Dynamics

th
(Meriam and Kraige, 7 Ed. ,2013)
Chapter 1. Introduction
Engineering Mechanics
Statics:

Statics
Dynamics
Strength of Materials
Vibration

(F

+ Fr ) = 0 ,distribution of reaction force Fr from the applied

force Fa

Dynamics:

(F

+ Fr ) = mx , x(t)= f(F(t)) displacement as a function of

time and applied force

Strength of Materials: = f(P) deflection and applied force on deformable
bodies
Vibration: x(t) = f(F(t)) on particles and rigid bodies
1

Newtonian Dynamics
Kinematics: the relation among

dx(t )
d 2 x(t )
x(t ), x (t ), and
x(t ), x
and
x
dt
dt 2
without reference to applied force
Kinetics: the relation between

x(t ) and F (t )

Terms to Know
Reference frame: Coordinate system
Inertial System: Newtons 2nd Law of motion
Particle and Rigid body
Scalar and Vector
2

Chap. 2 Kinematics of Particles

Rectangular Coordinates r ( x, y, z )

Cylindrical Coordinates

r (r , , z )

Spherical Coordinates

r ( R, , )

Displacement, Velocity, and Acceleration

ds

dv

dx

vdt

adt

xdt

)dt
( 2 xdt
t

Velocity and Acceleration Vector

dr
r
v
dt

r
5

dr
a
dt

Rectangular Coordinates

r xi yj zk
x
x
x

r xi yj zk r y r y

z
z

r
xi
yj
zk
z
6

Centrifugal and Tangential Acceleration

dr
r
v v et vet
dt
Time derivative of a vector

dr

r
dt
vet ve t
v
vet v en

: radius of curvature
7

Time Derivative of the Unit Vectors

in Polar (Cylindrical) Coordinates (2D)

de r
e
d
de
e r
d
de r d de r
e r

e
dt
dt d
de d de
e

e r
dt
dt d
8

Cylindrical Coordinates (3D)

r re r ze z
r re r re r ze z ze z
rer re ze z

r
re r re r re re re
ze z
(
r r 2 )e r ( r 2r)e
ze z

Spherical Coordinates
r Re r
r R e Re
r

e z e
sin e r cos e e
sin e r e cos e
e r e r
o e cos e
r R e r R cos e Re
10

Velocity and acceleration in

Spherical Coordinates
r v v e v e v e
v R
R

v R cos
v R

r aa e a e a e
R R cos
a R
R

R
2

cos d
sin
a
R 2 R
R dt
1 d
a
R R sin cos

R dt
2

11

Chap.3 Kinetics of Particles

3.1
3.2
3.3
3.4

Force, Mass, and Acceleration

Work and Energy
Impulse and Momentum
Impact and Orbital Mechanics

3.1 Force, Mass, and Acceleration

Newtons Second Law Equation of Motion F mr
Inertial System: A coordinate system where F mr
Free-body diagram

12

Engineering Mechanics Dynamics -- IAA

Sample 3/1
A 75-kg man stands on a spring
scale in an elevator. The tension
T in the hoisting cable is 8300 N.
Find the reading R of the scale in
newtons and the velocity of the
elevator after 3 seconds. The total
mass of the elevator, man, and
scale is 750kg.

Fy may
T m1g m1
y
8300 7360 750ay
ay 1.257 m s

Fy may
R m2 g m2
y
R 736 75(1.257)
R 830 N
a dt

0 1.257 dt
0

3.77 m s
13

Engineering Mechanics Dynamics -- IAA

Sample 3/3
The 250-lb concrete block A is released from rest in the position shown and
pulls the 400-lb log up the 30 ramp. If the coefficient of kinetic friction
between the log and the ramp is 0.5, determine the velocity of the block as it
hits the ground at B.

y1 0
N m1g cos m1
N 2T m g sin m

1
1 x1
, 4 equation for 4 unknowns

y2
m2 g T m2
2 x1 y2 constant
14

y2

y1
x1

x2

Engineering Mechanics Dynamics -- IAA

30 30

A 2B

a
y

The steel ball is suspended from the

accelerating frame by the two cords A
and B. Determine the acceleration of
the frame which will cause the tension in
A to be twice that in B

mg

Fx max
2B sin30 B sin30 mx

Fy 0
2B cos30 B cos30 mg my 0
xa
Eliminate B and get

15

g
3 3

Engineering Mechanics Dynamics -- IAA

problem 03/19

The 10-kg sphere is suspended from the 15-kg frame sliding

down the 20 incline. If the coefficient of kinetic friction
between the frame and incline is 0.15, compute each tension
TA
of wires A and B
25(9.81) N

y
45

45

TB

20

0.15 N

Sphere alone
Fy 0

x
20 10(9.81) N

(TA TB )cos45 10(9.81)cos20 0

Frame and sphere as an unit

Fy N mg cos my 0

TA TB 130.4 N

Fx max

N 25(9.81)cos20 0
N 230 N
Fx mg cos N mx

(TB TA )sin 45 9.81sin 20 10(1.973)

TB TA 19.56 N

25(9.81)sin20 0.15(230) 25a

Solution
TA 75.0 N, TB 55.4 N

a 1.973 m/s2
16

Engineering Mechanics Dynamics -- IAA

The system is released from rest with

the cable taut. Neglect the small
mass and friction of the pulley and
calculate the acceleration of each
body and the cable tension T upon
release if (a) s = 0.25, k = 0.2 and (b)
s = 0.15, k = 0.1

T
B

Check for motion. Assume static equilibrium.

From BT 196.2 N
Mass A
Fx 0

m2 g
y

196.2 F (60)(9.81)sin30 0
F 9.81 N

A
F
N
m1g

Fmax s N
(0.25)(60)(9.81)cos30 127.4 N (a)
No motion for (a) a 0, T 196.2 N
17

Engineering Mechanics Dynamics -- IAA

The system is released from rest with

the cable taut. Neglect the small
mass and friction of the pulley and
calculate the acceleration of each
body and the cable tension T upon
release if (a) s = 0.25, k = 0.2 and (b)
s = 0.15, k = 0.1

T
B

Fmax (0.15)(60)(9.81)cos30 76.5 N

m2 g
y

motion for (b)

T
A
F
N

A Fx max

T (60)(9.81)sin30 (0.1)(60)(9.81)cos30 60a

B Fy max (20)(9.81) T 20a
2
Solutiona 0.589 m/s , T 208 N

m1g
18

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Non-constant Acceleration
The chain is released from rest with
the length b of overhanging links just
sufficient to initiate motion. The
coefficients of static and kinetic fiction
between the links and the horizontal
surface have essentially the same
value . Determine the velocity of
the chain when the last link leaves the
edge. Neglect any friction at the
corner.

( L b) g
T0
F
N ( L b) g
gb

Let = mass / length

F N g ( L b)

F 0
T0 g ( L b) 0 T0 gb
L
Solve to obtain b
1
19

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Non-constant Acceleration
g ( L x)
T

g ( L x)
g ( L x)
gx

F ma
T g ( L x) ( L x)a

gx T xa
Eliminate T to obtain
g
a
x [ x(1 ) L]
L
d
xdx

g
[ x (1 ) L ]dx
0
b L
1 2 g x2
[ (1 ) Lx]bL
2
L 2
Substitute b and simplify

20

gL
1
Engineering Mechanics Dynamics -- IAA

Non-constant Acceleration
Another approach:

xg L x g Lx
xg g L x Lx
g
x 1 L

L
g 1

x
x g
L

x e , a 0 a
at

x c1e c2e

at

g 1
L

1
21

Engineering Mechanics Dynamics -- IAA

Curvilinear Motion in Polar

Coordinates

F mr

Fr
r r 2
F m

r 2r

r re r ze z
r re r re r ze z ze z

re r re ze z

r
re r re r re re re
ze z
(
r r 2 )e r (r 2r)e
ze z
22

Engineering Mechanics Dynamics -- IAA

Sample 3/10
Tube A rotates about the vertical O-axis
with a constant angular rate and
contains a small cylindrical plug B if mass
m whose radial position is controlled by
the cord wound around the drum of
radius b. Determine the tension T in the
cord and the horizontal force F exerted
by tube on the plug if the constant angular
rate of rotation of the drum is 0 first in
the direction for case (a) and second in
the direction for case (b). Neglect friction.

23

Fr mar

T m(r r2 )

F ma

F m(r 2r)

case (a) T mr 2

F 2mb0

case (b) T mr 2

F 2mb0

Engineering Mechanics Dynamics -- IAA

If the 2-kg block passes over the top B of the circular

portion of the path with a speed of 3.5 m/s, calculate the
magnitude NB of the normal force exerted by the path on
the block. Determine the maximum speed which the
block can have at A without losing contact with the path.

2
Fr m(r r ) m r
(3.5)2
2(9.81) N B 2
2.4
N B 9.41 N
2

Loss of contact at A N A 0

mg

mg

FB

t
NB
nr

FA

2
Fr m r

NA 0

30 rn
24

mg cos30 m
2.4
4.52 m/s
Engineering Mechanics Dynamics -- IAA

problem 03/66

The small sphere of mass m is suspended initially at rest by the two

wires. If one wire is suddenly cut, determine the ratio k of the
tension in the remaining wire immediately after the other wire is cut
to the initial equilibrium tension.

30

30

T1

Equilibrium
F 0 T1 mg

T1

mg

30

Motion
Fn man 0 T2 mg sin 30 0

T2 mg sin 30
k
0.5
T1
mg

T2

mg 30

w try using x-y coordinates

25

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A small bead of mass m is carried by a circular hoop of radius r which

rotates about a fixed vertical axis. Show how one might determine
the angular speed of the hoop by observing the angle which
locates the bead. Neglect friction in your analysis.

Fy 0
N cos mg 0

m
(
r

)
r

N sin m(r sin ) 2

r
N

N mg / cos

mg
)sin mr sin 2
cos

mg

g
r cos

g
cos

1
Note that
2
r
g
2
is a restriction.
r
26

Engineering Mechanics Dynamics -- IAA

problem 03/76

Determine the speed at which the race car will have no reliance
on friction to the banked track. In addition, determine the minimum
and maximum speeds, using the coefficient of static friction s =
0.9.

For no slipping tendency, set F to zero on

0
N
cos30
mg 0
y

2
2

Fr m r N sin 30 m 1200
Solve N 1.155 mg , 149.4 ft/sec

min 0 as
max tan 1 s tan 1 (0.9) 42.0 30

For max , set F Fmax s N

mg

0
N
cos30

mg

N
sin
30
0
y
s

F
30

2
max
2

Fr m r s N cos30 N sin 30 m r
with s 0.9 N 2.40 mg
max 345 ft/sec
27

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A small vehicle enters the top A of the circular path with a horizontal
velocity 0 and gathers speed as it moves down the path. Determine an
expression for the angle which locates the point where the vehicle
leaves the path and becomes a projectile. Evaluate your expression for
0 = 0. Neglect friction.

F ma ,

mg sin ma , a g sin

d a ds, d 0 g sin ( Rd )
0

2 02 2 gR (1 cos )

mg

2
Fr mar , mg cos N m R
02
N mg cos m 2mg (1 cos )
R
02
mg (3cos 2
)
gR

02
02
1 2
When N 0, so 3cos 2
cos (
)
gR
3 3gR
2
For 0 0, cos 1 ( ) 48.2
3
28

Engineering Mechanics Dynamics -- IAA

3.2 Work and Energy

Work and Kinetic Energy

U F T dr
m
r T dr
mr T dr
1
mr T r
2

29

Engineering Mechanics Dynamics -- IAA

Work and Potential Energy

2

U12 F dr (mgj) (dxi dyj)

1

y2

mg dy mg ( y2 y1 )
y1

Gme m
e r dre r
2
1
1
r
r2 dr
Gme m 2
r1 r
1 1
Gme m( )
r2 r1
2

U12 F dr

mgR 2 (

30

1 1
)
r2 r1

Engineering Mechanics Dynamics -- IAA

Sample 3/15
A satellite of mass m is put into an elliptical orbit around the earth. At point A, its
distance from the earth is h1 = 500 km and it has a velocity 1 = 30000 km/h.
Determine the velocity 2 of the satellite as it reaches point B, a distance h2 = 1200
km from the earth.

1 1
U1-2 mgR2
r2 r1
1 2 1
1 1
2 1
m1 mgR m22
2
2
r2 r1 2
1 1
2 2gR
r2 r1
2

2
1

103
103
30 000
3 2
2

2(9.81) (6371)(10)

6371

1200
6371

500
3.6

69.44(106 ) 10.72(106 ) 58.73(106 ) (m/s)2

2 7663 m/s
31

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Potential Energy

V F T dr
GMm
dr
2
r
mgR 2
2 dr
r

V F T dr

mgR 2

mgdy

r2

r1

mgh

32

Engineering Mechanics Dynamics -- IAA

Conservative Force

Principle of Work and Energy

T W V 0

V W T
Kinetic energy

dU FT dr
dr
Power P=

FT
FT r
dt
dt
dt

i j k
x y
z
F V

33

Engineering Mechanics Dynamics -- IAA

A satellite is put into an elliptical orbit around the earth and has a
velocity P at the perigee position P. Determine the expression for
the velocity A at the apogee position A. The radii to A and P are,
respectively, rA and rP. Note that the total energy remains constant.

Constant total energy is E TA VA Tp V p

Thus

1 2 mgR 2 1 2 mgR 2
m A
m p
2
rA
2
rp

A2 p2 2 gR 2 (

1 1
)
rp rA

A p2 2 gR 2 (
34

1 1
)
rp rA

Engineering Mechanics Dynamics -- IAA

The chain starts from rest with a sufficient number of links hanging
over the edge to barely initiate motion in overcoming friction
between the remainder of the chain and the horizontal supporting
surface. Determine the velocity of the chain as the last link leaves
the edge. The coefficient of kinetic friction is k. Neglect and friction
at the edge.

= mass per unit length

k L
b

gb

g
(
L

b
)
For equil. at start
k
1

U T Vg
(L b)2
U dF x k gxdx k g
0
2
1
Lb
T L 2
V g g ( L b )(
)
2
2
(L b)2
1
L2 b 2
2
L g
Thus k g
L b

Lb
dF
dx

Lb
Lb 2
2
Lb
2

b
)( L b k [ L b ]) Now substitute
L
k
k b
k L
2
)( L [1
] k [L
])
So g (1
1 k
1 k
1 k

2 g (1

gL
1 k
35

gL
1 k
Engineering Mechanics Dynamics -- IAA

3.3 Impulse and Momentum

Linear momentum
G m r
F m
r

d
( m r )
dt
d
G
dt

Impulse

r2

F
dt

m
r
dt

md
r

m
r
|
r1 G

Conservation of Linear Momentum

Fdt G

if F 0 G 0
36

Engineering Mechanics Dynamics -- IAA

Sample 3/19
The horizontal velocities of the ball just before and after impact are separately 1 =
50 ft/sec and 2 = 70 ft/sec. If the 4-oz ball is in contact with the racket for 0.02 sec,
determine the magnitude of the average force R exerted by the racket on the ball
and the angle made by R with the horizontal

m( ) t2 F dt m( )
x 2
x 1 t1 x

4 /16
4 /16

(50) Rx (0.02)
(70cos15 )
32.2
32.2
m( ) t2 F dt m( )
y 1
y 2
t1 y

t2

4 /16
4 /16
(0) Ry (0.02)
(70sin15 )
32.2
32.2
Rx 45.7 lb, Ry 7.03 lb

mgdt

mv1

t2

Rx dt

15 x

R Rx 2 Ry 2 45.72 7.032 46.2 lb

t2

tan

Ry dt

37

Ry
Rx

tan1

7.03
8.75
45.7

Engineering Mechanics Dynamics -- IAA

problem 03/207

The 1.62-oz golf ball is struck by the five-iron and acquires the velocity shown in a
time period of 0.001 sec. Determine the magnitude R of the average force exerted
by the club on the ball. What acceleration magnitude does this force cause, and
what is the distance d over which the launch velocity is achieved, assuming
constant acceleration?

mg 0

150 ft / sec

25

RT m : R(0.001)=

1.62/16
(150) , R =472 lb
32.2

1.62/16
a , a 150,000 ft / sec2 (4660 g )
32.2
2 02 2ad : 1502 02 2(150,000)d , d 0.075 ft or 0.900in
R ma : 472=

38

Engineering Mechanics Dynamics -- IAA

Angular Impulse and Momentum

H O r mv

HO r mv
m(vz y vy z)i m(vx z vz x) j m(vy x vx y)k
i
HO x

j
y

vx vy
39

k H x m(vz y vy z)

z H y m(vx z vz x)
vz H z m(vy x vx y)
Engineering Mechanics Dynamics -- IAA

Time Derivative of Angular Momemtum

HO r mv
0

HO r mv r mv v mv r mv r F MO

M H
O

Conservation of Angular Momentum

MO H
O

t2

t1

M O dt ( H O ) 2 ( H O )1 H O

The total angular impulse on a particle of mass m

about a fixed point O equals the corresponding
change in angular momentum about that point.
t2

(H O )1 M O dt ( H O ) 2
t1

Principle of Conservation of Angular Momentum

if M O 0 , then H O 0 or (H O )1 =(H O ) 2
40

Engineering Mechanics Dynamics -- IAA

Sample 3/25 Molynia Orbit

A comet is in the highly eccentric orbit shown in the figure. Its speed ate the most
distant point A, which is at the outer edge of the solar system, is A = 740 m/s .
Determine its speed at the point B of closest approach to the sun.

(HO ) A (HO )B
mrA A mrB B
rA A 6(109 )740
B

rB
75(106 )

B 59 200 m/s

41

Engineering Mechanics Dynamics -- IAA

The central attractive force F on an earth

satellite can have no moment about the center
O of the earth. For the particular elliptical orbit
with major and minor axes as shown, a satellite
will have a velocity of 33880 km/h at the perigee
altitude of 390 km. Determine the velocity of the
satellite at point B and at apogee A. The radius
of the earth is 6371 km.

B
11720 km / h

M
B

H 0 0 so H O constant

rmin 6371 390 6761 km

33880 km / h

rmax 2(13520) 6761 20279 km

For H O constant

6371(33880) 11720 B 20279 A

A 19540km / h
B 11300km / h

A
rmax
2(13520) km

rmin
42

Engineering Mechanics Dynamics -- IAA

problem 03/228

The two spheres of equal mass m are able to slide along the horizontal rotating
rod. If they are initially latched in position a distance r from the rotating axis with
the assembly rotating freely with an angular velocity 0 , determine the new
angular velocity after the spheres are released and finally assume positions
at the ends of the rod at a radial distance of 2r. Also find the fraction n of the
initial kinetic energy of the system which is lost. Neglect the small mass of the
rod and shaft.

H 0 ; 2mr0 (r ) 2m(2r ) (2r ) 0 0 / 4

1
1
T 2( m[r0 ]2 ) 2( m[2r 0 ]2 ) mr 202 (3 / 4)
2
2
4
3
n T / T mr 202 / mr 202 3 / 4
4
43

Engineering Mechanics Dynamics -- IAA

 M 0 H 0
mgl cos
The simple pendulum of mass m and length l
is released from rest at = 0. Using only the
principle of angular impulse and momentum,
determine the expression for in terms of
and the velocity of the pendulum at = 90.
Compare this approach with a solution by the
work-energy principle.

d
(ml 2) ml 2
dt

g
cos
l
From d d

2 g
| cos d
2 0 0 l
g
2 sin
l

2g
90
l

so at 90

l 2 gl

l
By work-energy

V T

1
mgl m 2
2

2 gl

mg
44

Engineering Mechanics Dynamics -- IAA

Direct Central Impact

45

Engineering Mechanics Dynamics -- IAA

Coefficient of Restitution

t0
t0

0
t

t0
t0

Fr dt

m1[1' (0 )] 0' 1

Fd dt m2[0 (1 )] 1 0

Fr dt

m2 (2' 0 ) 2' 0

Fd dt m2 (0 2 ) 0 2

2' 1' relative velocity of separation

e

1 2 relative velocity of approach

46

Engineering Mechanics Dynamics -- IAA

47

Engineering Mechanics Dynamics -- IAA

Oblique Central Impact

m1 (1 )n m2 (2 )n m1 (1' )n m2 (2' )n
m1 (1 )t m1 (1' )t
m2 (2 )t m2 (2' )t
(2' )n (1' )n
Vn
e

(1 )n (2 )n
Vn
48

Engineering Mechanics Dynamics -- IAA

Sample 3/29
A ball is projected onto the heavy plate with a velocity of 50 ft/sec at the
30 angular shown. If the effective coefficient of restitution is 0.5, compute
the rebound velocity and its angle .

(2' )n (1' )n
e
(1 )n (2 )n

0 (1' )n
0.5
50sin30 0

(1' )n 12.5 ft/sec

m(1 )t m(1' )t
(1' )t (1 )t 50cos30 43.3 ft/sec

' (1' )n2 (1' )t 2 12.52 43.32

45.1 ft/sec
(1' )n
12.5

tan ' tan1

16.10

43.3
(1 )t
'

49

Engineering Mechanics Dynamics -- IAA

Sample 3/30
Spherical particle 1 has a velocity 1 = 6 m/s in the
direction shown and collides with spherical particle
2 of equal mass and diameter and initially at rest. If
the coefficient of restitution for these conditions
is e 0.6 , determine the resulting motion of each
particle following impact.
Also calculate the
percentage loss of energy due to the impact.

m1 (1 )n m2 (2 )n m1 (1' )n m2 (2' )n
5.20 0 (1' )n (2' )n
(2' )n (1' )n
e
(1 )n (2 )n

(2' )n (1' )n
0.6
5.20 0

(1' )n 1.039 m/s

(2' )n 4.16 m/s

m1 (1 )t m1 (1' )t

(1' )t (1 )t 3 m/s

m2 (2 )t m2 (2' )t

(2' )t (2 )t 0

50

Engineering Mechanics Dynamics -- IAA

As a check of the basketball before the start of a game, the referee

releases the ball from the overhead position shown, and the ball
rebounds to about waist level. Determine the coefficient of
restitution and the percentage n of the original energy lost during
the impact.

2gh , ' 2gh'

'
h'
1100
e

0.724

h
2100
mgh mgh'
n
mgh
2100 1100

2100
47.6%
51

Engineering Mechanics Dynamics -- IAA

Central-Force Motion

F mr
Gmm0
2

r2

r 2r
0
mr 2 h

52

Engineering Mechanics Dynamics -- IAA

Orbital Mechanics

Gm
1
C cos 2 0
r
h

53

Engineering Mechanics Dynamics -- IAA

DAlemberts Principle and Inertia Force

F ma 0
F mr 0 mr inertia force

DAlemberts Principle using inertia force

to treat dynamics by statics

54

Engineering Mechanics Dynamics -- IAA

Chap. 4 Kinetics of
Systems of Particles
Mass center
mrc mi ri
Equation of motion
F f mi ri
F mrc
Principle of motion of the mass
center the resultant of the
external forces on any system of
masses equal the total mass
times
the
mass
center
acceleration.

fig_04_001

55

Engineering Mechanics Dynamics -- IAA

Linear Momentum

G miri
mi (rc i )
d
mirc ( mii )
dt
mrc

56

Engineering Mechanics Dynamics -- IAA

Kinetic Energy
ri rc i
ri rc i
1
T mi riT ri
2
1
(mircT rc 2mircT i mi Ti i )
2
1 T
1

mrc rc mi iT i
2
2

fig_04_003

57

Engineering Mechanics Dynamics -- IAA

Angular Momentum about a Fixed

Point
(r m r )
H
O
i
i i
(r m r r m r )
H
O

i i

i i

O ri Fi
MO

Angular Momentum about c.g.

m (r ) m r
H
G
i
i C
i
i
i i

HG i miri
i mi (rc i )

i Fi

(i mirc i mi i )
(i mi i )
58

MG
Engineering Mechanics Dynamics -- IAA

problem 04/22

The man of mass m1 and the woman of mass m2 are

standing on opposite ends of the platform of mass m0 which
moves with negligible friction and is initially at rest with s = 0.
The man and woman begin to approach each other. Derive
an expression for the displacement s of the platform when
the two meet in terms if the displacement x1 of the relative to
s
the platform.

m1 x
1

x2 m2
m0

p_04_020

With respect to C,mi xi constant

l
l
m1l m2 (0) m0 m1(s l x1) m2 (s x2 ) m0 (s )
2
2
m x m2 x2
Simplify and get s 1 1
m0 m1 m2
(m m2 ) x1 m2l
But they meet whenx2 x1 l so s 1
m0 m1 m2
59

Engineering Mechanics Dynamics -- IAA

Sample 4/4

sp_04_03_01

A shell with a mass of 20 kg is fired from

point O, with a velocity u = 300 m/s in the
vertical x-z plane at the inclination shown.
When it reaches the top of its trajectory at P,
it explodes into three fragments A, B, and C.
Immediately after the explosion, fragment A
is observed to rise vertically a distance of 500
m above P, and fragment B is seen to have a
horizontal velocity vB and eventually lands at
point Q. When recovered, the masses of the
fragments A, B, and C are found to be 5, 9,
and 6 kg, respectively. Calculate the velocity
which fragment C has immediately after the
explosion. Neglect atmosphere resistance.

60

Engineering Mechanics Dynamics -- IAA

Sample 4/4
t uz / g 300(4/5)/9.81 24.5s
uz2 [(300)(4/5)]2
h

2940m
2g
2(9.81)

A 2ghA 2(9.81)(500) 99.0m/s

B s / t 4000/ 24.5 163.5m/s
[G1 G2 ]

sp_04_03_01

mv mAv A mB vB mC vC

3
20(300)( )i 5(99.0k) 9(163.5)(i cos45 jsin 45 ) 6vC
5
6vC 2560i 1040j 495k
vC 427i 173.4j 82.5k m/s

C (427)2 (173.4)2 (82.5)2 468m/s

61

Engineering Mechanics Dynamics -- IAA

Steady Mass Flow

1 A11 2 A22 m
G (m)v2 (m)v1 m(v2 v1 )

F mv
62

Engineering Mechanics Dynamics -- IAA

problem 04/35

The jet aircraft has a mass of 4.6 Mg and a drag (air

resistance) of 32 kN at a speed of 1000 km/h at a particular
altitude. The aircraft consumes air at the rate of 106 kg/s
through its intake scoop and uses fuel at the rate of 4 kg/s.
If the exhaust has a rearward velocity of 680 m/s relative to
the exhaust nozzle, determine the maximum angle of
elevation at which the jet can fly with a constant speed of
1000 km/h at the particular altitude in question.

T ma (u ) mf u
106(680 1000/3.6) 4(680)

mg 4.6(9.81) kN

45400 N 45.4 kN

R 32 kN
x

Fx max 0
45.4 32 4.6(9.81)sin 0

1000 km/h
N
63

sin 0.296 17.22

Engineering Mechanics Dynamics -- IAA

problem 04/38

The jet water ski has reached its maximum velocity of 70 km/h
when operating in salt water. The water intake is in the
horizontal tunnel in the bottom of the hull, so the water enters
the intake at the velocity of 70 km/h relative to the ski. The
motorized pump discharge water from the horizontal exhaust
nozzle of 50-mm diameter at the rate of 0.082 m3/s. Calculate
the resistance R of the water to the hull at the operating speed.

Resistance R equals net trust T

where T m(u )
Density of salt water,

Nozzle velocity u Q / A

1030 kg/m3

m Q 1030(0.082) 84.5 kg/s, 70

0.082
41.8 m/s
2
(0.050)
4

1000
19.44 m/s
3600

R T 84.5(41.8 19.44) 1885 N

64

Engineering Mechanics Dynamics -- IAA

problem 04/45

The jet-engine thrust reverser to reduce an aircraft speed of 200

km/h after landing employs folding vanes which deflect the
exhaust gases in the direction indicated. If the engine is
consuming 59 kg of air and 0.65 kg of fuel per second, calculate
the braking thrust as a fraction n of the engine thrust without the
deflector vanes. The exhaust gases have a velocity of 650 m/s
relative to the nozzle.

F mu
With reversers in place

TR mg u sin30 ma
(50 0.65)(650)sin30 50(55.6 0)
16460 2780 19240 N

30

Without reversers

650 m/s

T mg u ma

TR

(50 0.65)650 50(55.6)

32900 2780 30100 N

30

650 m/s

so n

200/3.6 55.6 m/s

65

19240
0.638
30100

Engineering Mechanics Dynamics -- IAA

Variable Mass system

R m( 0 ) mu

F R m

F m mu

66

Engineering Mechanics Dynamics -- IAA

Rocket Propulsion
mu pA mg R m

67

Engineering Mechanics Dynamics -- IAA

Sample 4/12
A rocket of initial total mass m0 is fired vertically with constant acceleration until the fuel
is exhausted. The relative nozzle velocity of the exhaust gas has a constant value u at
atmospheric pressure throughout the flight. If the residual mass of the rocket structure
and machinery is mb when burnout occurs, determine the expression for the maximum
velocity reached by the rocket. Neglect atmospheric resistance and the variation of
gravity with altitude.

Solution I (F=ma solution)

mu mg m
T mg m, T mu mu

m dm
t
dm
gdt d u
g dt
0
m0 m
0
m
m
u ln 0 gt
m
let mbmass of rocket when burnout occurs

d u

tb (mb m0 )/ m

max u ln

m0 g
(m0 mb )

mb m
68

Engineering Mechanics Dynamics -- IAA

Sample 4/12
A rocket of initial total mass m0 is fired vertically with constant acceleration until the fuel
is exhausted. The relative nozzle velocity of the exhaust gas has a constant value u at
atmospheric pressure throughout the flight. If the residual mass of the rocket structure
and machinery is mb when burnout occurs, determine the expression for the maximum
velocity reached by the rocket. Neglect atmospheric resistance and the variation of
gravity with altitude.

Solution II (Variable-Mass solution)

mg m mu

F mg, F m mu
mu T T mg m
mu

69

same as Solution I

Engineering Mechanics Dynamics -- IAA

Chap.5 Planar Kinematics

fig_05_001

70

Engineering Mechanics Dynamics -- IAA

Fixed Axis Rotation

Y

displacement r
velocity r r

fig_05_00
4

acceleration r ( r) r
71

Engineering Mechanics Dynamics -- IAA

Sample 5/3
The right-angle bar rotates
clockwise with an angular
acceleration

4k rad/s2
Write the vector expressions for the
velocity and acceleration of point A when

2k rad/s
sp_05_03_01

[v r ]
[an ( r )]
[at r ]
[a an at ]

v 2k (0.4i 0.3j) 0.6i 0.8j m / s

an 2k (0.6i 0.8j) 1.6i 1.2j m / s2
at 4k (0.4i 0.3j) 1.2i 1.6j m / s
a 2.8i 0.4j m / s2

0.62 0.82 1m/s

a 2.82 0.42 2.83 m/s

72

Engineering Mechanics Dynamics -- IAA

Determine the velocity and acceleration

of (a) point A and (b) point B with

6 rad/s, 4rad/s2
(a) A r A (6k 45 j)

270i mm/s
aA r A 2 r A
4k 45 j 62 (45 j)
180i 1620 j mm/s2
(b) B r B 6k (30i 45 j)

270i 180 j mm/s

aB r B 2 r B
4k (30i 45 j) 62 (30i 45 j)
900i 1740 j mm/s2

p_05_002

73

Engineering Mechanics Dynamics -- IAA

Sample 5/4
A wheel of radius r rolls on a flat surface without
slipping. Determine the angular motion of the
wheel in terms of the linear motion of its center
O.
s r

O r, aO r
where O s, aO O
s,
, and
sp_05_04_01

Determine the acceleration of a point on the rim of the wheel

as the point comes into contact with the surface on which the
wheel rolls.

y r r cos r (1 cos )
x s r sin r ( sin )
x r(1 cos ) O (1 cos ) y r sin O sin

y sin cos
x (1 cos ) sin
O

aO (1 cos ) r 2 sin

aO sin r 2 cos
74

x 0 and
y r2

Engineering Mechanics Dynamics -- IAA

Sample 5/7
Calculate the velocity of point A on the
wheel without slipping for the instant
represented.

v A vO v A/O vO r0
= -10k rad/ s
r0 0.2(i cos30 jsin30 ) 0.1732i 0.1j m
vO 3i m/ s

v A 3i

0.1732 0.1
sp_05_07_0
1

k
10 3i 1.732j i
0

4i 1.732j m/s

A 42 (1.732)2 19 4.36 m/s

75

Engineering Mechanics Dynamics -- IAA

Sample 5/11
Locate the instantaneous center of
zero velocity and use it to find the
velocity of point A for the position
indicated.

[ / r]

O / OC 3 / 0.300 10 rad / s
AC (0.300)2 (0.200)2 2(0.300)(0.200)cos120
0.436 m

[ r]

A AC 0.436(10) 4.36 m/s

76

Engineering Mechanics Dynamics -- IAA

Sample 5/8
r2
r3

r1

r r1 r2 r3
r 1 r1 2 r2 3 r3

0 1k 100j 2k (175i 50j) 2k 75i

1001 502

175

150

sp_05_08_0
1

3
6
1 , 2
7
7

77

Engineering Mechanics Dynamics -- IAA

Sample 5/14
r2

r r1 r2 r3
r 1 r1 2 r2 3 r3

r3

r1

r 1 r1 1 (1 r1 )
2 r2 2 (2 r2 )

3 r3 3 (3 r3 )

sp_05_08_0
1

3
3
r 1k 100j ( k ) ( k 100j) 2k (175i 50j)
7
7
6
6
( )k [( k) (175i 50j)] 0 2k (2k [75i])
7
7

1 0.1050 rad/s2

2 4.34 rad/s2
78

Engineering Mechanics Dynamics -- IAA

Sample 5/9

sp_05_09_01

v A vB v A/ B
[ r]
5 1500(2 )
65.4 ft / sec
12 60
5
14

sin sin60

A
65.4

sin78.0 sin72.0
A/ B
65.4

sin30 sin72.0
[ / r ]

AB

A 67.3 ft /sec
A/ B 34.4 ft /sec
A/ B 34.4

29.5 rad /sec

AB 14/12

vG v B vG / B

sin1 0.309 18.02

G / B GBAB

GB
4
A/ B (34.4) 9.83 ft / sec
14
AB

G 64.1ft /sec
79

Engineering Mechanics Dynamics -- IAA

Sample 5/9

r1

r2
r

r r1 r2
r 1 r1 2 r2

sp_05_09_01

r 1 r1 1 (1 r1 )
2 r2 2 (2 r2 )

80

Engineering Mechanics Dynamics -- IAA

Sample 5/15
aA 10280cos60 1015cos18.02 ( A/ B )t sin18.02
0 10280sin60 1015cos18.02 ( A/ B )t cos18.02
sp_05_15_01

aA aB (aA/ B )n (aA/ B )t

aB

5 1500[2 ] 2
(
)
12
60
2

10280 ft / sec

A 3310 ft /sec2

[an r2 ]

[ at / r]
[an r2 ]

14
(29.5)2
12
1015 ft / sec2

(aA/ B )n

( A/ B )t 9030 ft /sec2

A/ B 9030/(14/12) ft /sec2 7740 rad/sec2

A 3310 ft / sec2

81

( A/ B )t 9030 ft /sec2

Engineering Mechanics Dynamics -- IAA

General Motion: Rotation + Translation

fig_05_005

fig_05_006

82

Engineering Mechanics Dynamics -- IAA

Instantaneous Center

fig_05_007

83

Engineering Mechanics Dynamics -- IAA

Body-Fixed Coordinates in Rotation

Coriolis Acceleration

rA

fig_05_011

rA rB
rA rB +

rA rB +
2

rA rB +
+

rB + 2

Coriolis acceleration

84

Engineering Mechanics Dynamics -- IAA

Sample 5/16
The motion of slider A is separately controlled, and at this
2
instant, r = 6 in., r =5 in./sec, and r =81 in./sec . Determine the
absolute velocity and acceleration of A for this position.
y

v A
v A 4k 6i 5i 24j 5i in./sec

A (24)2 (5)2 24.5 in./sec

a A ( ) 2

x
sp_05_16_01

( ) 4k (4k 6i) 4k 24j 961 in./sec2

10k 6i 60j in./sec2
2 2(4k) 5i 40j in./sec2

81i in./sec2

a A (81 96)i (40 60) j 15i 20j in./sec2

aA (15)2 (20)2 25 in./sec2

85

Engineering Mechanics Dynamics -- IAA

With and without Body-Fixed Coordinate

Let r 5i, 2k, 3k

r r 10j

r r r
= -20i + 30j

displacement r
velocity r r
acceleration r ( r) r
86

Engineering Mechanics Dynamics -- IAA

problem 05/163

A vehicle A travels with constant speed v along a

north-south track. Determine the Coriolis
acceleration aCor as a function of the latitude at (a)
the equator and (b) the north pole.

( sin j cos k)
acor 2

2k ( sin j cos k)
y

2 sin i (west)

For 500 km/h

(a) Equator, 0 acor 0
(b) North pole,

500
0.0203 m/s2
3.6
The track provides the necessary westward
acceleration so that the velocity vector is properly
rotated and reduced in magnitude.

90 acor 2(7.292 105 )

p_05_161

87

Engineering Mechanics Dynamics -- IAA

Chap. 6 Dynamics of Planar Rigid Body

Equation of Motion
The resultant of the external forces equals to the inertia of the mass center
The resultant moment about C.G. of the external forces equals to the rate change
of the angular moment about C.G.

F mrG

M H
G

88

Engineering Mechanics Dynamics -- IAA

Equation of Motion in 2D
Angular momentum

HG i mi i
i mi i

dm
2

F mrc

MG I

89

Engineering Mechanics Dynamics -- IAA

Moment about a Fixed Point

mr
MP H
G
C
mrC
I G
mrP
I P
if rP 0, P is fixed
I O

I P

90

Engineering Mechanics Dynamics -- IAA

Determine the value of the force P which

would cause the cabinet to begin to tip.
What coefficient s of static friction is
necessary to ensure that tipping occurs
without slipping?

0.8m
50(9.81)N
1.2m G

FA
NA

when tipping impends N A mg

MG mg(0.4) mg(0.6) I 0

2
3

F mg mx

x g g
3

As a whole :

P (m m1)
x (50 10)
x 60
x 40g
91

Engineering Mechanics Dynamics -- IAA

Center of Percussion

F mrC

MG IG
or
MO IO

ko

ko

Radius of gyration about point O

The resultant force at the

center of percussion is zero.
92

Engineering Mechanics Dynamics -- IAA

Center of Percussion
-F RX mx
mg RY my
F h I

y 0
1
x
2
2
h
3

mg
RX

RY
93

Engineering Mechanics Dynamics -- IAA

problem 06/34

The 20-kg uniform steel plate is freely hinged about the z-axis as
shown. Calculate the force supported by each of the bearings at A
and B an instant after the plate is released from rest in the
horizontal y-z plane.

MO IO

1
20(9.81)(0.2) 20(0.4)2
3
36.8rad/s2

x r

2F

0.2m

x 0.2 36.8 7.36m/s2

Fx mx

0.2m
O

20(9.81) 2F 20(7.36)

20(9.81) N

1
2F 49.0 mg
4
FA FB F 24.5N

t
94

Engineering Mechanics Dynamics -- IAA

problem 06/38

Determine the angular acceleration and the force on the bearing

at O for (a) the narrow ring of mass m and (b) the flat circular
disk of mass m immediately after each is released from rest in
the vertical plane with OC horizontal.

(a)

mgr 2mr 2
M

O O

g / 2r

Fy my mg O mr(

g
)
2r

O mg / 2
O

1 2

mgr

(
mr mr 2 )
(b) O O
2
2g / 3r

Fy my mg O mr(

y
mg

mg

2g
)
3r

O mg / 3
95

Engineering Mechanics Dynamics -- IAA

Sample 6/5
A metal hoop with a radius r = 6 in. is
released from rest on the 20 incline. If the
coefficients of static and kinetic friction are
s = 0.15 and k = 0.12, determine the
angular acceleration of the hoop and the
time for the hoop to move a distance of 10 ft
down the incline.

96

Engineering Mechanics Dynamics -- IAA

Sample 6/5

[ Fx max ]

mg sin20 F ma

[ Fy may 0] N mg cos20 0
Fr mr 2
[ MG I ]
Assume pure rolling a r 4 equations for 4 unknowns

F 0.1710mg

and

N mg cos20 0.940mg

Check if the assumption valid. The friction force be bounded by N

[ Fmax s N ]

Fmax 0.15(0.940mg ) 0.1410mg

[ Fmax k N ]

F 0.12(0.940mg ) 0.1128mg

So it is slipping f k N.

[ Fx max ]
[ MG I ]
1
[ x at 2 ]
2

Solve again the 4 unknowns

mg sin20 0.1128mg ma a 0.229(32.2) 7.38 ft/sec2

0.1128(32.2)
0.1128mg (r ) mr 2
7.26 rad/sec2
6 /12
2x
2(10)
t

1.646 sec
7.38

97

Engineering Mechanics Dynamics -- IAA

Sample 6/7
The slender bar AB weighs 60 lb and moves in the vertical plane, with its ends
constrained to follow the smooth horizontal and vertical guides. If the 30-lb force is
applied at A with the bar initially at rest in the position for which = 30, calculate
the resulting angular acceleration of the bar and the forces in the small end rollers
at A and B.

98

Engineering Mechanics Dynamics -- IAA

Sample 6/7
ax a cos30 2 cos30 1.732 ft/sec2

ay a sin30 2 sin30 1.0 ft/sec2

1 60 2
[ MG I ]
30(2cos30 ) A(2sin30 ) B(2cos30 )
(4 )
12 32.2
60
30 B
(1.732 )
[ Fx max ]
32.2
60
A 60
(1.0 )
[ Fy may ]
32.2
2
A 68.2 lb B 15.74 lb 4.42 rad/sec
1 60 2
4.39 9.94
[ MC I m d ] 30(4cos30 ) 60(2sin30 )
(4 )
12 32.2
2

4.42
rad/sec
60
60

(1.732 )(2cos30 )
(1.0 )(2sin30 )
32.2
32.2

[ Fy may ]

[ Fx max ]

60
A 60
(1.0)(4.42)
32.2
60
30 B
(1.732)(4.42)
32.2
99

A 68.2 lb
B 15.74 lb
Engineering Mechanics Dynamics -- IAA

problem 06/82

Determine the angular acceleration of each of the two wheels

as they roll without slopping down the inclines. For wheel A
investigate the case where the mass of the rim and spokes is
negligible and the mass of the bar is concentrated along its
centerline. For wheel B assume that the thickness of the rim is
negligible compared with its radius so that all of the mass is
concentrated in the rim. Also specify the minimum coefficient of
static friction s required to prevent each wheel from slopping.

MO I I 0 M 0

A
mg
G

r
x

Hence no friction force and s 0

g
F

ma

mg
sin

mr

x x
A A sin
r

N
100

Engineering Mechanics Dynamics -- IAA

problem 06/82

Determine the angular acceleration of each of the two wheels

as they roll without slopping down the inclines. For wheel A
investigate the case where the mass of the rim and spokes is
negligible and the mass of the bar is concentrated along its
centerline. For wheel B assume that the thickness of the rim is
negligible compared with its radius so that all of the mass is
concentrated in the rim. Also specify the minimum coefficient of
static friction s required to prevent each wheel from slopping.

MC IC mgr sin 2mr2B

B

M I Fr mr 2

B
mg
G
r

g
sin
2r

g
sin
2r

1
F mg sin
2
F 1
s mg sin / mg cos
N 2
1
s tan
2
101

Engineering Mechanics Dynamics -- IAA

problem 06/84

The uniform 12-kg square panel is suspended from point C

by the two wires at A and B. If the wire at B suddenly
breaks, calculate the tension T in the wire at A an instant
after the break occurs.

M A I mad

T
A

mgb 1 2
b
b
mb m
2
6
2
2
3g

4b
MG I

45

m(aG / A )t
r

T
b

b 1 2 3g
mb ( )
4b
2 6

mg maA

2
2
mg
(12)(9.81) 20.8 N
8
8

b
102

Engineering Mechanics Dynamics -- IAA

Kinetic Energy
1
T m 2
2

1
T IO2
2

1
1
T m 2 IC 2
2
2

103

Engineering Mechanics Dynamics -- IAA

problem 06/116

A
mg

B
mg

U T
U mgx sin
1
1
T m 2 I 2
2
2
1
case A T m 2 0
2
1
1

case B T m 2 mr 2 ( )2 m 2
2
2
r
1
case A mgx sin m 2 A 2gx sin
2
case B mgx sin m 2 B gx sin

104

Engineering Mechanics Dynamics -- IAA

For the pivoted slender rod of length l, determine the distance x

for which the angular velocity will be a maximum as the bar
passes the vertical position after being released in the
horizontal position shown. State the corresponding angular
velocity.

T1 V12 T2

l
g( x)
2 2 2
l lx x2

6 2 2

l
l 1 1

mg x ml 2 m( x)2 2
2
2 2 12

d2
set
0 obtain
dx

l
g( 0.211l )
g
2
max x0.211 2

1.861
l
l 0.211l 2 (0.211l)2

6
2
2
105

x 0.789l

or

x 0.211l

The solution x 0.789l

would yield the same max
only then the motion is CCW.
Engineering Mechanics Dynamics -- IAA

Linear Momentum

Angular Momentum

HO IO

MO H O
t2

(HO )1 MOdt (HO )2

F G

t1

t2

G1 Fdt G2
t1

106

Engineering Mechanics Dynamics -- IAA

Sample 6/16
The uniform rectangular block of dimensions shown is sliding to the left
on the horizontal surface with a velocity v1 when it strikes the small step
at O. Assume negligible rebound at the step and compute the minimum
value of v1 which will permit the block to pivot freely about O and just
reach the standing position A with no velocity. Compute the percentage
energy loss n for b = c.

107

Engineering Mechanics Dynamics -- IAA

Sample 6/16

[HO IO]
[(HO )1 (HO )2 ]

1
c
b
m
(HO )2 { m(b2 c2 ) m[( )2 ( )2 ]}2 (b2 c2 )2
12
2
2
3
b m
31b
m1 (b2 c2 )2 2
2 3
2(b2 c2 )
2

1
b c b
[T2 V2 T3 V3 ] IO22 0 0 mg[ ]
2
2 2 2
31b 2 mg
1m 2 2
(b c )[ 2 2 ]
( b2 c2 b)
23
2
2(b c )
g
c2
1 2( (1 2 )( b2 c2 b)
3
b
1 2 1
2
2
m

2 2
2
2
1
O
2

E 2
k
b c
3b
3
2
n

1 O 2 2 b2 c2

2 2
1 2
E
3
c2

2(b c )
m1
41 2
2
b
n 62.5% b c
108

Engineering Mechanics Dynamics -- IAA

problem 06/188

The homogeneous sphere of mass m and radius r is projected along the

incline of angle with an initial speed v0 and no angular velocity (0 =
0). If the coefficient of kinetic friction is k, determine the time duration t
of the period of slopping. In addition, state the velocity v of the mass
center G and the angular velocity at the end of the period of slipping.

109

Engineering Mechanics Dynamics -- IAA

problem 06/188

0 Fydt m(y y ) 0 N mg cos

t
0 Fxdt m(x x )

(k mg cos mg sin )t m( 0 )

(1)

mg

0 MGdt I ( 0 )

2
(k mg cos r )t mr 2
(2)
5
We desire the time t when r (3)

Solution of Eqs. (1)-(3)

20
t
g (7k cos 2sin )

k N

For slipping to cease,

50 k

7k 2tan

7k cos 2sin

2
or k tan
7

50 k

7k r 2r tan
110

Engineering Mechanics Dynamics -- IAA

Chap.7 3D Kinematics and Kinetics

Translation

Rotation

v r
a r ( r)
111

Engineering Mechanics Dynamics -- IAA

Sample 7/1
The 0.8-m arm OA for a remote-control mechanism is
pivoted about the horizontal x-axis of the clevis, and
the entire assembly rotates about the z-axis with a
constant speed N = 60 rev/min. Simultaneously, the
arm is being raised at the constant rate 4 rad/s/ for

the position where 30 , determine (a) the angular

velocity of OA, (b) the angular acceleration of OA, (c)
the velocity of point A, and (d) the acceleration of
point A. If, in addition to the motion described, the
vertical shaft and point O had a linear motion, say, in
the z-direction, would that motion change the angular
velocity or angular acceleration of OA?

112

Engineering Mechanics Dynamics -- IAA

Sample 7/1
(a) x z 4i 6.28k rad/s
(b)

x z x z
z x 6.28k 4i 25.1j rad/s2

25.1j 0 25.1j rad/s2

i
j
k
(c) v A r 4
0
6.28 4.35i 1.60j 2.77k m/s
0 0.693 0.4
(d) a A r ( r) r v

i
0

j
25.1

6.28

0 0.693 0.4

4.35 1.60 2.77

(10.05i) (10.05i 38.4j 6.40k )

20.1i 38.4j 6.40k m/s2
113

Engineering Mechanics Dynamics -- IAA

Body-Fixed Coordinate Translation

114

Engineering Mechanics Dynamics -- IAA

Rotation
Inertial coordinates X-Y-Z
Body fixed coordinates x-y-z
A: point of interest
B: origin of body-fixed coordinates,
often
the mass center A
: angular velocity of the rigid
angular
velocity of x-y-z about X-Y-Z
i i j j k k

v A vB rA / B vrel
r ( r
a a
A

A/ B

A/ B

) 2 vrel arel

or rA rB
2

rA
rB
115

Engineering Mechanics Dynamics -- IAA

Sample 7/3,7/4
Crank CB rotates about the horizontal axis
with an angular velocity 1 = 6 rad/s which is
constant for a short interval of motion which
includes the position shown. The link AB has
a ball-and-socket fitting on each end and
connects crank DA with CB. For the instant
shown, determine the angular velocity 2 of
crank DA and the angular velocity n of link
AB.

116

Engineering Mechanics Dynamics -- IAA

Sample 7/3,7/4
v A v B n rA/ B
[ r] v A 502 j, vB 100(6)i 600i mm/s

502 j 600i nx ny

nz

50 100 100
ny nz

2 2nx

nz

2 6 rad/s

0 2nx ny
[n rA / B 0] 50nx 100ny 100nz 0
4
8
10
nx rad/s ny rad/s nz rad/s
3
3
3
2
2
n (2i 4j 5k) rad/s
n 22 42 52 2 5 rad/s
3
3
117

Engineering Mechanics Dynamics -- IAA

Angular velocity
r3

r = r1 r2 r3

r2

r = 1 r1 2 r2 3 r3 0
T
2 r2 0
4 equations for 4 unknows; 2 and 3

r1

if r1, r2 , and r3 are general vectors,

r1 0

then 2Tr2 0
T
3 r3 0
6 equations for 6 unknows; 2 and 3
118

Engineering Mechanics Dynamics -- IAA

Angular Acceleration
r3

r2

r = r1 r2 r3
r = 1 r1 2 r2 3 r3 0

r1

r = 1 1 1 r1

2 2 2 r2

3 3 3 r3 0
T
2 r2 0
4 equations for 4 unknows; 2 and 3

119

Engineering Mechanics Dynamics -- IAA

Angular Momentum
x-y-z Body-fixed coordinates at C.G.
: angular velocity of the rigid body

HG [ ( )]dm
HO [r ( r)]dm
HG IG

(a)

33

31

I xx I xy I xz

I yx I yy I yz
I zx I zy I zz

I xxx I xyy I xzz

I yxx I yyy I yzz

I I I
zx x zy y zz z

(b)
120

Engineering Mechanics Dynamics -- IAA

Inertia Matrix
I xx I xy I xz

I
I

I
yy
yz
yx
I zx I zy I zz

I xx ( y 2 z 2 )dm

I xy xydm

I yy ( z 2 x2 )dm

I xz xzdm

I zz ( x2 y2 )dm

I yz yzdm

Principal Axes
I xx 0
0 I
yy

0 0

0
0

I zz

H I xxx i I yyy j I zzzk

121

Engineering Mechanics Dynamics -- IAA

problem 07/64

Introduce axes
The rectangular plate, with a

0,

mass of 3 kg and a uniform small

x
y
z
2
2
thickness, is welded at the 45 angle to
1
1 2
2
I xy 0, I yy m(2a) ma
the vertical shaft, which rotates with the
12
3
angular velocity of 20 rad/s. Determine
I yz 0, I xz 0
the angular momentum H of the plate
1
1
about O and find the kinetic energy of the
I zz m[(2a)2 (2b)2 ] m(a2 b2 )
12
3
plate.
Eq. 7/11 applied tox y z gives

H jI yyy kI zzz

j( ma2 )
k[ m(a2 b2 )]
3
3
2
2
z
1

y
But j jcos45 k sin45
( j k)
a
2
a
1
k jsin 45 k cos45
(j k)
y
2
1
3
b
H m[b2 j (2a2 b2 )k] 20 (0.04j 0.06k)
6
6

x
b
(0.4j 0.6k) Nms
1
1
T T H (20 k) (0.4j 0.6k ) 6.0 2 59.2 J
2
2
122

Engineering Mechanics Dynamics -- IAA

problem 07/64

HG IG

about x-y-z

HG IG about x -y -z
z
z

y
a
a

I xx 0
I'G 0 I yy

y
0
0

b
x

2
1

m
2
a
0
0

12

1
2

0
0
m 2b
0

12
I zz
2
1
2
2

0
0
m 4a 4b
12

0
0 0 0
1
' 0 cos sin 0 sin

0 sin cos cos

45
Mx

HG AHG AIGA IG
y

Note that IG A IG A
1
2

1
2

Kinetic energy T TIG TIG

z 20 rad/s
123

Engineering Mechanics Dynamics -- IAA

Eulers Equation

F G

M
M
M
M
M
M

M H
dH
)xyz H
dt
( H x i H y j H z k) H

M (

M (H x H yz Hzy )i

H x H yz H zy

H y H zx H xz

H z H xy H yx

I xx x (I yy I zz )yz

I yy y (I zz I xx )zx

I zz z (I xx I yy )xy

(H y H zx H xz ) j
(H z H xy H yx )k

124

Engineering Mechanics Dynamics -- IAA

problem 07/82

The plate has a mass of 3 kg and is

welded to the fixed vertical shaft, which
rotates at the constant speed of 20
rad/s. Compute the moment M applied
to the shaft by the plate due to dynamics
imbalance.

Eq. 7/23

2
M

x yz z
2

I yz yzdm y dl

b/ 2

b / 2

y 2 2dy

2 b3
b3
mb2 3(0.2)2

0.02 kgm2
3 2 2 2 2
6
6
45

Mx

z 20 rad/s

M x 0.02(20 )2 79.0 Nm

on plate, Mx 79.0i Nm
but acting on shaft, M 79.0i Nm
125

Engineering Mechanics Dynamics -- IAA

problem 07/82

d
d
H

G HG
dt
dt
IG IG

MG

0 IG
0 z x

z 0 x

y z 0

0 0
0 0

0 0 0

45

Mx

z 20 rad/s
126

Engineering Mechanics Dynamics -- IAA