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Fdrag
Flift
a spring drag
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 13
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Acceleration as a function of time, position, or velocity
If…. Kinematic relationship Integrate
v t
∫ dv = ∫ a ( t ) dt
dv
a = a (t ) = a (t )
dt v0 0
dx dv
dt = and a = v x
∫ v dv = ∫ a ( x ) dx
v dt
a = a ( x)
v dv = a ( x ) dx
v0 x0
v t
dv dv
dt
= a (v ) ∫v a ( v ) = ∫0 dt
a = a (v)
0
x v
dv
v = a (v) v dv
∫x dx = v∫ a ( v )
dx
0 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
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 16
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.2
• Solve for t when velocity equals zero and evaluate
corresponding altitude.
m m
v(t ) = 10 − 9.81 2 t = 0
s s
t = 1.019 s
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
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
dv
v
dv
t
v (t )
a=
dt
= − kv ∫v v = −k ∫0 dt ln
v0
= −kt
0
v(t ) = v0 e − kt
v
(
x(t ) = 0 1 − e − kt
k
)
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 20
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
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
• Alternatively,
with
v
(
x(t ) = 0 1 − e − kt
k
)
v(t )
and v(t ) = v0 e − kt or e − kt =
v0
v v(t )
then x(t ) = 0 1 −
k v0
v = v0 − kx
x B A = x B − x A = relative position of B
with respect to A
xB = x A + xB A
v B A = v B − v A = relative velocity of B
with respect to A
vB = v A + vB A
a B A = a B − a A = relative acceleration of B
with respect to A
aB = a A + aB A
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 23
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.4
SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
( )
y B E = 12 + 18t − 4.905t 2 − (5 + 2t ) = 0
t = −0.39 s (meaningless )
t = 3.65 s
v B E = (18 − 9.81t ) − 2
= 16 − 9.81(3.65)
m
v B E = −19.81
s
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 26
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Motion of Several Particles: Dependent Motion
• Position of a particle may depend on position of one
or more other particles.
• Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A + 2 x B = constant (one degree of freedom)
• Positions of three blocks are dependent.
2 x A + 2 x B + xC = constant (two degrees of freedom)
v 2A = (v A )02 + 2a A [x A − ( x A )0 ]
2
in. in.
12 = 2a A (8 in.) aA = 9 2
s s
v A = (v A )0 + a At
in. in.
12 =9 2t t = 1.333 s
s s
[x A − ( x A )0 ]+ 2[x D − ( x D )0 ]+ [x B − (x B )0 ] = 0
(8 in.) + 2(4 in.) + [x B − ( x B )0 ] = 0
x B − ( x B )0 = −16 in.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 30
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Sample Problem 11.5
• Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A + 2 x D + x B = constant
v A + 2v D + v B = 0
a A + 2a D + a B = 0
in. in.
9 2 + aB = 0 a B = −9 2
s s
• Velocity vector,
r dx r dy r dz r r r r
v = i + j + k = x&i + y& j + z&k
dt dt dt
r r r
= vx i + v y j + vz k
• Acceleration vector,
r d 2 xr d 2 y r d 2 z r r r r
a = 2 i + 2 j + 2 k = &x&i + &y& j + &z&k
dt dt dt
r r r
= ax i + a y j + az k
a) A launch angle of 45
b) A launch angle less than 45
c) A launch angle greater than 45
d) It depends on the launch velocity
At t = 5 s
At t = 5 s
We can solve the problems geometrically, and apply the arctangent relationship:
Physically, a rider in car A would “see” car B travelling south and west.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 47
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Concept Quiz
If you are sitting in train
B looking out the window,
it which direction does it
appear that train A is
moving?
a) 25o c)
b) 25o d)
v = v et
en v= vt et dv v2
et a = e t + en
dt ρ
x
• The tangential direction (et) is tangent to the path of the
particle. This velocity vector of a particle is in this direction
• The normal direction (en) is perpendicular to et and points
towards the inside of the curve.
• The acceleration can have components in both the en and et directions
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 50
Edition
Tenth
Vector Mechanics for Engineers: Dynamics
Tangential and Normal Components
• To derive the acceleration vector in tangential
and normal components, define the motion of a
particle as shown in the figure.
r r
• et and et′ are tangential unit vectors for the
particle path at P and P’. When drawn with
r r r
respect to the same origin, ∆et = et′ − et and
∆θ is the angle between them.
• Position vector,
r r r
r = R e R +z k
• Velocity vector,
r r
r dr & r r
v= = R e R + Rθ eθ + z& k
&
dt
• Acceleration vector,
( )
r r
r dv
a= = R&& − Rθ& e R + (Rθ&& + 2 R& θ& )eθ + &z& k
2 r r
dt
a B OA = &r& = −0.240 m s 2