General Requirements for Formulation of Dynamie Eqnations of Motion for Mechanical Systems 1, Ceometrie requirements on the motions (kinematic requirements); 4, Dynamic equirements on the forces (force dynamic requirements); ard 8. Constitutive requirements forall the system elements and fields, inenatiesof Ponts Mectanlcaleguremens Natural tins on Fores Name Vaal or Equation and Torques for Particles and Extended (Rigid or Deformable) Bodies Pon Von Ri) - Pn (ed ws a Salts | Dinars in O82) sth a respect to | ‘Vector a tf-0 2 fan) Alen atl Parte | (Orifcrveit | (Oy ileomexe, Vector ate dr=0) In2 ty i | A= Rider) ; on DP=0 Lrea mn Differential aq {a Extended Body Pic (ed) Operator afi dtorPestly | ™ and ame Tred | Tape Me reget Mt) sxe a onya, | Yeuar Zi Reon eR, Acceleration a= Fe tg to Ky Vector . +aXrtaX(oXt)Central Moments and Products of Inertia of Some Uniform Solids ‘Sphere La ty la Pmt vw Ante Tay fae * Tye = 0. Hemisphere ler = lig = Simtt Lay ~ Tee = Tye = 0 Lay Lee = das =O ‘Thin Fing or hoop i Tay = Lee = Lye = 0 Lag yg = 5k 2 (R = Ring radius) fa ame Lag = RP Cylinder 1 Lan = Ty = ymORe + ny) ay = tae = Te = 0 1 ® v= oRh ta = gue ‘Semicylinder 1 1 Tax = 0.0699mK? + Fy ma Ten = TgmOGR +H) Typ = 0.320mR? Toy = tar # Tye 20 Te = Aemeat + #2) Vay = tae = Lye = 0 Slender rod B Vv = ath Tax hag = yl I 20 Rectangular plate A tax = gmt fag = [gee +) Racists Soria ted Smet fay = Ian = tee = 0 Formulation of Equations of Motion Via Lagrange’s Equations for Holonomie Mechanical Systems Generalized Coordinates: & = (f= 1,2...) Admissible Variations: 6G, (F = 1,2,...,22) Mf Holonomic, then note n' = n and proceed. (if Nosholonomic, seek alternative formulation ) awe = aR = Pe La TG, b)- VE) © Generalized Forces: = Equation Derivation: Hamilton's Prineiple for Mechanica! Systems ve {lie =v) 4S B65 fae " fr Kinetic Coenergy 7” for Rigld Bodies Undergoing Plane Motion’ Kinetic Conergy Function Fixed-Axus Rotation 7 About o 1 = panot General Plane Motion 1 1 5Moe-06 + 5 Tudo " Bquations are written on the assumption Ltat motion accurs in the ay plane.Units and Conversion Factors for Mechanical Quantities Between U.S. Customary and SI Systems Fundamental Quantities and Units U.S. Customary Units ‘S1 Units Quantity Unit ‘Symbol Unit ‘Symbol Mass slug! _ kilogram: ke Length foot } id meter } Base units ™ Time second } Base units | sec second s Force pound Ib newton? N stag = ose on = Me Conversion Factors for Fandamental and Derived Quantities Quantity US. Customary to SI Sto U.S. Customary Length Lin. = 25.40mm Im = 39.37 in, Im = 3.281 ft ‘ J kn = 0.6214 mi Area Jin? = 645.2 mm? 1m? = 1660 in? 1 ft? = 0,099 m? 1m? = 10.76 f Volume Lin? = 16.39X 10? mmo? 1 mm? = 61.02 x 10° in? 1 ft = 0.02882 m? Im? = 85.8110 Velocity Lin/see = 0.0254 m/s 1 m/s = 99.37 in,/sec 1 ft/sec = 0.3948m/s Im/s = 3.281 ft/sec , Lmi/he = 1.609km/h 1 km/h = 0.6214 mi/br Acceleration Lin/sec? = 0.0254m/s* m/s = 39.37 in,/sec? Force IN = 0.2248 Ib Mass 1kg = 0.06854 slug Pressure or stress 1 kPa = 0.1450 psi 1 MPa = 1480 psi Bending moment or torque 1N-m = 0.7876 ft-b Work or energy 1 J = 0.7876 ft Ib Power . 1W = 0.7376 ft Ib/see Thp = 745.7 W 1KW = 1341 hp