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17 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Plane Motion of Rigid
Brian P. Self Bodies:
Energy and Momentum
Methods
F = ma
t2
G
mv1 + F dt = mv2
t1
T1 + U1→2 = T2
M = H G G
t2
I G1 + M G dt = I G2
t1
2
U1→2 = M d
1
= M ( 2 − 1 ) if M is constant.
YES NO
YES NO
YES NO
YES NO
If the disk rolls without slip, does
the friction force F do work?
YES NO
dU = F dsC = F (vc dt ) = 0
T = 12 mv 2 + 12 Δmi vi2
= 12 mv 2 + 12 ( ri2 Δmi ) 2
= 12 mv 2 + 12 I 2
T = 12 mv 2 + 1
2 I 2
Translation + Rotation
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Eleventh
Vector Mechanics for Engineers: Dynamics
Kinetic Energy of a Rigid Body in Plane Motion
T= 1
2 Δm v = 2
i i
1
2 Δmi ( ri ) =
2 1
2 ( r Δm )
i
2
i
2
= 12 I O 2
T = 12 mv 2 + 1
2 I 2
T = I O 1
2
2
• We may also apply the principle of work and energy to the entire system,
T1 + U1→2 = T2 T1 ,T2 = arithmetic sum of the kinetic energies of
all bodies forming the system
U1→2 = work of all forces acting on the various
bodies, whether these forces are internal
or external to the system as a whole.
T
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Eleventh
Vector Mechanics for Engineers: Dynamics
Systems of Rigid Bodies
• For problems involving pin connected members, blocks and pulleys
connected by inextensible cords, and meshed gears,
- internal forces occur in pairs of equal and opposite forces
- points of application of each pair move through equal distances
- net work of the internal forces is zero
- work on the system reduces to the work of the external forces
( ) ( )
2
2 1 ml
= 12 m 12 l 1 ml =
+ 12 12 2 2
2
2 3
V2 = − 12 Wl sin = − 12 mgl sin
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
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Power
For the drum and flywheel, I = 10.5 lb ft s 2 . • Apply the principle of work and
The bearing friction is equivalent to a kinetic energy to develop an
couple of 60 lb ft. At the instant shown, expression for the final velocity.
the block is moving downward at 6 ft/s.
Determine the velocity of the block after it
has moved 4 ft downward.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.1
MODELING and ANALYSIS:
• Consider the system of the flywheel and block. The work
done by the internal forces exerted by the cable cancels.
• Note that the velocity of the block and the angular velocity of
the drum and flywheel are related by
v 6 ft s v v
v = r 1 = 1 = = 4.80 rad s 2 = 2 = 2
r 1.25 ft r 1.25
• Apply the principle of work and kinetic energy to develop an
expression for the final velocity.
T1 = 12 mv12 + 12 I 12
1 240 lb 2 1
= (6 ft s ) + (10.5 lb ft s )(4.80 rad s )2
2 32.2 ft s 2 2
= 255 ft lb
T2 = 12 mv22 + 12 I 22
2
1 240 2 1 v
= v2 + 10.5 2 = 7.09v22
2 32.2 2 1.25
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.1
T1 = 12 mv12 + 12 I12 = 255 ft lb
T2 = 12 mv22 + 12 I 22 = 7.09v22
B =
(600 rpm )(2 rad rev )
= 62.8 rad s
60 s min
r 0.100
A = B B = 62.8 = 25.1rad s
rA 0.250
T2 = 12 I A A2 + 12 I B B2
= 12 (0.400)(25.1 )2 + 12 (0.0192)(62.8)2
= 163.9 J
T1 + U1→2 = T2
0 + M A (10.93 rad ) = 126.0J
11.52
M A = rA F = 11.52 N m F= = 46.2 N
0.250
T1 + U1→ 2 = T2
I
0 + Wh = 12 m + 2 v 2
r
2Wh 2 gh
v2 = =
m + I r 2 1 + I mr 2
M O = (M O )eff 0 = I + m(r )r =0
Fx = (Fx )eff Rx = m(r ) Rx = 0
=−
30 lb
32.2 ft s 2
(22.3 ft s 2
)
R y = 9.22 lb
R = 9.22
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.4
REFLECT and THINK:
• This problem illustrates how you might
need to supplement the conservation of
energy with Newton’s second law.
• What if the spring constant had been
smaller, say 180 lb/in.? You would have
found Ve1 = 7.5 ft*lb and then solved to
obtain 𝜔2 2 = -18.57.
• This is clearly impossible and means
that the rod would not make it to
position 2 as assumed.
(
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
REFLECT and THINK:
The only step in which you need to use forces is when calculating the gravitational
potential energy in each position. However, it is good engineering practice to show the
complete free-body diagram in each case to identify which, if any, forces do work. You
could have also used vector algebra to relate the velocities of the various objects.
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Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
STRATEGY:
• Because the problem deals with
positions and velocities, you should
apply the principle of work energy.
Substitute into T1 + V1 = T2 + V2
M = H
t2
G G I G1 + M G dt = I G2
t1
FimpDt
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Principle of Impulse and Momentum
FimpDt
FimpDt
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Eleventh
Vector Mechanics for Engineers: Dynamics
Practice – Diagram for combined system
FimpDt
FimpDt
I G1 + M G dt = I G2
t1
I G1 = I G2
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Eleventh
Vector Mechanics for Engineers: Dynamics
Conservation of Angular Momentum
• When no external force acts on a rigid body or a system of rigid
bodies, the system of momenta at t1 is equipollent to the system
at t2. The total linear momentum and angular momentum about
any point are conserved,
L1 = L2 (H 0 )1 = (H 0 )2
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
2
2 2
2 lb
IS = 2 ma 2= ft = 0.00155 lb ft s 2
5 2
32.2 ft s 12
5
2 2
2 2 5 2 2 25 2 = 2.08 rad s
mS r1 = = 0.0108 mS r2 = = 0.2696
32.2 12 32.2 12
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.9
• The energy lost due to the
plastic impact is equal to the
change in kinetic energy of the
system.
( ) (
T = 2 12 mS v 2 + 12 I S 2 + 12 I R 2 = 12 2mS r 2 + 2 I S + I R 2 )
T1 = 12 (0.275)(6 )2 = 4.95 ft lb
T2 = 12 (0.792 )(2.08)2 = 1.71 ft lb
ΔT = T2 − T1 = 1.71 − 4.95 DT = −3.24 ft lb
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.9
REFLECT and THINK:
• As expected, when the spheres move
outward, the angular velocity of the
system decreases. This is similar to an
ice skater who throws her arms
outward to reduce her angular speed.
m0 v0 ( L − h) = m0 vB ( L − h) + I C
Given: Wo= 0.08 lb, vo= 500 ft/s Or you could use the relationship:
WAB = 15-lb L= 30 in. h= 12 in.
Find: AB when = 90o L
m0 v0 ( L − h) = m0 vB ( L − h) + mv0 − h + I
2
m0 v0 ( L − h) 0.08lbs
32.2 (1000)(2.5 − 1)
= = 2 = 6.7189 rad/s
m0 ( L − h)2 + I C 0.08lbs
32.2 (2.5 − 1) + 0.27174
2
T2 + V2 = T3 + V3 B 2
DATUM
Find T2 1 1
T2 = I C 22 = (0.27174)(6.71892 )
2 2
1
T2 = 6.1337 lb ft
Find V2
V2 = m AB gy AB 2 + mO gyO 2 = WAB y AB 2 + WO yO 2
(u A )n = (uB )n
Period of deformation Period of restitution
Impulse = Rdt Impulse = Pdt
(129 ft )2
2
1 20 18
v2 = I P = 16 mPb 2 = = 0.2329 lb ft s
2
6 32.2 12
0.05
(1500) 14 = ( )
20 9
12 2( )(129 ) + 0.23292
32.2 12
32.2
Determine the angular velocity of the • Solve the two relations simultaneously
rod and the velocity of the sphere for the angular velocity of the rod and
immediately after impact. velocity of the sphere.
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.13
MODELING and ANALYSIS:
• Consider the sphere and rod as a
single system. Apply the
principle of impulse and
momentum.
• The moments about A of the
momenta and impulses provide a
relation between the final
moments about A: angular velocity of the rod and
ms vs (1.2 m ) = ms vs (1.2 m ) + mR vR (0.6 m ) + I
velocity of the rod.
vR = r = (0.6 m )
1 mL2 = 1 (8 kg )(1.2 m )2 = 0.96 kg m 2
I = 12 12
Moments about B:
T2 = 12 mv22 + 12 I 22
h3 = 2
a = 0.707a v1 = 43 a 2 = 43 a 0.285 g a v1 = 0.712 ga
2
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.14
REFLECT and THINK:
• The combination of energy and
momentum methods is typical of many
design analyses. If you had been
interested in determining the reaction at
B immediately after the impact or at
some other point in the motion, you
would have needed to draw a free-body
diagram and kinetic diagram and apply
Newton’s second law.
( v S ) 2 = 0.320162
(perpendicular to AC.)
1 1
I = mP (0.5 m)2 = (8)(0.5) 2 = 0.3333 kg m 2
6 6