Location via proxy:   [ UP ]  
[Report a bug]   [Manage cookies]                
Scribd
Upload
37 views

Engineering Dynamics 2020 Lecture 4

* Total mass (man + elevator) = m = 75 kg + mass of elevator * Tension in cable = F = 8300 N (upward) * Acceleration a = F/m * Using Newton's second law: F = ma * Given: t = 3 s * To find: Reading on scale R and upward velocity v * R = Force on scale = Normal force - Weight = N - mg * N = mg + ma * ma = F - mg = 8300 - (75)(9.8) = 8300 - 735 = 7565 N * a = F/m = 7565/m * v = u + at * u = 0

Uploaded by

Muhammad Shess
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
37 views

Engineering Dynamics 2020 Lecture 4

* Total mass (man + elevator) = m = 75 kg + mass of elevator * Tension in cable = F = 8300 N (upward) * Acceleration a = F/m * Using Newton's second law: F = ma * Given: t = 3 s * To find: Reading on scale R and upward velocity v * R = Force on scale = Normal force - Weight = N - mg * N = mg + ma * ma = F - mg = 8300 - (75)(9.8) = 8300 - 735 = 7565 N * a = F/m = 7565/m * v = u + at * u = 0

Uploaded by

Muhammad Shess
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 48

Lecture #4:Kinematics of Particle:

Relative Motion
Constrained Motion

Syed Ahsan Masud Zaidi


Ahsan_Zaidi@rocketmail.com
Department of Mechatronics and Control Engineering
University of Engineering and Technology, Lahore
1
▪Let us consider a unit vector 𝒆𝒏 in the n-direction and 𝒆𝒕 in
the t direction.
▪ After the time dt the particle moves the distance ds to reach from
particle A to 𝐴′ .
▪ Let the radius of curvature of the path be designated by ρ

v = ds/dt= ρdβ/dt
▪The acceleration a of the particle was defined as a=dv/dt
▪Acceleration is a vector which reflects both the change
in magnitude and the change in direction of v.

▪ We need to find the expression for ė𝒕


▪ |d𝒆𝒕 | = |𝒆𝒕 |𝑑β = dβ
▪ d𝒆𝒕 has a direction same as 𝒆𝒏
▪ d𝒆𝒕 = 𝒆𝒏 𝑑β
▪ dβ/dt=v/ ρ
▪ Let us introduce two unit Vectors 𝒆𝒓 and 𝒆θ in the positive r and
θ- direction respectively.
▪ The position vector r to the particle at A has a magnitude equal to
the radial distance r and a direction specified by the unit vector 𝒆𝒓

r =r 𝒆r
▪ Acceleration
▪ The expression for velocity can be found out by differentiating velocity with
respect to time.
7
8
9
Relative Motion
(Translating Axes)
▪ Until now we have discussed various coordinate systems with fixed reference
axes. Thus the displacement velocities and acceleration expressions until now
can be termed as absolute.
▪ In Some engineering problems motion analysis is more simplified if we consider a
moving frame of reference.
▪ For Example a football player must consider the relative motion of the ball and
his teammates when making a pass.
▪ For the motion of satellites around the earth, a nonrotating coordinate system is
chosen with its origin on the axis of rotation of the earth.
▪ For Interplanetary travel, a nonrotating coordinate system fixed to the Sun is
chosen.
▪ Designate one frame as the fixed frame of reference. All other frames not
rigidly attached to the fixed reference frame are moving frames of
reference.
▪ Here “A/B” means A relative to B
▪ Position vectors for particles A and B with respect to the fixed frame of
reference OXYZ are:
• Differentiating once and twice, gives velocity and acceleration
respectively
• The selection of moving point B for the attachment of reference
system is arbitrary.
• The corresponding relative motion equations for position, velocity
and acceleration are given as:
In relative motion analysis it has been analyzed that:
▪ Acceleration of particle as observed in translating system
x-y is the same as observed in fixed system X-Y, if the
moving system has constant velocity.
▪We conclude that a set of axes which has constant
absolute velocity may be used in place of a “fixed” system
for determination of accelerations.
▪A translating reference system which has no acceleration
is called an inertial system.
15
16
▪ Sometimes the motion of particles are interrelated because of the
constrained imposed by interconnecting members.
▪ One Degree of Freedom System
Only one variable (x or y) is needed to specify the positions of all
parts of the system
▪ Two Degree of Freedom System
Two variables are needed to specify the positions of all parts of the
system
We can specify the location of the blocks using position coordinates
sA and sB.
Note that each of the coordinate axes is
(1) measured from a fixed point (O) or fixed datum line
(2) Measured along each inclined plane in the direction of motion of
each block,
(3) has a positive sense from the fixed datums to A and to B.
▪ If total length of rope is lt , we can write

▪ Note that lT and lCD are constant lengths


▪ If total length of rope is l , we can write

▪ Note that total length is constant

▪ when B moves downward (+sB), A moves to


the left (-sA) with twice the motion.
▪ We can also take position from the center of the
bottom Pulley

▪ Note that total length is constant

▪ when B moves downward (-sB), A moves to the


left (-sA) with twice the motion.
▪ Two separate coordinates are required to specify the position of
lower cylinder and pulley C. yA and yB.
▪ Lengths of the cables attached to cylinders A and B:
Their time derivatives:

Eliminating the terms

•It is impossible for the signs of all three terms to be positive simultaneously.
• If A and B have downward (+ve) velocity, C will have an upward (-ve)
velocity.
Determine the speed of block A in Fig. if block B
has an upward speed of 6 ft/s

24
25
Determine the speed of block A in Fig. if block B
has an upward speed of 6 ft/s

26
27
Determine the speed of block B in Fig.if the end of the cord at A is
pulled down with a speed of 2 m/s.

28
29
For the pulley system shown, each of the cables at A and B is given a
velocity of 2 m/s in the direction of the arrow. Determine the
upward velocity v of the load m.

30
31
Neglect the diameter of the small pulleys and establish the
relationship between the velocity of A and the velocity of B for a
given value of y

32
33
Kinetics:
kinetics is the branch of classical mechanics that is concerned with
the relationship between motion and its causes, specifically, forces and
torques.
OR
Study of the relations between unbalanced forces and the
resulting changes in motion.

Newton’s Second Law of Motion :


The acceleration of a particle is proportional to the resultant force
acting on it and is in the direction of this force.
A particle will accelerate when it is subjected to unbalanced forces
F=ma
Three approaches to solution of Kinetics problems:
1. Force-Mass-Acceleration method (direct application of Newton’s Second
Law)
2. Use of Work and Energy principles
3. Impulse and Momentum methods

Limitations of this chapter:


▪ Motion of bodies that can be treated as particles (motion of the
mass center of the body)
▪ Forces are concurrent through the mass center (action of non-
concurrent forces on the motion of bodies will be discussed in
chapter on Kinetics of rigid bodies).
Force-Mass-Acceleration method
Newton’s Second Law of Motion
Subject a mass particle to a force F1 and measure acceleration of the particle a1.
Similarly, F2and a2…
The ratio of magnitudes of force and resulting acceleration will remain
constant.

▪ Constant C is a measure of some invariable property of the particle Inertia of the


particle
Inertia = Resistance to rate of change of velocity
▪ Mass m is used as a quantitative measure of Inertia.
C = km where k is a constant introduced to account for the units used.
F = kma
Acceleration is always in the direction of the applied force
Vector Relation: F= kma
▪In Kinetic System of units, k is taken as unity
F= ma
units of force, mass and acceleration are not independent
Absolute System
since the force units depend on the absolute
value of mass.
Force-Mass-Acceleration method
Equation of Motion
Particle of mass m subjected to the action of concurrent forces F1,
F2,… whose vector sum is ΣF:
Equation of motion: ΣF= ma
▪ Equation of Motion gives the instantaneous value of the
acceleration corresponding to the instantaneous value of the forces.
▪ The equation of motion can be used in scalar component form in any
coordinate system.
▪ For a 3 DOF problem, all three scalar components of equation of
motion will be required to be integrated to obtain the space
coordinates as a function of time.
▪ All forces, both applied or reactive, which act on the particle must
be accounted for while using the equation of motion.
Force-Mass-Acceleration method
Free Body Diagrams:
▪ In Statics: Resultant of all forces acting on the body = 0
▪ In Dynamics: Resultant of all forces acting on the body = ma
In FBD the only forces we can neglect are the forces which have
negligible magnitudes as compared with other acting forces.
Dynamics Problems
There are two types of dynamics problems
▪ In the first type, the acceleration of the particle is either specified
or can be determined directly from known kinematic conditions. We
then determine the corresponding forces which act on particle by
direct substitution into the equation, F = ma.
▪ In the second type, the forces acting on the particle are specified
and we must determine the resulting motion. If the forces are
constant, the acceleration is also constant and is easily found from
the equation F=ma.
When the forces are function of time, position or velocity the
equation F = ma will become a differential equation which must be
integrated to determine the velocity and displacement.
Rectilinear Motion
Motion of a particle along a straight line

▪For motion along x-direction, accelerations along y-and z-


direction will be zero
ΣFx= max
ΣFy= 0
ΣFz= 0
▪For a general case:
ΣFx= max
ΣFy= may
ΣFz= maz
Rectilinear Motion
The acceleration and resultant force are given by:
A 75 kg man stands on a spring scale in an elevator. During the first
3 seconds of motion from rest, the tension T in the hoisting cable is
8300 N. Find the reading Rof the scale in Newton during this interval
and the upward velocity v of the elevator at the end of the 3 seconds.
Total mass of elevator, man, and scale is 750 kg.

43
44
45
46
▪Engineering Mechanics , Dynamics
Sixth Edition
By J.L. Meriam , L.G. Kraige
Chapter # 2: Kinematics of Particles
Article 2/ 9 Constrained Motion of Connected Particles

▪Engineering Mechanics , Dynamics


14th Edition
R.C. Hibbeler
Article 12/ 9 Absolute dependent Motion Analysis of two particles

47
Thank you
Any Questions???

48

You might also like