( )
=
g cos
2 u2 sin ( )cos
gcos
2
2
OC 2u sin ( )cos 2u sin ( )cos
=
=
cos
gcos cos
g cos 2
u2
[2 cos sin ( )]
2
g cos
u2
[sin ( 2 )sin]
g cos 2
From the above equation , we find that for the given values of u
& , the range will be maximum , when sin(2-) is maximum(as
the value of u,g,& are constant).we know that for maximum
value of sine of any angle ,the angle must be equal to 900 or /2
(2-) = /2 or = (/4 + /2)
Or in other word ,the range on the given plane is maximum, when
the direction of projection bisects the angle between the vertical
and inclined plane.
Now the maximum range , substituting the value of in equation ,
Rmax=
{ [(
] }
u2
sin 2 + sin
2
4 2
g cos
{ [(
] }
sin
+ sin
2
2
g cos
u2
u2
= g (1+ sin)
RIGID BODY
Strictly speaking, the laws of motion, enunciated by Newton, are
applicable only to the rigid
bodies. Though a rigid body (or sometimes written as body for
the sake of simplicity) is defined in
many ways by the different scientists, yet there is not much of
difference between all the definitions.
But the following definition of a rigid body is universally
recognised.
A rigid body consists of a system of innumerable particles. If the
positions of its various
particles remain fixed, relative to one another (or in other words,
distance between any two of its
particles remain constant), it is called a solid body. It will be
interesting to know that in actual practice,
all the solid bodies are not perfectly rigid bodies. However, they
are regarded as such, since all the
solid bodies behave more or less like rigid bodies .
NEWTONS LAWS OF MOTION
mvmu m(v u)
=
=ma
t
t
MOTION OF A LIFT
Consider a lift (elevator or cage etc.) carrying some mass and
moving with a uniform acceleration
Let m = Mass carried by the lift,
a = Uniform acceleration of the lift, and
R = Reaction of the lift or tension in the cable, supporting the lift,
Here we shall discuss the following two cases as shown in Fig. 6
(a) and (b) :
Note. In the above cases, we have taken mass carried by the lift
only. We have assumed that it
includes mass of the lift also. But sometimes the example
contains mass of the lift and mass carried bythe lift separately.
In such a case, the mass carried by the lift (or mass of the
operator etc.) will exert a pressure on
the floor of the lift. Whereas tension in the cable will be given by
the algebraic sum of the masses of
the lift and mass carried by the lift. Mathematically. (When the lift
is moving upwards), then the
pressure exerted by the mass carried by the lift on its floor
= m2(g + a)
And tension in the cable = (m1+m2)(g+a)
Where m1 = mass of the lift and
m2 = mass carried by the lift.
DALEMBERTS PRINCIPLE*
It states, If a rigid body is acted upon by a system of forces, this
system may be reduced to a
single resultant force whose magnitude, direction and the line of
action may be found out by the
methods of graphic statics.
We have already discussed in art. 24.6, that force acting on a
body.
P = ma ...(i)
where m = mass of the body, and
a = Acceleration of the body.
The equation (i) may also be written as :
P ma = 0 ...(ii)
It may be noted that equation (i) is the equation of dynamics
whereas the equation (ii) is the
equation of statics. The equation (ii) is also known as the equation
of dynamic equilibrium under the
action of the real force P. This principle is known as D' Alemberts
principle
*..*