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CHAPTER
1 5
DYNAMICS
Ferdinand P. Beer E. Russell Johnston, Jr. Lecture Notes: J. Walt Oler Texas Tech University
Ninth Edition
Absolute and Relative Acceleration in Plane Introduction Analysis of Plane Motion in Terms of a Para Translation Sample Problem 15.6 Rotation About a Fixed Axis: Velocity Rotation About a Fixed Axis: Acceleration Sample Problem 15.7 Sample Rotation About a Fixed Axis: Representative Slab Problem 15.8 Equations Defining the Rotation of a Rigid Rate of Change With Respect to a Rotating Body About a Fixed Axis Coriolis Acceleration Sample Problem 5.1 Sample Problem 15.9 General Plane Motion Sample Problem 15.10 Absolute and Relative Velocity in Plane Motion Motion About a Fixed Point Sample Problem 15.2 General Motion Sample Problem 15.3 Instantaneous Center of Rotation in Plane Sample Problem 15.11 Motion Three Dimensional Motion. Coriolis Accelera Sample Problem 15.4 Frame of Reference in General Motion Sample Problem 15.5 Sample Problem 15.15
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= 0 + t
Uniformly Accelerated Rotation, = constant: = 0 + t
= 0 + 0t + 1 t 2 2
2 2 = 0 + 2 ( 0 )
2010 The McGraw-Hill Companies, Inc. All rights reserved.
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Cable C has a constant acceleration of 9 in/s2 and an initial velocity of 12 in/s, both directed to the right. Determine (a) the number of revolutions of the pulley in 2 s, (b) the velocity and change in position of the load B after 2 s, and (c) the acceleration of the point D on the rim of the inner pulley at t = 0.
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( vD ) 0 = r0 ( vD ) 0
0 =
r
D 0
C 0
12 = = 4 rad s 3
( aD ) t = r ( aD ) t
=
r
9 = 3 rad s 2 3
Apply the relations for uniformly accelerated rotation to determine velocity and angular position of pulley after 2 s.
= 0t + 1 t 2 = ( 4 rad s )( 2 s ) + 1 3 rad s 2 ( 2 s ) 2 2 2
= 14 rad
1 rev N = (14 rad ) = number of revs 2 rad vB = r = ( 5 in.)(10 rad s ) y B = r = ( 5 in.)(14 rad )
2010 The McGraw-Hill Companies, Inc. All rights reserved.
Ninth Edition
s2
( aD ) t = 9 in.
s2
( aD ) n = 48 in.
s2
( aD ) t2 + ( aD ) 2 n
aD = 48.8 in. s 2
= 92 + 482 tan = =
( aD ) n ( aD ) t
48 9
= 79.4
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General plane motion is neither a translation nor a rotation. General plane motion can be considered as the sum of a translation and rotation. Displacement of particles A and B to A2 and B2 can be divided into two parts: - translation to A2 and B1 - rotation of B1 about A2 to B2
2010 The McGraw-Hill Companies, Inc. All rights reserved.
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Any plane motion can be replaced by a translation of an arbitrary reference point A and a simultaneous rotation about A. vB = v A + vB A v B A = k rB A v B A = r v B = v A + k rB A
2010 The McGraw-Hill Companies, Inc. All rights reserved.
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Assuming that the velocity vA of end A is known, wish to determine the velocity vB of end B and the angular velocity in terms of vA, l, and . The direction of vB and vB/A are known. Complete the velocity diagram. vB = tan vA v B = v A tan vA vA = = cos v B A l
vA l cos
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Selecting point B as the reference point and solving for the velocity vA of end A and the angular velocity leads to an equivalent velocity triangle. vA/B has the same magnitude but opposite sense of vB/A. The sense of the relative velocity is dependent on the choice of reference point. Angular velocity of the rod in its rotation about B is the same as its rotation about A. Angular velocity is not dependent on the choice of reference point.
2010 The McGraw-Hill Companies, Inc. All rights reserved.
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= v A + k rP
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Differentiate to relate the translational and angular velocities. v A = r1 vA 1.2 m s = r1 0.150 m = k = ( 8 rad s ) k
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= v A + k rP
Velocity of the upper rack is equal to velocity of point B: vR = vB = v A + k rB A = (1.2 m s ) i + ( 8 rad s ) k ( 0.10 m ) j = (1.2 m s ) i + ( 0.8 m s ) i vR = ( 2 m s ) i
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= 13.95
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vP = vD = 43.6 ft s
BD =
vD
BD = ( 62.0 rad s ) k
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The crank AB has a constant clockwise angular velocity of 2000 rpm. For the crank position indicated, determine (a) the angular velocity of the connecting rod BD, and (b) the velocity of the piston P.
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= 13.95
The instantaneous center of rotation is at the intersection of the perpendiculars to the velocities through B and D. Determine the angular velocity about the center of rotation based on the velocity at B. vB = ( BC ) BD vB 628.3 in. s = BC 10.14 in.
B = 40 + = 53.95 D = 90 = 76.05
BC CD 8 in. = = sin 76.05 sin 53.95 sin50 BC = 10.14 in. CD = 8.44 in.
BD =
BD = 62.0 rad s
Calculate the velocity at D based on its rotation about the instantaneous center of rotation. vD = ( CD ) BD = ( 8.44 in.)( 62.0 rad s ) vP = vD = 523 in. s = 43.6 ft s
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Absolute acceleration of a particle of the slab, aB = a A + aB A Relative acceleration a B A associated with rotation about A includes tangential and normal components, a B A = r a B A = k rB A t t a B A = r 2 a B A = 2 rB A n
( (
) )n
( (
) )
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)n (
A t
)n
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Write a B = a A + a B
+ x components:
+
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The center of the double gear has a velocity and acceleration to the right of 1.2 m/s and 3 m/s2, respectively. The lower rack is stationary. Determine (a) the angular acceleration of the gear, and (b) the acceleration of points B, C, and D.
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a A = r1 = r1 aA 3 m s2 = = r1 0.150 m = k = 20 rad s 2 k
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) (
( (
) ( ) (
) (
aB = 5 m s 2 i 6.40 m s 2 j
) (
aB = 8.12 m s 2
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= a A + k rC A 2 rC A A = 3 m s 2 i 20 rad s 2 k ( 0.150 m ) j ( 8 rad s ) 2 ( 0.150 m ) j = 3 m s 2 i 3 m s 2 i + 9.60 m s 2 j 2 ac = 9.60 m s j aD = a A + aD A = a A + k rD A 2rD A 2 2 = 3 m s i 20 rad s k ( 0.150 m ) i ( 8 rad s ) 2 ( 0.150m ) i = 3 m s 2 i + 3 m s 2 j + 9.60 m s 2 i 2 2 aD = 12.6 m s i + 3 m s j aD = 12.95 m s 2 aC = a A + aC
( (
) ( ) (
) ( )
( (
) ( ) (
) (
) (
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)t (
)n
The acceleration of B is determined from the given rotation speed of AB. Crank AG of the engine system has a constant clockwise angular velocity of 2000 rpm. For the crank position shown, determine the angular acceleration of the connecting rod BD and the acceleration of point D. The directions of the accelerations a D , a D B , and a D B are
determined from the geometry. Component equations for acceleration of point D are solved simultaneously for acceleration of D and angular acceleration of the connecting rod.
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)t
)n
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)t (
)n
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)t , and ( aD B )n are B
s2
The direction of (aD/B)t is known but the sense is not known, aD B = ( 0.667 BD ) ( sin 76.05i cos 76.05 j )
)t
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)t (
)n
x components: aD = 10,962 cos 40 2563 cos13.95 + 0.667 BD sin 13.95 y components: 0 = 10,962 sin 40 + 2563 sin 13.95 + 0.667 BD cos13.95 BD = 9940 rad s 2 k 2 aD = 9290 ft s i
( (
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BD = ( 29.33 rad s ) k
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Ninth Edition
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( )
( )
Frame OXYZ is fixed. Frame Oxyz rotates about fixed axis OA with angular velocity Vector function Q( t ) varies in direction and magnitude.
x i + Q y j + Qz k = Q Q Oxyz = rate of change with respect to rotating frame. If Q were fixed within Oxyz then Q OXYZ is equivalent to velocity of point in a rigid a body attached to Oxyz and Qx i + Q y + Qz k = Q j
( )
( )
( )
OXYZ
( )
Oxyz
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v P = r + ( r ) Oxy = v P + v P F
d ) ) ( r Oxy = ( r Oxy + ( r ) Oxy dt r + ( r ) + 2 ( r ) Oxy + ( ) Oxy aP = r Utilizing the conceptual point P on the slab, a P = r + ( r ) a P F = ( ) r
Oxy
Absolute acceleration for the particle P becomes a P = a P + a P F + 2 ( r ) Oxy = a P + a P F + ac ) ac = 2 ( r Oxy = 2 v P F = Coriolis acceleration 15 - 46
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at t , at t + t ,
v = vA + u v = v A + u
RR and T T result from combined effects of relative motion of P and rotation of the rod RR T T r = lim u lim + + t t 0 t t t 0 t = u + u = 2u ac = 2u recall, ac = 2 v P F
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= 42.4
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s =
151.2 mm s 37.1 mm
s = ( 4.08 rad s ) k
vP = 500 mm s
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In the Geneva mechanism, disk D rotates with a constant counter Resolve each acceleration term into the clockwise angular velocity of 10 component parallel to the slot. Solve for rad/s. At the instant when = 150o, the angular acceleration of Disk S. determine angular acceleration of disk S.
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( )
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S = 233 rad s
S = ( 233 rad s ) k
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Most general motion of a rigid body is equivalent to: - a translation in which all particles have the same velocity and acceleration of a reference particle A, and - of a motion in which particle A is assumed fixed.
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) (
) (
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( )
OXYZ
( )
Oxyz
Consider motion of particle P relative to a rotating frame Oxyz or F for short. The absolute velocity can be expressed as v P = r + ( r ) Oxyz = v P + v P F The absolute acceleration can be expressed as r + ( r ) + 2 ( r ) aP = + ( ) Oxyz r Oxyz = a p + a P F + ac ) ac = 2 ( r Oxyz = 2 v P F = Coriolis acceleration
2010 The McGraw-Hill Companies, Inc. All rights reserved.
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For the disk mounted on the arm, the indicated angular rotation rates are constant. Determine: the velocity of the point P, the acceleration of P, and angular velocity and angular acceleration of the disk.
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r = Li + Rj = 1 j
rP A = Rj D F = 2k
With P of the moving reference frame coinciding with P, the velocity of the point P is found from
v P = v P + v P F v P = r = 1 j ( Li + Rj ) = 1 L k v P F = D F rP A = 2 k Rj = 2 R i v P = 2 R i 1 L k
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a P = a P + a P F + ac 2 a P = ( r ) = 1 j ( 1 Lk ) = 1 Li a P F = D F D F rP A 2 = 2 k ( 2 R i ) = 2 R j ac = 2 v P F = 21 j ( 2 R i ) = 21 2 Rk 2 2 a P = 1 L i 2 Rj + 21 2 Rk
= +D F ) + = ( F = 1 j (1 j + 2 k )
= 1 j + 2 k = 1 2 i
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