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CHAPTER
16
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Lecture Notes:
J. Walt Oler
Texas Tech University
Seventh
Seventh
F ma
and
M H
Seventh
m
a
M G HG
System of external forces is
equipollent to the
system
consisting of ma and H G .
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Seventh
H G ri vimi
i 1
n
ri ri mi
i 1
ri 2 mi
After differentiation,
H G I I
Consider a rigid slab in
plane motion.
Seventh
Seventh
Seventh
Seventh
Seventh
x 20 ft
ft
0 30
s
2a 20 ft
a 22.5
ft
s
Fy Fy eff
Fx Fx eff
N A NB W 0
FA FB ma
k N A N B
kW W g a
k
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a 22.5
0.699
g 32.2
Seventh
M A M A eff
5 ft W 12 ft N B 4 ft ma
1
W W
a
5W 4 a 5 4
12
g 12
g
N B 0.650W
NB
N A W N B 0.350W
N rear 12 N A 12 0.350W
Frear k N rear 0.690 0.175W
N front 12 NV 12 0.650W
N rear 0.175W
Frear 0.122W
N front 0.325W
Seventh
Seventh
Ft Ft eff
W cos 30 ma
mg cos 30
a 9.81m/s 2 cos 30
a 8.50 m s 2
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60o
Seventh
M G M G eff
Fn Fn eff
a 8.50 m s 2
60o
FAE 47.9 N T
FDF 8.70 N C
Seventh
Seventh
M G 10 lb 6 in 5 lb 10 in 10 in lb
rotation is counterclockwise.
note:
I mk 2
W 2
k
g
12 lb 8
ft
2
32.2 ft s 12
0.1656 lb ft s 2
10
ft
12
aB rB
6
12
ft
Seventh
M G M G eff
6
10 lb 126 ft 5 lb 10
ft I mB aB 12
ft m Aa A 10
ft
12
12
10 6 6 5 10 10
10 126 5 10
0
.
1656
12 32.2 12 12
12
32.2 12
I 0.1656 lb ft s 2
a A 10
ft
s
12
aB
12
ft s
2.374 rad s 2
Then,
a A rA
a A 1.978 ft s 2
aB 1.187 ft s 2
10
ft
2.374
rad
s
12
aB rB
6 ft 2.374 rad s 2
12
Seventh
Seventh
Fx Fx eff
ax 0
0 ma x
Fy Fy eff
T W ma y
T W 180 N - 15 kg 9.81m s 2
ay
m
15 kg
M G M G eff
Tr I
a y 2.19 m s 2
12 mr 2
2T
2180 N
15 kg 0.5 m
mr
48.0 rad s 2
Seventh
acord a A t a a A G t
acord 26.2 m s 2
ax 0
a y 2.19 m s 2
48.0 rad s 2
Seventh
Seventh
Fy Fy eff
N W 0
Fx Fx eff
F ma
k mg
N W mg
a k g
M G M G eff
Fr I
k mg r 23 mr 2
5 k g
2 r
NOTE: As long as the sphere both rotates and slides,
its linear and angular motions are uniformly
accelerated.
2003 The McGraw-Hill Companies, Inc. All rights reserved.
Seventh
0 t 0
a k g
5 k g
2 r
t1
v0 k gt1 r
5 k g
5 k g
t1
2
r
2
r
5 v0
7 r
v1 r1 r
2 v0
2 v0
7 k g
5 v0
7 r
v1 75 v0
Seventh
Seventh
an r 2
Seventh
aG aO aG O
aO aG O aG O
Seventh
Seventh
WE 4 kg 9.81m s 2 39.2 N
40 rad s 2
8 rad/s
24.0 N
I OB
1.600 N m
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Seventh
M O M O eff
F 0.120m I E mOB aOB t 0.200m I OB
Fx Fx eff
WE 39.2 N
WOB 29.4 N
I E 1.156 N m
Rx 24.0 N
Fy Fy eff
I OB 1.600 N m
2003 The McGraw-Hill Companies, Inc. All rights reserved.
R y 24.0 N
Seventh
Seventh
M C M C eff
a r
W sin r ma r I
mr r 52 mr 2
W
2W 2
r r
r
g
5 g
a r
5 g sin 30
7
5 32.2 ft s 2 sin 30
7
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a 11.50 ft s 2
5 g sin
7r
Seventh
g
7
2
F W sin 30 0.143W
7
N W cos 0
Fy Fy
eff
5 g sin
7r
a r 11.50 ft s 2
N W cos 30 0.866W
F 0.143W
N 0.866W
s 0.165
Seventh
0 2 11.50 ft s 2 10 ft
v 15.17 ft s
5 g sin
7r
M G M G eff
0 I
Fx Fx eff
W sin ma
W
a
g
a r 11.50 ft s 2
v 2 v02 2a x x0
0 2 16.1ft s 2 10 ft
2003 The McGraw-Hill Companies, Inc. All rights reserved.
v 17.94 ft s
Seventh
Seventh
I mk 2 50 kg 0.70 m 2
0.245 kg m 2
Assume rolling without slipping,
a r
0.100 m
10.74 rad s 2
Fx Fx eff
F 200 N ma 50 kg 1.074 m s 2
F 146.3 N
Fx Fx eff
N W 0
Seventh
Fx Fx eff
200 N 73.6 N 50 kg a
a 2.53 m s 2
M G M G eff
73.6 N 0.100 m 200 N 0.0.060 m
0.245 kg m 2
18.94 rad s 2
2003 The McGraw-Hill Companies, Inc. All rights reserved.
18.94 rad s 2
Seventh
Seventh
a B a A aB A
With aB A 4 , the corresponding vector triangle and
the law of signs yields
a A 5.46
aB 4.90
a a G a A aG A where aG A 2
Resolving into x and y components,
a x 5.46 2 cos 60 4.46
a y 2 sin 60 1.732
2003 The McGraw-Hill Companies, Inc. All rights reserved.
Seventh
M E M E eff
1
50 lb
2
4
ft
12 32.2 ft s 2
2.07 lb ft s 2
I 2.07
50
4.46 6.93
ma x
32.2
50
1.732 2.69
ma y
32.2
2.30 rad s 2
Fx Fx eff
RB sin 45 6.93 2.30
RB 22.5 lb
Fy Fy eff
RB 22.5 lb
R A 27.9 lb
45o