Dynamics ch1

DynaDEn
DynaDEn
DynaDEn
F(t)
F(t)
DynaDEn ∆t
t
i =n i =∞ t =t 2
X(t) ≈ ∑
i =1
F (t )∆t = lim ∑ F (t )∆t = ∫ F (t )dt
∆t →0 i =1 t =0
DynaDEn
DynaDEn
DynaDEn
DynaDEn
Edition
Seventh
Vector Mechanics for Engineers: Dynamics
Rectilinear Motion: Position, Velocity & Acceleration
• Consider particle with motion given by
x = 6t 2 − t 3
dx
v= = 12t − 3t 2
dt
DynaDEn
dv d 2 x
a= = 2 = 12 − 6t
dt dt
• at t = 0, x = 0, v = 0, a = 12 m/s2
• at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0
• at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2
• at t = 6 s, x = 0, v = -36 m/s, a = 24 m/s2
© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 7 - 49

DynaDEn
DynaDEn
A=const
V=at+v0
X=1/2at2+v0t+x0
V2- v02=2as, s=x - x0
Phisical Meaning
DynaDEn
Edition
Seventh
Sample Problem 11.2
SOLUTION:
• Integrate twice to find v(t) and y(t).
• Solve for t at which velocity equals

zero (time for maximum elevation)
and evaluate corresponding altitude.
DynaDEn
Ball tossed with 10 m/s vertical velocity
from window 20 m above ground.
• Solve for t at which altitude equals
zero (time for ground impact) and
evaluate corresponding velocity.
Determine:
• velocity and elevation above ground at
time t,
• highest elevation reached by ball and
corresponding time, and
• time when ball will hit the ground and
corresponding velocity.
Edition
Seventh
Sample Problem 11.2
SOLUTION:
• Integrate twice to find v(t) and y(t).
dv
= a = −9.81 m s 2
dt
v (t ) t
∫ dv = − ∫ 9.81 dt v(t ) − v0 = −9.81t
DynaDEn
v0 0
m  m
v(t ) = 10 −  9.81 2  t
s  s 
dy
= v = 10 − 9.81t
dt
y (t ) t
∫ dy = ∫ (10 − 9.81t )dt y (t ) − y0 = 10t − 12 9.81t 2
y0 0
 m  m
y (t ) = 20 m + 10 t −  4.905 2 t 2
 s  s 
Edition
Seventh
Sample Problem 11.2
• Solve for t at which velocity equals zero and evaluate
corresponding altitude.
m  m
v(t ) = 10 −  9.81 2  t = 0
s  s 
t = 1.019 s
DynaDEn • Solve for t at which altitude equals zero and evaluate

corresponding velocity.
 m  m
y (t ) = 20 m + 10 t −  4.905 2 t 2
 s  s 
 m  m
y = 20 m + 10 (1.019 s ) −  4.905 2 (1.019 s )2
 s  s 
y = 25.1 m

Edition
Seventh
Sample Problem 11.2
• Solve for t at which altitude equals zero and
evaluate corresponding velocity.
 m  m
y (t ) = 20 m + 10 t −  4.905 2 t 2 = 0
 s  s 
t = −1.243 s (meaningless )
DynaDEn
t = 3.28 s
m  m
v(t ) = 10 −  9.81 2  t
s  s 
m  m
v(3.28 s ) = 10 −  9.81 2  (3.28 s )
s  s 
m
v = −22.2
s

Edition
Seventh
Sample Problem 11.3
SOLUTION:
a = − kv • Integrate a = dv/dt = -kv to find v(t).

• Integrate v(t) = dx/dt to find x(t).
• Integrate a = v dv/dx = -kv to find
DynaDEn
v(x).
Brake mechanism used to reduce gun
recoil consists of piston attached to barrel
moving in fixed cylinder filled with oil.
As barrel recoils with initial velocity v0,
piston moves and oil is forced through
orifices in piston, causing piston and
cylinder to decelerate at rate proportional
to their velocity.
Determine v(t), x(t), and v(x).

Edition
Seventh
Sample Problem 11.3
SOLUTION:
• Integrate a = dv/dt = -kv to find v(t).
v (t )
dv dv t
v(t )
a= = − kv ∫ = − k ∫ dt ln = − kt
dt v0 v 0 v0
v(t ) = v0 e − kt
DynaDEn • Integrate v(t) = dx/dt to find x(t).

dx
v(t ) = = v0 e − kt
dt
x (t ) t t
 1 − kt 
− kt
∫ dx = v0 ∫ e dt x(t ) = v0 − e 
0 0  k 0
x(t ) =
v0
k
(
1 − e − kt )
Edition
Seventh
Sample Problem 11.3
• Integrate a = v dv/dx = -kv to find v(x).
v x
dv
a = v = − kv dv = − k dx ∫ dv = −k ∫ dx
dx v0 0
v − v0 = − kx
v = v0 − kx
DynaDEn • Alternatively,
with x(t ) =
v0
k
(
1 − e − kt )
v(t )
and v(t ) = v0 e − kt or e − kt =
v0
v0  v(t ) 
then x(t ) = 1 − 
k  v0 
v = v0 − kx

Edition
Seventh
Uniform Rectilinear Motion
For particle in uniform rectilinear motion, the acceleration is zero and
the velocity is constant.
dx
= v = constant
dt
DynaDEn
x t
∫ dx = v ∫ dt
x0 0
x − x0 = vt
x = x0 + vt

Edition
Seventh
Uniformly Accelerated Rectilinear Motion
For particle in uniformly accelerated rectilinear motion, the acceleration of
the particle is constant.
v t
dv
= a = constant ∫ dv = a ∫ dt v − v0 = at
dt v0 0
v = v0 + at
dx
dt
= v0 + at DynaDEn
x
x0 0
t
∫ dx = ∫ (v0 + at )dt x − x0 = v0t + 12 at 2
x = x0 + v0t + 12 at 2
(v 2 − v02 ) = a(x − x0 )
v x
dv
v = a = constant ∫ v dv = a ∫ dx 1
2
dx v0 x0
v 2 = v02 + 2a( x − x0 )
Edition
Seventh
Motion of Several Particles: Relative Motion
• For particles moving along the same line, time
should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.
xB = x B − x A = relative position of B
A
DynaDEn
with respect to A
xB = x A + xB A
vB = v B − v A = relative velocity of B
A
with respect to A
vB = v A + vB A
aB = a B − a A = relative acceleration of B
A
with respect to A
aB = a A + aB A
Edition
Seventh
Sample Problem 11.4
SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
DynaDEn
• Substitute initial position and constant
velocity of elevator into equation for
uniform rectilinear motion.
Ball thrown vertically from 12 m level
in elevator shaft with initial velocity of • Write equation for relative position of
18 m/s. At same instant, open-platform ball with respect to elevator and solve
elevator passes 5 m level moving for zero relative position, i.e., impact.
upward at 2 m/s.
• Substitute impact time into equation
Determine (a) when and where ball hits for position of elevator and relative
elevator and (b) relative velocity of ball velocity of ball with respect to
and elevator at contact. elevator.
Edition
Seventh
Sample Problem 11.4
SOLUTION:
• Substitute initial position and velocity and constant
acceleration of ball into general equations for
uniformly accelerated rectilinear motion.
m  m
v B = v0 + at = 18 −  9.81 2 t
s  s 
DynaDEn  m  m
y B = y0 + v0t + 12 at 2 = 12 m + 18 t −  4.905 2 t 2
 s  s 
• Substitute initial position and constant velocity of

elevator into equation for uniform rectilinear motion.
m
vE = 2
s
 m
y E = y0 + v E t = 5 m +  2 t
 s

Edition
Seventh
Sample Problem 11.4
• Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.
yB E ( )
= 12 + 18t − 4.905t 2 − (5 + 2t ) = 0
t = 3.65 s
DynaDEn
• Substitute impact time into equations for position of elevator
and relative velocity of ball with respect to elevator.
y E = 5 + 2(3.65)
y E = 12.3 m
vB E = (18 − 9.81t ) − 2
= 16 − 9.81(3.65)
m
vB E = −19.81
s
PROBLEM 11.14
The acceleration of a particle is defined by the relation a = 0.15 m/s 2.
Knowing that x = −10 m when t = 0 and υ = −0.15 m/s when t = 2 s,
determine the velocity, the position, and the total distance traveled when
t = 5 s.
SOLUTION
v t t
Determine velocity. ∫ − 0.15dv = ∫ 2a dt = ∫ 20.15 dt
v − ( −15 ) = 0.15t − ( 0.15 )( 2 )
v = 0.15t − 0.45 m/s
At t = 5 s, v5 = ( 0.15 )( 5 ) − 0.45 v5 = 0.300 m/s W
When v = 0, 0.15t − 0.45 = 0 t = 3.00 s

For 0 ≤ t ≤ 3.00 s, v ≤ 0, x is decreasing.
For 3.00 ≤ t ≤ 5 s, v ≥ 0, x is increasing.
DynaDEn
∫−10 dx = ∫0 v dt = ∫0 ( 0.15t − 0.45 ) dt
x t t
Determine position.
( )
t
x − ( −10 ) = 0.075t 2 − 0.45t = 0.075t 2 − 0.45t
0
x = 0.075t 2 − 0.45t − 10 m
x5 = ( 0.075 )( 5 ) − ( 0.45 )( 5 ) − 10 = −10.375 m

2
At t = 5 s,
x5 = −10.38 m W
At t = 0, x0 = −10 m (given)
x3 = xmin = ( 0.075 )( 3.00 ) − ( 0.45 )( 3.00 ) − 10 = −10.675 mm

2
At t = 3.00 s,
Distances traveled:
Over 0 ≤ t ≤ 3.00 s, d1 = x0 − xmin = 0.675 m
Over 3.00 s < t < 5 s, d 2 = x5 − xmin = 0.300 m
Total distance traveled: d = d1 + d 2 = 0.975 m W

DynaDEn
Edition
Seventh
Motion of Several Particles: Relative Motion
• For particles moving along the same line, time
should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.
xB = x B − x A = relative position of B
A
DynaDEn
with respect to A
xB = x A + xB A
vB = v B − v A = relative velocity of B
A
with respect to A
vB = v A + vB A
aB = a B − a A = relative acceleration of B
A
with respect to A
aB = a A + aB A
DynaDEn
Edition
Seventh
Sample Problem 11.4
SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
DynaDEn
• Substitute initial position and constant
velocity of elevator into equation for
uniform rectilinear motion.
Ball thrown vertically from 12 m level
in elevator shaft with initial velocity of • Write equation for relative position of
18 m/s. At same instant, open-platform ball with respect to elevator and solve
elevator passes 5 m level moving for zero relative position, i.e., impact.
upward at 2 m/s.
• Substitute impact time into equation
Determine (a) when and where ball hits for position of elevator and relative
elevator and (b) relative velocity of ball velocity of ball with respect to
and elevator at contact. elevator.
Edition
Seventh
Sample Problem 11.4
SOLUTION:
• Substitute initial position and velocity and constant
acceleration of ball into general equations for
uniformly accelerated rectilinear motion.
m  m
v B = v0 + at = 18 −  9.81 2 t
s  s 
DynaDEn  m  m
y B = y0 + v0t + 12 at 2 = 12 m + 18 t −  4.905 2 t 2
 s  s 
• Substitute initial position and constant velocity of

elevator into equation for uniform rectilinear motion.
m
vE = 2
s
 m
y E = y0 + v E t = 5 m +  2 t
 s

Edition
Seventh
Sample Problem 11.4
• Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.
yB E ( )
= 12 + 18t − 4.905t 2 − (5 + 2t ) = 0
t = 3.65 s
DynaDEn
• Substitute impact time into equations for position of elevator
and relative velocity of ball with respect to elevator.
y E = 5 + 2(3.65)
y E = 12.3 m
vB E = (18 − 9.81t ) − 2
= 16 − 9.81(3.65)
m
vB E = −19.81
s
Edition
Seventh
Sample Problem 11.5
SOLUTION:
• Define origin at upper horizontal surface
with positive displacement downward.
• Collar A has uniformly accelerated
rectilinear motion. Solve for acceleration
and time t to reach L.
DynaDEn
Pulley D is attached to a collar which
is pulled down at 75 mm/s. At t = 0,
• Pulley D has uniform rectilinear motion.
Calculate change of position at time t.
collar A starts moving down from K • Block B motion is dependent on motions

with constant acceleration and zero of collar A and pulley D. Write motion
initial velocity. Knowing that relationship and solve for change of block
velocity of collar A is 300 mm/s as it B position at time t.
passes L, determine the change in • Differentiate motion relation twice to
elevation, velocity, and acceleration develop equations for velocity and
of block B when block A is at L. acceleration of block B.
Edition
Seventh
Sample Problem 11.5
SOLUTION:
• Define origin at upper horizontal surface with
positive displacement downward.
• Collar A has uniformly accelerated rectilinear motion.

Solve for acceleration and time t to reach L.
DynaDEn v A2 = (v A )0 + 2a A [x A − ( x A )0 ]
2
(300 mm)2 = 2a A (200 mm) a A = 225mm/s 2
v A = (v A )0 + a At
300 mm = 225 mm/s 2 t = 1.333 s

Edition
Seventh
Sample Problem 11.5
• Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
xD = ( xD )0 + vD t
xD − ( xD )0 = (75 mm/s)(1.333 s) = 100 mm
DynaDEn
• Block B motion is dependent on motions of collar
A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A + 2 x D + x B = ( x A )0 + 2( x D )0 + ( x B )0
[x − (x ) ] + 2[x − (x ) ] + [x − (x ) ] = 0
A A 0 D D 0 B B 0
(200 mm) + 2(100 mm) + [x − (x ) ] = 0

B B 0
xB − ( xB )0 = −400 mm
Edition
Seventh
Sample Problem 11.5
• Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A + 2 xD + xB = constant
v A + 2v D + v B = 0
(300 mm) + 2(75 mm) + vB = 0
DynaDEn
vB = 450 mm/s
a A + 2a D + a B = 0
(225 mm/s) + vB = 0 a B = −225 mm/s 2

Fig. P11.47 and P11.48
DynaDEn
Copyright © The McGraw-Hill Companies, Inc. Permission required for reproduction or display.
Fig. P11.49 and P11.50
DynaDEn
Fig. P11.51 and P11.52
DynaDEn
Fig. P11.53 and P11.54
DynaDEn
Fig. P11.55 and P11.56
DynaDEn
Fig. P11.57 and P11.58
DynaDEn
Fig. P11.59 and P11.60
DynaDEn
Fig. P11.127
DynaDEn
Fig. P11.128
DynaDEn
PROBLEM 11.49
Block C starts from rest and moves downward with a constant
acceleration. Knowing that after 12 s the velocity of block A is 456 mm/s,
determine (a) the accelerations of A, B, and C, (b) the velocity and the
change in position of block B after 8 s.
SOLUTION
Let x be position relative to the fixed supports, taken positive if downward.

Constraint of cable on left: 2 x A + 3xB = constant
2 2
2v A + 3vB = 0, or vB = − v A , and aB = − a A
3 3
Constraint of cable on right: xB + 2 xC = constant
DynaDEn
vB + 2vC = 0, or
Block C moves downward; hence, block A also moves downward.

(a) Accelerations.
1
2
1
vC = − vB = v A ,
3
and aC =
1
3
aA
v A − ( v A )0 456 − 0
v A = ( v A )0 + a AT or aA = = = 38.0 mm/s 2
t 12
a A = 38.0 mm/s 2 W
2 2
aB = − a A = −   ( 38.0 ) = −25.3 mm/s 2 a B = 25.3 mm/s 2 W
3 3
1 1
aC = a A =   ( 38.0 ) = 12.67 mm/s 2 aC = 12.67 mm/s 2 W
3 3
(b) Velocity and change in position of B after 8 s.
vB = ( vB )0 + aBt = 0 + ( −25.3)( 8 ) = −203 mm/s
v B = 203 mm/s W
1 1
xB − ( xB ) 0 = ( vB ) 0 t + aBt 2 = 0 + ( −25.3)( 8 ) = −811 mm
2
2 2
∆xB = 811 mm W
DynaDEn
DynaDEn
DynaDEn
DynaDEn
unit vector:
단위벡터
DynaDEn
Edition
Seventh
Rectangular Components of Velocity & Acceleration
• Rectangular components particularly effective
when component accelerations can be integrated
independently, e.g., motion of a projectile,
a x = &x& = 0 a y = &y& = − g a z = &z& = 0
with initial conditions,
x0 = y 0 = z 0 = 0 ( )
(v x )0 , v y 0 , (v z )0 = 0
DynaDEn
( )
Integrating twice yields
v x = (v x )0 vy = vy
0
− gt vz = 0
x = (v x )0 t y = (v y ) y − 12 gt 2 z=0
0
• Motion in horizontal direction is uniform.

• Motion in vertical direction is uniformly accelerated.
• Motion of projectile could be replaced by two

independent rectilinear motions.
DynaDEn
Sample Problem 11.7a
DynaDEn
Sample Problem 11.7b
DynaDEn
Sample Problem 11.7c
DynaDEn
Sample Problem 11.8a
DynaDEn
Sample Problem 11.8b
DynaDEn
Sample Problem 11.8c
DynaDEn
Sample Problem 11.8d
DynaDEn
DynaDEn
DynaDEn
Fig. P11.97
DynaDEn
Fig. P11.98
DynaDEn
Fig. P11.99
landing:
physical meaning
DynaDEn
Fig. P11.101
DynaDEn
Fig. P11.104
DynaDEn
Fig. P11.105
DynaDEn
Fig. P11.106
DynaDEn
Fig. P11.109
DynaDEn
Fig. P11.111
DynaDEn
Fig. P11.112
DynaDEn
Fig. P11.114
DynaDEn
Fig. P11.115
DynaDEn
PROBLEM 11.97
12.2 m
A baseball pitching machine “throws” baseballs with a horizontal
A v0 a
1.5 m
velocity v 0 . Knowing that height h varies between 788 mm and
h B
1068 mm, determine (a) the range of values of v0 , (b) the values of α
corresponding to h = 788 mm and h = 1068 mm.
SOLUTION
(a) Vertical motion: y0 = 1.5 m, ( v y )0 = 0

2 ( y0 − y )
( )0 t − 12 gt 2
y = y0 + v y or t =
g
2 ( y0 − h )
At point B, y =h or tB =
g
When h = 788 mm = 0.788 m, tB =

( 2 )(1.5 − 0.788) = 0.3810 s
9.81
When h = 1068 mm = 1.068 m, tB =

( 2 )(1.5 − 1.068) = 0.2968 s
DynaDEn
9.81
Horizontal motion: x0 = 0, ( vx )0 = v0 ,
x x
x = v0t or v0 = = B
t tB
12.2
With xB = 12.2 m, we get v0 = = 32.02 m/s
0.3810
12.2
and v0 = = 41.11 m/s
0.2968
32.02 m/s ≤ v0 ≤ 41.11 m/s or 115.3 km/h ≤ v0 ≤ 148.0 km/h W
(b) Vertical motion: vy = vy( )0 − gt = − gt

Horizontal motion: vx = v0
tan α = −
dy
=−
vy ( )
B gt
= B
dx ( x ) B v0
v
For h = 0.788 m, tan α =

( 9.81)( 0.3810 ) = 0.11673, α = 6.66° W
32.02
For h = 1.068 m, tan α =

( 9.81)( 0.2968) = 0.07082, α = 4.05° W
41.11
PROBLEM 11.98
While delivering newspapers, a girl throws a paper with a horizontal

velocity v 0. Determine the range of values of v0 if the newspaper is to
0.4 m
land between points B and C.
1m
A v0
C
1.2 m 0.2 m
0.2 m
0.2 m B
2.2 m
SOLUTION
Sketch the limiting trajectories.
Point A: x = x0 = 0
y = y0 = 0
Point B: xB = 2.2 m
yB = −1.0 m
Point C: xc = 4.0 m
DynaDEn
yc = −0.6 m
−2 y
Vertical motion with v y ( )0 = 0: ( )0 t − 12 gt 2
y = y0 + v y or t =
g
(1)
x
Horizontal motion with ( vx )0 = v0 : x = v0t or v0 = (2)
t
g
Substituting equation (1) into equation (2) gives v0 = x (3)
−2 y
Applying equation (3):
9.81
at point B, v0 = 2.2 = 4.87 m/s
( −2 )( −1.0 )
9.81
at point C, v0 = 4.0 = 11.44 m/s
( −2 )( 0.6 )
Range of v0 : 4.87 m/s ≤ v0 ≤ 11.44 m/s W
PROBLEM 11.99
25 m/s
A ski jumper starts with a horizontal take-off velocity of 25 m/s and lands
on a straight landing hill inclined at 30o. Determine (a) the time between
take-off and landing, (b) the length d of the jump, (c) the maximum
vertical distance between the jumper and the landing hill.
SOLUTION
(a) At the landing point, y = − x tan 30°
Horizontal motion: x = x0 + ( vx )0 t = v0t
Vertical motion: y = y0 + v y ( )0 t − 12 gt 2 = − 12 gt 2
2y 2 x tan 30° 2v0t tan 30°
from which t2 = − = =
g g g
2v0 tan 30° ( 2 )( 25 ) tan 30 °
DynaDEn
Rejecting the t = 0 solution gives t = = t = 2.94 s W
g 9.81
(b) Landing distance: d =

x
=
v0t
=
(25 )( 2.94 ) d = 84.9 m W
cos 30° cos 30° cos 30°
(c) Vertical distance: h = x tan 30° + y
1 2
or h = v0t tan 30° − gt
2
Differentiating and setting equal to zero,
dh vo tan 30°
= v0 tan 30° − gt = 0 or t =
dt g
( v0 )( v0 tan 30°) tan 30° − 1 g  v0 tan 30° 

2
Then, hmax =  
g 2  g 
v02 tan 2 30° ( 25 ) ( tan 30° )

2 2
= = hmax = 10.6 m W
2g ( 2 )( 9.81 )
PROBLEM 11.100
v0
h A golfer aims his shot to clear the top of a tree by a distance h at the peak
of the trajectory and to miss the pond on the opposite side. Knowing that
12 m
Pond the magnitude of v 0 is 25 m/s, determine the range of values of h which
must be avoided.
45 m
3m
SOLUTION
x
Horizontal motion: x = x0 + ( vx )0 t = v0t , or t =
v0
gx 2
Vertical motion: ( )0 t − 12 gt 2 = y0 − 12 gt 2
y = y0 + v y or y = y0 −
2v02
gx 2
At ground level, y = 0, so that y0 =
2v02
At x = 45 m, y0 =
( 9.81 ) (45)2 = 15.89 m
( 2 )(25)2
At x = 48 m,
DynaDEn y0 =
h = y0 − 12 = 3.89 m
( 9.81 )( 48 ) 2
( 2 )(25)2
= 18.08 m
h = y0 − 12 = 6.08 m
Range to avoid: 3.89 m < h < 6.08 m W

PROBLEM 11.101
v0
A 25°
A golfer hits a golf ball with an initial velocity of 48 m/s at an angle of
d
B 5° 25° with the horizontal. Knowing that the fairway slopes downward at an
average angle of 5°, determine the distance d between the golfer and
point B where the ball first lands.
SOLUTION
Horizontal motion: x = x A + v0 cos 25°t = v0 cos 25°t
At point B, xB = d cos 5° = v0 cos 25°t B
1 2 1
Vertical motion: y = y0 + v0 sin 25°t − gt = v0 sin 25°t − gt 2
2 2
 1 
yB = −d sin 5° =  v0 sin 25° − gt B  t B
 2 
Ratio:
yB
=−
sin 5°
=
(
v0 sin 25° − 12 gt B t B ) or − v0 cos 25° tan 5° = v0 sin 25° −
1
gt B
xB cos 5° v0 cos 25°t B 2
DynaDEn
2v0 ( 2 )( 48) cos 25° tan 5° + sin 25° = 4.912 s
or tB = ( cos 25° tan 5° + sin 25° ) = ( )
g 9.81
Then, d =
xB v cos 25°t B
= 0 =
( 48)( cos 25° )( 4.912 ) d = 215 m W
cos 5° cos 5° cos 5°
PROBLEM 11.102
15° Water flows from a drain spout with an initial velocity of 0.76 m/s at an
A
v0
angle of 15° with the horizontal. Determine the range of values of the
distance d for which the water will enter the trough BC.
3m
B C
0.36 m
d 0.62 m
SOLUTION
1 2
Vertical motion: y = y0 + ( v0 ) y t − gt
2
1 2
gt − ( v0 ) y t − ( y0 − y ) = 0
2
With y0 = 3 m and y = 0.36 m at level BC , y0 − y = 2.64 m
( v0 ) y = −0.76sin15° = −0.19670 m/s
Then, 4.905t 2 + 0.19670t − 2.64 = 0
DynaDEn
Solving the quadratic equation,
t =
−0.19670 + ( 0.19670 )2 − ( 4 )( 4.905 )( −2.64 )
( 2 )( 4.905)
= 0.7139 s
Horizontal motion: x = ( v0 ) x t = ( 0.76 cos15° )( 0.7139 ) = 0.524 m
For water impact at C, xc = 0.524 ft with d = xc − 0.62 = −0.096 m
For water impact at B, xB = d = 0.524 m
So, −0.096 m < d < 0.524 m
Owing to the foot of the wall, d cannot be negative; hence, the allowable range of d is 0 < d < 0.524 m W
DynaDEn
Fig. 11.14
DynaDEn
Fig. 11.15a
DynaDEn
Fig. 11.15b
DynaDEn
Fig. 11.15c
DynaDEn
Fig. 11.15d
DynaDEn
DynaDEn
Photo 11.4
DynaDEn
Fig. 11.23
DynaDEn
DynaDEn
Fig. P11.177
DynaDEn
DynaDEn
DynaDEn
Edition
Seventh
Sample Problem 11.10
SOLUTION:
• Calculate tangential and normal
components of acceleration.
• Determine acceleration magnitude and

direction with respect to tangent to
DynaDEn
A motorist is traveling on curved
section of highway at 60 mph. The
curve.
motorist applies brakes causing a

constant deceleration rate.
Knowing that after 8 s the speed has
been reduced to 45 mph, determine
the acceleration of the automobile
immediately after the brakes are
applied.
Edition
Seventh
SOLUTION:
• Calculate tangential and normal components of
acceleration.
∆v (66 − 88) ft s ft
at = = = −2.75 2
∆t 8s s
v2 (88 ft s )2
DynaDEn
ft
an = = = 3.10 2
ρ 2500 ft s
60 mph = 88 ft/s
• Determine acceleration magnitude and direction
45 mph = 66 ft/s with respect to tangent to curve.
ft
a = at + an = (− 2.75) + 3.10
2 2 2 2 a = 4 .14
s2
an 3.10
α = tan −1 = tan −1 α = 48.4°
at 2.75

Edition
Seventh
SOLUTION:
• Evaluate time t for θ = 30o.
• Evaluate radial and angular positions,
and first and second derivatives at
time t.
DynaDEn
Rotation of the arm about O is defined
by θ = 0.15t2 where θ is in radians and t
in seconds. Collar B slides along the
• Calculate velocity and acceleration in
cylindrical coordinates.
• Evaluate acceleration with respect to
arm such that r = 0.9 - 0.12t2 where r is
in meters. arm.
After the arm has rotated through 30o,

determine (a) the total velocity of the
collar, (b) the total acceleration of the
collar, and (c) the relative acceleration
of the collar with respect to the arm.
Edition
Seventh
SOLUTION:
• Evaluate time t for θ = 30o.
θ = 0.15 t 2
= 30° = 0.524 rad t = 1.869 s
DynaDEn
• Evaluate radial and angular positions, and first
and second derivatives at time t.
r = 0.9 − 0.12 t 2 = 0.481 m
r& = −0.24 t = −0.449 m s
&r& = −0.24 m s 2
θ = 0.15 t 2 = 0.524 rad

θ& = 0.30 t = 0.561 rad s
θ&& = 0.30 rad s 2

Edition
Seventh
• Calculate velocity and acceleration.
vr = r& = −0.449 m s
vθ = rθ& = (0.481m )(0.561rad s ) = 0.270 m s
v
v = vr2 + vθ2 β = tan −1 θ
vr
v = 0.524 m s β = 31.0°
DynaDEn ar = &r& − rθ& 2

= −0.240 m s 2 − (0.481m )(0.561rad s )2
= −0.391m s 2
aθ = rθ&& + 2r&θ&
( )
= (0.481m ) 0.3 rad s 2 + 2(− 0.449 m s )(0.561rad s )
= −0.359 m s 2
a
a = ar2 + aθ2 γ = tan −1 θ
ar
a = 0.531m s γ = 42.6°
Edition
Seventh
• Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear
and defined by coordinate r.
a B OA = &r& = −0.240 m s 2
DynaDEn

PROBLEM 11.145
vA From a photograph of a homeowner using a snowblower, it is determined
that the radius of curvature of the trajectory of the snow was 9 m as the
A 40° snow left the discharge chute at A. Determine (a) the discharge velocity
v A of the snow, (b) the radius of curvature of the trajectory at its
maximum height.
SOLUTION
(a) The acceleration vector is 9.81 m/s2 .

At point A. Tangential and normal components of a are as shown
in the sketch.
an = a cos 40° = 9.81cos 40° = 7.51 m/s 2
v A2 = ρ A ( a A )n = ( 9 )( 7.51) = 67.59 m 2 /s 2
v A = 8.22 m/s 40°
vx = 8.22 cos 40° = 6.30 m/s
(b) At maximum height, v = vx = 6.30 m/s
DynaDEn ρ =
an = g = 9.81 m/s 2,
v2
an
=
( 6.30 )2
9.81
ρ = 4.05 m
vA = 50 km/h
PROBLEM 11.184
Assuming a uniform acceleration of 3.5 m/s2 and knowing that the speed
A B of a car as it passes A is 50 km/h, determine (a) the time required for the
car to reach B, (b) the speed of the car as it passes B.
50 m
SOLUTION
Let the origin lie at point A. x A = 0, xB = 50 m
v A = 50 km/h = 13.889 m/s, a = 3.5 m/s2
1 2
(a) xB = x A + v At + at
2
35
. t 2 + 13.889t – 50 = 0 t = –10.63s, 2.69s
2
t = 2.69 s W
(b) vB = vA + at = 13.889 + (3.5) (2.69) = 23.3 m/s
vB = 83.9 km/h W
DynaDEn
PROBLEM 11.185
Block B starts from rest and moves downward with a constant
acceleration. Knowing that after slider block A has moved 400 mm its
velocity is 4 m/s, determine (a) the accelerations of A and B, (b) the
velocity and the change in position of B after 2 s.
SOLUTION
Constraint of cable with x A increasing to the left and yB increasing downward.
x A + 3 yB = constant, ∆x A + 3∆yB = 0
v A + 3vB = 0, a A + 3aB = 0
Block B moves downward so that vB and aB are positive.
Since, v A = −3vB , v A is negative, i.e. to the right.
For block A,
(a) DynaDEn
aA =
1
v A2
2∆x A
=
(−4) 2
( 2)( −0.4)
v A2 = 2a A∆x A
= −20 m/s 2 or a A = 20 m/s2 W
aB = − a A = 6.67 m/s 2 a B = 6.67 m/s2 W

3
(b) At t = 2 s,
vB = aBt = ( 6.67 )( 2 ) vB = 13.33 m/s 2 W
1 1
aBt 2 = ( 6.67 )( 2 )
2
∆yB = ∆yB = 13.33 m2 W
2 2

Dynamics ch1

Încărcat de

Informații document

Titlu original

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

Dynamics ch1

Încărcat de

Drepturi de autor:

Formate disponibile

DynaDEn

• at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

• at t = 6 s, x = 0, v = -36 m/s, a = 24 m/s2

© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 7 - 49

• Solve for t at which velocity equals

DynaDEn • Solve for t at which altitude equals zero and evaluate

© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 49

© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 14 - 49

a = − kv • Integrate a = dv/dt = -kv to find v(t).

© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 49

DynaDEn • Integrate v(t) = dx/dt to find x(t).

© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 17 - 49

© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 18 - 49

• Substitute initial position and constant velocity of

© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 22 - 49

v = 0.15t − 0.45 m/s

At t = 5 s, v5 = ( 0.15 )( 5 ) − 0.45 v5 = 0.300 m/s W

When v = 0, 0.15t − 0.45 = 0 t = 3.00 s

x5 = ( 0.075 )( 5 ) − ( 0.45 )( 5 ) − 10 = −10.375 m

x3 = xmin = ( 0.075 )( 3.00 ) − ( 0.45 )( 3.00 ) − 10 = −10.675 mm

Over 3.00 s < t < 5 s, d 2 = x5 − xmin = 0.300 m

Total distance traveled: d = d1 + d 2 = 0.975 m W

• Substitute initial position and constant velocity of

© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 22 - 49

collar A starts moving down from K • Block B motion is dependent on motions

• Collar A has uniformly accelerated rectilinear motion.

(300 mm)2 = 2a A (200 mm) a A = 225mm/s 2

© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 26

(200 mm) + 2(100 mm) + [x − (x ) ] = 0

© 2004 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 28

Let x be position relative to the fixed supports, taken positive if downward.

Block C moves downward; hence, block A also moves downward.

• Motion in horizontal direction is uniform.

• Motion of projectile could be replaced by two

(a) Vertical motion: y0 = 1.5 m, ( v y )0 = 0

When h = 788 mm = 0.788 m, tB =

When h = 1068 mm = 1.068 m, tB =

(b) Vertical motion: vy = vy( )0 − gt = − gt

For h = 0.788 m, tan α =

For h = 1.068 m, tan α =

While delivering newspapers, a girl throws a paper with a horizontal

Sketch the limiting trajectories.

Applying equation (3):

(a) At the landing point, y = − x tan 30°

Horizontal motion: x = x0 + ( vx )0 t = v0t

2v0 tan 30° ( 2 )( 25 ) tan 30 °

(b) Landing distance: d =

(c) Vertical distance: h = x tan 30° + y

Differentiating and setting equal to zero,

( v0 )( v0 tan 30°) tan 30° − 1 g  v0 tan 30° 

v02 tan 2 30° ( 25 ) ( tan 30° )

Range to avoid: 3.89 m < h < 6.08 m W

Horizontal motion: x = x A + v0 cos 25°t = v0 cos 25°t

At point B, xB = d cos 5° = v0 cos 25°t B

With y0 = 3 m and y = 0.36 m at level BC , y0 − y = 2.64 m

( v0 ) y = −0.76sin15° = −0.19670 m/s

Then, 4.905t 2 + 0.19670t − 2.64 = 0

Horizontal motion: x = ( v0 ) x t = ( 0.76 cos15° )( 0.7139 ) = 0.524 m

For water impact at C, xc = 0.524 ft with d = xc − 0.62 = −0.096 m

For water impact at B, xB = d = 0.524 m

So, −0.096 m < d < 0.524 m

• Determine acceleration magnitude and

motorist applies brakes causing a