Ninth Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

12 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Kinetics of Particles:
Lecture Notes: Newton’s Second Law
J. Walt Oler
Texas Tech University

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 Vector Mechanics for Engineers: DYNAMICS
Dynamics
Edition
Ninth
2

Kinematics Kinetics
Particle Particle
 Rectilinear motion  Newton’s 2nd law
 Curvilinear motion  Work and Energy
 Relative motion
 Impulse and Momentum
 Dependent motion

Rigid body Rigid body

o Angular momentum
o Rectilinear motion
o Kinetic energy
o Rotational motion
o Equations of motion
o General plane motion
o Spatial motion

Mass moment and Product of Inertia

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 Vector Mechanics for Engineers: Dynamics
Edition
Ninth

Contents
Introduction Angular Momentum of a Particle
Newton’s Second Law of Equations of Motion in Radial &
Motion Transverse Components
Linear Momentum of a Particle Conservation of Angular Momentum
Systems of Units Newton’s Law of Gravitation
Equations of Motion Sample Problem 12.7
Dynamic Equilibrium Sample Problem 12.8
Sample Problem 12.1 Trajectory of a Particle Under a
Sample Problem 12.3 Central Force
Sample Problem 12.4 Application to Space Mechanics
Sample Problem 12.5 Sample Problem 12.9
Sample Problem 12.6 Kepler’s Laws of Planetary Motion

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 Vector Mechanics for Engineers: Dynamics
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Introduction
• Newton’s first and third laws are sufficient for the study of bodies at
rest (statics) or bodies in motion with no acceleration.

• When a body accelerates (changes in velocity magnitude or direction),

Newton’s second law is required to relate the motion of the body to the
forces acting on it.

• Newton’s second law:

- A particle will have an acceleration proportional to the magnitude of
the resultant force acting on it and in the direction of the resultant
force.
- The resultant of the forces acting on a particle is equal to the rate of
change of linear momentum of the particle.
- The sum of the moments about O of the forces acting on a particle is
equal to the rate of change of angular momentum of the particle
about O.
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 Vector Mechanics for Engineers: Dynamics
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Newton’s Second Law of Motion

• Newton’s Second Law: If the resultant force acting on a
particle is not zero, the particle will have an acceleration
proportional to the magnitude of resultant and in the
direction of the resultant.
• Consider a particle subjected to constant forces,
F1 F2 F3
     consta  mas m
a123 a a

• When a particle of mass m is acted upon by a force F ,
 
the acceleration
F  m a of the particle must satisfy
• Acceleration must be evaluated with respect to a
Newtonian frame of reference, i.e., one that is not
accelerating or rotating.
• If force acting on particle is zero, particle will not
accelerate, i.e., it will remain stationary or continue on a
straight line at constant velocity.
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 Vector Mechanics for Engineers: Dynamics
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Linear Momentum of a Particle

• Replacing the acceleration by the derivative of the
velocity yields
 d 
v
 Fm
dt

d  d L
 m v 
dt dt

Llinear momentum ofthe particle

• Linear Momentum Conservation Principle:

If the resultant force on a particle is zero, the linear
momentum of the particle remains constant in both
magnitude and direction.

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 Vector Mechanics for Engineers: Dynamics
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Systems of Units
• Of the units for the four primary dimensions (force,
mass, length, and time), three may be chosen arbitrarily.
The fourth must be compatible with Newton’s 2nd Law.

• International System of Units (SI Units): base units are

the units of length (m), mass (kg), and time (second).
The unit of force is derived,

1N  1kg 
2
1
m  kg
 1
m
2
 s s

• U.S. Customary Units: base units are the units of force

(lb), length (m), and time (second). The unit of mass is
derived,
2
1 lb 1lb lbs
1 lbm  21 slug2 1
32.2ft s 1 fts ft

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 Vector Mechanics for Engineers: Dynamics
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Equations of Motion
• Newton’s second law provides
 
 F  m a
• Solution for particle motion is facilitated by resolving
vector equation into scalar component equations, e.g.,
for rectangular components,
 F x
  
i Fy j F k
z m ax
  
i a yj azk 

Fx x
maFy y
maFzma
z

Fx 
m
x
 Fy 
m
y
 Fzm
z



• For tangential and normal components,


Ftma
t 
Fnma
n
2
dv v

Ftm  n
F m
dt 

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 Vector Mechanics for Engineers: Dynamics
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Dynamic Equilibrium
• Alternate expression of Newton’s second law,

 F  m a 0

 m a inertial ector v
• With the inclusion of the inertial vector, the system
of forces acting on the particle is equivalent to
zero. The particle is in dynamic equilibrium.
• Methods developed for particles in static
equilibrium may be applied, e.g., coplanar forces
may be represented with a closed vector polygon.
• Inertia vectors are often called inertial forces as
they measure the resistance that particles offer to
changes in motion, i.e., changes in speed or
direction.
• Inertial forces may be conceptually useful but are
not like the contact and gravitational forces found
in statics.
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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 12.1

SOLUTION:
• Resolve the equation of motion for the
block into two rectangular component
equations.

• Unknowns consist of the applied force

P and the normal reaction N from the
plane. The two equations may be
A 200-lb block rests on a horizontal solved for these unknowns.
plane. Find the magnitude of the force
P required to give the block an accelera-
tion or 10 ft/s2 to the right. The coef-
ficient of kinetic friction between the
block and plane is m k = 0.25.

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 12.1

SOLUTION:
• Resolve the equation of motion for the block
into two rectangular component equations.
 Fx  ma :
y
P
cos
30
0
.
25
N
6
.21
lb
s2
ft
10
ft
s2
  

62
.
1lb
O
x  Fy  0 :
W 200 lb N  P sin 30  200 lb  0
m 
g 32.2 ft s 2 • Unknowns consist of the applied force P and
the normal reaction N from the plane. The two
lb  s 2
 6.21 equations may be solved for these unknowns.
ft
N P sin30  200 lb
F  k N
P cos30  0.
25 P sin30 200 lb 62.1lb
 0.25N
P  151lb

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 12.3

SOLUTION:
• Write the kinematic relationships for the
dependent motions and accelerations of
the blocks.
• Write the equations of motion for the
blocks and pulley.
• Combine the kinematic relationships
with the equations of motion to solve for
the accelerations and cord tension.
The two blocks shown start from rest.
The horizontal plane and the pulley
are frictionless, and the pulley is
assumed to be of negligible mass.
Determine the acceleration of each
block and the tension in the cord.

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 12.3

SOLUTION:
• Write the kinematic relationships for the dependent
O motions and accelerations of the blocks.
x
y B  12 x A a B  12 a A
y
• Write equations of motion for blocks and pulley.

 Fx  m A a A :
T1  100 kg  a A
 Fy  mB a B :
m
B
gT2m
Ba
B
 300 9
kg .
81m s
2
T2 300
a
kgB
T 22940N  300
- kga
B

 Fy  mC aC  0 :
T2  2T1  0
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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 12.3

• Combine kinematic relationships with equations of
motion to solve for accelerations and cord tension.
O
x y B  12 x A a B  12 a A

y T1  100 kg  a A
T
2 N 300
2940
- a
kgB
  300
2940
N
- 1
kga
2A
 

T
22
T
10
150
 a
2940
N 
kg
A100
2 a
kg
A
0

a A  8.40 m s 2
a B  12 a A  4.20 m s 2
T1  100 kg  a A  840 N
T2  2T1  1680 N
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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 12.4

SOLUTION:
• The block is constrained to slide down
the wedge. Therefore, their motions are
dependent. Express the acceleration of
block as the acceleration of wedge plus
the acceleration of the block relative to
the wedge.

• Write the equations of motion for the

wedge and block.
The 12-lb block B starts from rest and
slides on the 30-lb wedge A, which is • Solve for the accelerations.
supported by a horizontal surface.
Neglecting friction, determine (a) the
acceleration of the wedge, and (b) the
acceleration of the block relative to the
wedge.

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 12.4

SOLUTION:
• The block is constrained to slide down the
wedge. Therefore, their motions are dependent.
  
aB  a A  aB A
• Write equations of motion for wedge and block.
 Fx  m A a A :
y N
1 
sin
30 ma
AA
0
.5
N1W
Aga
A

x
 Fx  mB a x  mB  a A cos 30  a B A  :
 W Bsin 30 W B g a
A cos 30  a
B
A
a
B
Aa
A 
cos
30
g 
sin
30

 Fy  mB a y  mB   a A sin 30 :
N1  WB cos 30   WB g  a A sin 30
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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 12.4

• Solve for the accelerations.
0.5 N1   W A g  a A

1
N WBcos
30 W
 Bg aAsin
30
W
2 Ag aAW
Bcos
30 W
 Bg aAsin
30
gW
Bcos
30
aA
2WAWBsin
30

aA
 .2fts212
32  cos
lb 30
 30
2  12
lb  sin
lb 
30
a A  5.07 ft s 2

a
B
Aa
A 
cos
30
g 
sin
30
a
B
A5
.
07 2
ft
s 
cos
30
32
.
2 2
ft
s 
sin
30   
aB A  20.5 ft s 2

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 12.5

SOLUTION:
• Resolve the equation of motion for the
bob into tangential and normal
components.
• Solve the component equations for the
normal and tangential accelerations.
• Solve for the velocity in terms of the
normal acceleration.
The bob of a 2-m pendulum describes
an arc of a circle in a vertical plane. If
the tension in the cord is 2.5 times the
weight of the bob for the position
shown, find the velocity and accel-
eration of the bob in that position.

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 12.5

SOLUTION:
• Resolve the equation of motion for the bob into
tangential and normal components.
• Solve the component equations for the normal and
tangential accelerations.
 Ft  mat : mg sin 
30 ma t
t
a gsin
30
at  4.9 m s 2

 Fn  man : 2
.
5 
mg
mg 

cos
30ma
n
a
n2
g.
5 

cos
30
an  16.03 m s 2
• Solve for velocity in terms of normal acceleration.

  
2
v
 

2

a
n 
v 
a
n 2
m 16
.
03
ms
v  5.66 m s
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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 12.6

SOLUTION:
• The car travels in a horizontal circular
path with a normal component of
acceleration directed toward the center
of the path.The forces acting on the car
are its weight and a normal reaction
from the road surface.

• Resolve the equation of motion for

Determine the rated speed of a the car into vertical and normal
highway curve of radius r = 400 ft components.
banked through an angle q = 18o. The
rated speed of a banked highway curve • Solve for the vehicle speed.
is the speed at which a car should
travel if no lateral friction force is to
be exerted at its wheels.

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 12.6

• Resolve the equation of motion for
the car into vertical and normal
components.
 Fy  0 : Rcos W0
W
R
cos
W
 Fn  man : Rsin  an
SOLUTION: g
• The car travels in a horizontal circular W W v2
sin 
path with a normal component of cos g 
acceleration directed toward the center • Solve for the vehicle speed.
of the path.The forces acting on the
car are its weight and a normal
2
v
g 
tan
reaction from the road surface. 
32
.
2
ft
s2
 400
ft 
 tan

18

v  64.7 ft s  44.1 mi h
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 Vector Mechanics for Engineers: Dynamics
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Angular Momentum of a Particle

 
• H O  r  mV  moment of momentum or the
angular momentum of the particle about O.
  
r and mV
• H O is perpendicular to plane containing
  
HO rmV 
sin i j k

rmv H O x y z
mr2 mv x mv y mv z

• Derivative of angular momentum with respect to time,

       
H O  
r m V  r m VV  mV  r  ma

 r  F

  M O
• It follows from Newton’s second law that the sum of
the moments about O of the forces acting on the
particle is equal to the rate of change of the angular
momentum of the particle about O.
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 Vector Mechanics for Engineers: Dynamics
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Ninth

Eqs of Motion in Radial & Transverse Components

• Consider particle at r and q, in polar coordinates,


Fr 
ma
r 
m r

r
2



F 
mar
m 

2
r
 


• This result may also be derived from conservation

of angular momentum,

HO  mr2

rF 
d
dt

mr2 

 m r2  2rr 
F  m r  2r 

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 Vector Mechanics for Engineers: Dynamics
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Conservation of Angular Momentum

• When only force acting on particle is directed
toward or away from a fixed point O, the particle
is said to be moving under a central force.
• Since the line of action of the central force
 
 MO,O  H O  0 and
passes through
  
r  mV  H O  constant
• Position vector and motion of particle are in a

plane perpendicular to H O .
• Magnitude of angular momentum,
HO  rm Vsin  consta

rm
0V 
sin
0 0

or H
O 
2

mr constant
H angular
mome
O2
r

h
m unit
mass
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 Vector Mechanics for Engineers: Dynamics
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Conservation of Angular Momentum

• Radius vector OP sweeps infinitesimal area

dA  12 r 2 d

• Define dA
1
r
d
21
2
r

areal velocity
2 dt
dt 2

• Recall, for a body moving under a central force,

h  r 2  constant

• When a particle moves under a central force, its

areal velocity is constant.

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 Vector Mechanics for Engineers: Dynamics
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Newton’s Law of Gravitation

• Gravitational force exerted by the sun on a planet or by
the earth on a satellite is an important example of
gravitational force.
• Newton’s law of universal gravitation - two particles of
mass M and m attract each other with equal and opposite
force directed along the line connecting the particles,
Mm
F  G2
r
G  constant ofgravitatio n
3 4

12m 
9 ft
66 
.73
10 34
.
4 
10
s2
kg s4
lb
• For particle of mass m on the earth’s surface,
MG m ft
W  m 2
 mg g  9
.81 2
32 .2 2
R s s

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 Vector Mechanics for Engineers: Dynamics
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Ninth

Sample Problem 12.7

SOLUTION:
• Write the radial and transverse
equations of motion for the block.
• Integrate the radial equation to find an
expression for the radial velocity.
• Substitute known information into the
A block B of mass m can slide freely on transverse equation to find an
a frictionless arm OA which rotates in a expression for the force on the block.
horizontal plane at a constant rate 0 .
Knowing that B is released at a distance
r0 from O, express as a function of r
a) the component vr of the velocity of B
along OA, and
b) the magnitude of the horizontal force
exerted on B by the arm OA.

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 Vector Mechanics for Engineers: Dynamics
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Sample Problem 12.7

• Integrate the radial equation to find an
expression for the radial velocity.
dv r dv r dr dv r
r

  v
r    vr
dt dr dt dr
dv dvdr dv
r
v r  r  r vr r
dt drdt dr
vrdv 2 r
r r dr
2
0dr
SOLUTION: vr r
2
r 
• Write the radial and transverse
vrdv 0 rdr
equations of motion for the block.
 
0 r0

Fr mr: 0
a m r
r  2  vr2   02 r 2  r02

Fm a
: Fm r
2
r 
 • Substitute known information into the
transverse equation to find an expression
for the force on the block.
F 2m 02 r 2
 r0 
2 12

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 Vector Mechanics for Engineers: Dynamics
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Ninth

Sample Problem 12.8

SOLUTION:
• Since the satellite is moving under a
central force, its angular momentum is
constant. Equate the angular momentum
at A and B and solve for the velocity at B.

A satellite is launched in a direction

parallel to the surface of the earth
with a velocity of 18820 mi/h from
an altitude of 240 mi. Determine the
velocity of the satellite as it reaches it
maximum altitude of 2340 mi. The
radius of the earth is 3960 mi.

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 Vector Mechanics for Engineers: Dynamics
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Ninth

Sample Problem 12.8

SOLUTION:
• Since the satellite is moving under a
central force, its angular momentum is
constant. Equate the angular momentum
at A and B and solve for the velocity at B.
rm v sin   H O  constant
rA m v A  rB m v B
rA
vB  v A
rB
 3960  240 mi
 18820mi h 
 3960  2340 mi
v B  12550mi h

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 Vector Mechanics for Engineers: Dynamics
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Trajectory of a Particle Under a Central Force

• For particle moving under central force directed towards force center,
 
m r  r 2   Fr   F m r  2r    F  0

• Second expression is equivalent to r 2  h  constant , from which,

22


 h
r


and
h

d
1



2
r rd
22
r

• After substituting into the radial equation of motion and simplifying,

2
d
u F 1
u 
where
u
d
2 2
mh
u2 r

• If F is a known function of r or u, then particle trajectory may be

found by integrating for u = f(q), with constants of integration
determined from initial conditions.

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 31

 Vector Mechanics for Engineers: Dynamics
Edition
Ninth

Application to Space Mechanics

• Consider earth satellites subjected to only gravitational pull
of the earth,
2
du F 1 GMm 2
u  
where
u F 
GM

d2 2
mh2
u r 2
r
2
du GM
u2constant
 h
d2

• Solution is equation of conic section,

1

u
r
GM

h
1
2
 
cos
C
h

2

GM
ecc
ty 
• Origin, located at earth’s center, is a focus of the conic section.

• Trajectory may be ellipse, parabola, or hyperbola depending

on value of eccentricity.

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 32

 Vector Mechanics for Engineers: Dynamics
Edition
Ninth

Application to Space Mechanics

• Trajectory of earth satellite is defined by


2
1GMC h
2
1
 
cosecc
ty
rh GM

• hyperbola, e > 1 or C > GM/h2. The radius vector

becomes infinite for

1  
cos 1  0 1  
1
cos




1  



 cos


1


G
C



2
h
 
• parabola, e = 1 or C = GM/h2. The radius vector
becomes infinite for
1  cos 2  0  2  180

• ellipse, e < 1 or C < GM/h2. The radius vector is finite

for q and is constant, i.e., a circle, for e < 0.

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 33

 Vector Mechanics for Engineers: Dynamics
Edition
Ninth

Application to Space Mechanics

• Integration constant C is determined by
conditions at beginning of free flight, q =0, r =
r0 , 1 GM  Ch 2 
 2 1 cos 0 
r0 h  GM 

1 GM 1 GM
C  2  
r0 h r0  r0 v0  2
• Satellite escapes earth orbit for

1or
C 2
GM
h r
GM v
00 2

2GM
v 
v
esc0
r
0

• Trajectory is elliptic for v0 < vesc and becomes

circular for e = 0 or C = 0,
GM
vcirc
r0
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 34
 Vector Mechanics for Engineers: Dynamics
Edition
Ninth

Application to Space Mechanics

• Recall that for a particle moving under a central
force, the areal velocity is constant, i.e.,
dA 1 2  1
 2 r   2 h  constant
dt
• Periodic time or time required for a satellite to
complete an orbit is equal to area within the orbit
divided by areal velocity,
 ab2  ab
 
h2 h

where a1 r r 
2 0 1
b r0r1

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 35

 Vector Mechanics for Engineers: Dynamics
Edition
Ninth

Sample Problem 12.9

SOLUTION:
• Trajectory of the satellite is described by
1 GM
 2
C 
cos
r h
Evaluate C using the initial conditions
at q = 0.
A satellite is launched in a direction • Determine the maximum altitude by
parallel to the surface of the earth
finding r at q = 180o.
with a velocity of 36,900 km/h at an
altitude of 500 km. • With the altitudes at the perigee and
apogee known, the periodic time can
Determine:
be evaluated.
a) the maximum altitude reached by
the satellite, and
b) the periodic time of the satellite.

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 36

 Vector Mechanics for Engineers: Dynamics
Edition
Ninth

Sample Problem 12.9

SOLUTION:
• Trajectory of the satellite is described by
1 GM
 2  C cos
r h
Evaluate C using the initial conditions
at q = 0.
r0   6370  500  km 1 GM
C  2
r0 h
 6.87  106 m
km 1000 m/km 1 398  1012 m3 s 2
v 0  36900   
h 3600 s/h
6
6.87  10 m 70.4 m s
2 2

 10.25  103 m s  65.3  109 m -1

 
h  r0v0  6.87  106 m 10.25  103 m s 
 70.4  109 m 2 s

 
GM  gR 2  9.81m s 2 6.37  106 m 2
 398  1012 m3 s 2
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 37
 Vector Mechanics for Engineers: Dynamics
Edition
Ninth

Sample Problem 12.9

• Determine the maximum altitude by finding r1
at q = 180o.
12
32
1GM 
398
10 ms 
91
2
C 65
.
310
r
1 h 70
.
4m22
s m  
6
r
166
.
710
m 
66700
km
max altitude   66700 - 6370 km  60300 km

• With the altitudes at the perigee and apogee known,

the periodic time can be evaluated.
a
1
2
r
0r
1 
1
2
6
.
87
66.
7  6
10m 6
36.8
10m
6 6
r
b r
016
.
87
66.
7 
10m 
21.4
10m

2ab
  
2  6
36.8
10
m 
21.46
10
m   
h 92

70.4
10m s

  70.3  103 s  19 h 31min

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 38

 Vector Mechanics for Engineers: Dynamics
Edition
Ninth

Kepler’s Laws of Planetary Motion

• Results obtained for trajectories of satellites around earth may also be
applied to trajectories of planets around the sun.
• Properties of planetary orbits around the sun were determined
astronomical observations by Johann Kepler (1571-1630) before
Newton had developed his fundamental theory.
1) Each planet describes an ellipse, with the sun located at one of its
foci.
2) The radius vector drawn from the sun to a planet sweeps equal
areas in equal times.
3) The squares of the periodic times of the planets are proportional
to the cubes of the semimajor axes of their orbits.

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 12 - 39