Eighth Edition

CHAPTER

VECTOR MECHANICS FOR ENGINEERS:

12

DYNAMICS
Ferdinand P. Beer E. Russell Johnston, Jr. Lecture Notes: J. Walt Oler Texas Tech University

Kinetics of Particles: Newtons Second Law

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Eighth Edition

Vector Mechanics for Engineers: Dynamics

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

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Vector Mechanics for Engineers: Dynamics

Introduction
Newtons 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), Newtons second law is required to relate the motion of the body to the forces acting on it. Newtons 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

Newtons Second Law of Motion
Newtons 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 = = = = constant = mass, m a1 a2 a3

When a particle of mass m is acted upon by a force F , the acceleration of the particle must satisfy F = ma 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

Linear Momentum of a Particle
Replacing the acceleration by the derivative of the velocity yields dv F = m dt d dL = (m v ) = dt dt L = linear momentum of the 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

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 Newtons 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, kg m m 1 N = (1 kg )1 2 = 1 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, 1lb 1 lb lb s 2 1slug = 1lbm = =1 2 2 ft 32.2 ft s 1ft s
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Vector Mechanics for Engineers: Dynamics

Equations of Motion
Newtons second law provides F = ma Solution for particle motion is facilitated by resolving vector equation into scalar component equations, e.g., for rectangular components, Fx i + Fy j + Fz k = m a x i + a y j + a z k

Fx = ma x Fy = ma y Fz = ma z x & y & z & Fx = m& Fy = m& Fz = m&

For tangential and normal components,

F t = mat
dv Ft = m dt

F n = man Fn = m
v2

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Eighth Edition

Vector Mechanics for Engineers: Dynamics

Dynamic Equilibrium
Alternate expression of Newtons second law, F ma = 0 ma inertial vector 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

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 solved for these unknowns.

A 200-lb block rests on a horizontal plane. Find the magnitude of the force P required to give the block an acceleration or 10 ft/s2 to the right. The coefficient of kinetic friction between the block and plane is k = 0.25.

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Vector Mechanics for Engineers: Dynamics

Sample Problem 12.1
SOLUTION: Resolve the equation of motion for the block into two rectangular component equations. Fx = ma :
y O

P cos 30 0.25 N = 6.21lb s 2 ft 10 ft s 2 = 62.1lb

x

)(

Fy = 0 :
N P sin 30 200 lb = 0 Unknowns consist of the applied force P and the normal reaction N from the plane. The two equations may be solved for these unknowns. N = P sin 30 + 200 lb P cos 30 0.25( P sin 30 + 200 lb ) = 62.1lb P = 151lb
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W 200 lb m= = g 32.2 ft s 2 lb s 2 = 6.21 ft F = k N = 0.25 N

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Eighth Edition

Vector Mechanics for Engineers: Dynamics

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

Sample Problem 12.3
O x y

SOLUTION: Write the kinematic relationships for the dependent motions and accelerations of the blocks. yB = 1 x A aB = 1 a A 2 2

Write equations of motion for blocks and pulley.

Fx = m A a A : T1 = (100 kg )a A

Fy = m B a B :

(300 kg )(9.81 m s 2 ) T2 = (300 kg )a B T2 = 2940 N - (300 kg )a B

Fy = mC aC = 0 :
T2 2T1 = 0
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m B g T2 = m B a B

Eighth Edition

Vector Mechanics for Engineers: Dynamics

Sample Problem 12.3
Combine kinematic relationships with equations of motion to solve for accelerations and cord tension.
O x y

yB = 1 x A 2

aB = 1 a A 2

T1 = (100 kg )a A
T2 = 2940 N - (300 kg )a B = 2940 N - (300 kg ) 1 a A 2
T2 2T1 = 0

2940 N (150 kg )a A 2(100 kg )a A = 0

a A = 8.40 m s 2 T1 = (100 kg )a A = 840 N T2 = 2T1 = 1680 N

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a B = 1 a A = 4.20 m s 2 2

Eighth Edition

Vector Mechanics for Engineers: Dynamics

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. Solve for the accelerations.

The 12-lb block B starts from rest and slides on the 30-lb wedge A, which is 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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Eighth Edition

Vector Mechanics for Engineers: Dynamics

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

Fx = mB a x = mB (a A cos 30 a B A ) : WB sin 30 = (WB g )(a A cos 30 a B

a B A = a A cos 30 + g sin 30

0.5 N1 = (W A g )a A

N1 sin 30 = m A a A

Fy = mB a y = mB ( a A sin 30) : N1 WB cos 30 = (WB g )a A sin 30

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Eighth Edition

Vector Mechanics for Engineers: Dynamics

Sample Problem 12.4
Solve for the accelerations. 0.5 N1 = (W A g )a A
2(W A g )a A WB cos 30 = (WB g )a A sin 30 aA = N1 WB cos 30 = (WB g )a A sin 30 gWB cos 30 2W A + WB sin 30

(32.2 ft s 2 )(12 lb)cos 30 aA =

2(30 lb) + (12 lb) sin 30
a A = 5.07 ft s 2

a B A = a A cos 30 + g sin 30

a B A = 5.07 ft s 2 cos 30 + 32.2 ft s 2 sin 30 a B A = 20.5 ft s 2

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Vector Mechanics for Engineers: Dynamics

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 acceleration of the bob in that position.

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Eighth Edition

Vector Mechanics for Engineers: Dynamics

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. mg sin 30 = mat Ft = mat : at = g sin 30
a t = 4 .9 m s 2

Fn = man :

2.5mg mg cos 30 = man an = g (2.5 cos 30) an = 16.03 m s 2

Solve for velocity in terms of normal acceleration. an = v2

v = a n =

(2 m )(16.03 m

s2

)
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v = 5.66 m s

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Eighth Edition

Vector Mechanics for Engineers: Dynamics

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

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Eighth Edition

Vector Mechanics for Engineers: Dynamics

Sample Problem 12.6
Resolve the equation of motion for the car into vertical and normal components. R cos W = 0 Fy = 0 :

W R= cos

Fn = man : R sin =
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.

W an g

W W v2 sin = cos g Solve for the vehicle speed. v 2 = g tan = 32.2 ft s 2 (400 ft ) tan 18 v = 64.7 ft s = 44.1 mi h

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Eighth Edition

Vector Mechanics for Engineers: Dynamics

Angular Momentum of a Particle
H O = r mV = moment of momentum or the angular momentum of the particle about O. H O is perpendicular to plane containing r and mV H O = rmV sin i j k = rm v HO = x y z mv x mv y mv z = mr 2&
Derivative of angular momentum with respect to time, & = r mV + r mV = V mV + r ma & & HO = rF = MO It follows from Newtons 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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Eighth Edition

Vector Mechanics for Engineers: Dynamics

Eqs of Motion in Radial & Transverse Components
Consider particle at r and , in polar coordinates, & 2 Fr = mar = m(r& r& ) &+ & ) F = ma = m(r& 2r&

This result may also be derived from conservation of angular momentum, H O = mr 2& r F =

&+ & ) F = m(r& 2r&

d mr 2& dt &+ & = m r 2& 2rr&

( (

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Vector Mechanics for Engineers: Dynamics

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 passes & through O, M O = H O = 0 and r mV = H O = constant

Position vector and motion of particle are in a plane perpendicular to H O . Magnitude of angular momentum, H O = rm V sin = constant
= r0 m V0 sin 0
or H O = mr 2& constant = HO angular momentum = r 2& h = = m unit mass
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Eighth Edition

Vector Mechanics for Engineers: Dynamics

Conservation of Angular Momentum
Radius vector OP sweeps infinitesimal area dA = 1 r 2 d 2 Define dA 1 2 d 1 2 & = 2r = 2 r = areal velocity dt dt

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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Eighth Edition

Vector Mechanics for Engineers: Dynamics

Newtons 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. Newtons 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 =G 2 r G = constant of gravitation = 66.73 10
12

m3 kg s
2

= 34.4 10

ft 4 lb s 4

For particle of mass m on the earths surface,

W =m

MG R2

= mg

g = 9.81

m s2

= 32.2

ft s2
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Eighth Edition

Vector Mechanics for Engineers: Dynamics

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. A block B of mass m can slide freely on a frictionless arm OA which rotates in a 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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Substitute known information into the transverse equation to find an expression for the force on the block.

Eighth Edition

Vector Mechanics for Engineers: Dynamics

Sample Problem 12.7
Integrate the radial equation to find an expression for the radial velocity. dv dv dr dv &= vr = r = r r& & = vr r dt dr dt dr dv dv dr dv r& & = vr r &= vr = r = r dt dr dr dt 2 2 vr dvr = r& dr = r& dr 0
vr r 2 vr dvr = & r dr 0 0 r0

SOLUTION: Write the radial and transverse equations of motion for the block. r& Fr = m ar : 0 = m(& r ) &+ & ) F = m a : F = m(r& 2r&
2 &

2 2 vr = 0 r 2 r02

Substitute known information into the transverse equation to find an expression for the force on the block.
F=
2 2m 0

(r

2 12 r0
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Eighth Edition

Vector Mechanics for Engineers: Dynamics

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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Eighth Edition

Vector Mechanics for Engineers: Dynamics

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 r vB = v A A rB = (18820 mi h )

(3960 + 240)mi (3960 + 2340)mi

v B = 12550 mi h

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Vector Mechanics for Engineers: Dynamics

Trajectory of a Particle Under a Central Force
For particle moving under central force directed towards force center, m & r& = Fr = F r& 2

&+ & ) m(r& 2r& = F = 0

& , Second expression is equivalent to r 2 = h = constant from which, h &= 2 r h2 d 2 1 and &= 2 r& 2 r r d

After substituting into the radial equation of motion and simplifying, d 2u d 2 +u = F mh 2 u 2 where u = 1 r

If F is a known function of r or u, then particle trajectory may be found by integrating for u = f(), with constants of integration determined from initial conditions.
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Eighth Edition

Vector Mechanics for Engineers: Dynamics

Application to Space Mechanics
Consider earth satellites subjected to only gravitational pull of the earth, d 2u d 2 d 2u d
2

+u = +u =

F mh 2 u 2 GM h
2

where u =

1 r

F=

GMm r2

= GMmu 2

= constant

Solution is equation of conic section, 1 GM u = = 2 (1 + cos ) r h Ch2 = = eccentricity GM

Origin, located at earths center, is a focus of the conic section. Trajectory may be ellipse, parabola, or hyperbola depending on value of eccentricity.
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Vector Mechanics for Engineers: Dynamics

Application to Space Mechanics
Trajectory of earth satellite is defined by 1 GM = 2 (1 + cos ) r h Ch 2 = = eccentricity GM

hyperbola, > 1 or C > GM/h2. The radius vector becomes infinite for 1 1 1 GM 1 + cos 1 = 0 1 = cos = cos C h2 parabola, = 1 or C = GM/h2. The radius vector becomes infinite for 1 + cos 2 = 0 2 = 180 ellipse, < 1 or C < GM/h2. The radius vector is finite for and is constant, i.e., a circle, for < 0.

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Vector Mechanics for Engineers: Dynamics

Application to Space Mechanics
Integration constant C is determined by conditions at beginning of free flight, =0, r = r0 , 1 GM Ch 2 1 + cos 0 = 2 GM r0 h GM 1 GM 1 C= 2 = r0 h r0 (r0 v0 )2

Satellite escapes earth orbit for

1 or C GM h 2 = GM (r0 v0 )2
vesc = v0 =

2GM r0

Trajectory is elliptic for v0 < vesc and becomes circular for = 0 or C = 0, GM vcirc = r0
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Vector Mechanics for Engineers: Dynamics

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, ab 2 ab = = h2 h
where a = 1 (r0 + r1 ) 2
b = r0 r1

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Vector Mechanics for Engineers: Dynamics

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 = 0. A satellite is launched in a direction parallel to the surface of the earth with a velocity of 36,900 km/h at an altitude of 500 km. Determine: a) the maximum altitude reached by the satellite, and b) the periodic time of the satellite. Determine the maximum altitude by finding r at = 180o. With the altitudes at the perigee and apogee known, the periodic time can be evaluated.

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Vector Mechanics for Engineers: Dynamics

Sample Problem 12.9
SOLUTION: Trajectory of the satellite is described by 1 GM = 2 + C cos r h

r0 = (6370 + 500)km = 6.87 106 m km 1000 m/km v 0 = 36900 h 3600 s/h = 10.25 103 m s 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 = 398 1012 m3 s 2
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Evaluate C using the initial conditions at = 0. 1 GM C= 2 r0 h

= 1 6.87 10 m
6

398 1012 m3 s 2

(70.4 m2 s)2

)(

= 65.3 109 m -1

)(

)2
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Vector Mechanics for Engineers: Dynamics

Sample Problem 12.9
Determine the maximum altitude by finding r1 at = 180o.

1 GM 398 1012 m3 s 2 1 = 2 C = 65.3 109 2 2 r1 m h 70.4 m s

r1 = 66.7 106 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 (r0 + r1 ) = 1 (6.87 + 66.7 ) 106 m = 36.8 106 m 2 2 b = r0 r1 = 6.87 66.7 106 m = 21.4 106 m 2 ab 2 36.8 106 m 21.4 106 m = = h 70.4 109 m 2 s

)(

= 70.3 103 s = 19 h 31min

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Vector Mechanics for Engineers: Dynamics

Keplers 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.

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