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Chapter 2 Motion
Chapter 2 Motion
MOTION
Collar-~..,...__
w = 21rN (1)
Referring to Fig. 2-3, let the body M be rigidly attached to an arm
which is turning around the axis C, the ann and M revolving together.
Then the lines CA and CB which join any two points A and B to the
axis have angular speed about C, and since the entire body is rigid
and the angle ACB is constant, CA and CB each have the same
angular speed as the arm. Moreover, since, as the body revolves, the
line AB constantly changes direction, it may also be said to have
angular speed, which, in this case, is the same as that of the lines
CA and CB.
If M is not rigidly ·attached to the arm but is rotating relative to
the arm on the axis S which is carried by the arm, as in Fig. 2-4, the
lines CA, CB, and AB will no longer necessarily have the same
angular speed. The angles turned through in a given time by these
MOTION
1
~ d t ly on the speed at which the arm is turning about
Imes depen no on . . t . b
C but also upon the
speed at which M 1s urning a out the axis S
•
relative to the arm. .
. Speed of Point on a Revolving Body. Consider
2-24. L1near 8
I . F.
a particle A on the circumference of the whee_ in ig. 2-1. For every
revoIu- t·10n of th e wheel , A moves over the c1rcumf
. erence of a circle
of rad.ms R a, so that for N turns A moves a distance of 21rR,Jv linear
units. Let Va = linear speed of A. Then
or
(4)
The linear speed of a point on the circumference of a revolving wheel
is often referred to as the periphery speed or surface speed.
Take another case, that of two
wheels fast to the same shaft, as
shown in Fig. 2-5. The weight Pis
supposed to be hung from a very
thin steel band which is wound on
the outside of wheel A and the
weight W from another steel band
wound on the outside of wheel B.
Suppose that the shaft starts to turn
in the direction shown by the arrow.
Then the band which supports P
Fro. 2-6. will unwind at a speed equal to the
. periphery speed of A, and the weight
P w1~I d~scend at that speed. At the same time, the other band will
be w1ndmg onto the :'heel B and the weight w will be rising at a
speed equal to the periphery speed of B. If N represents the number
of t_urns per unit of time of the shaft, R. the radius of A, and ,R the
1
radius of B, then V, = 2,,.R,.N and V RN
• = 2... • , or
t6
UNIF ORM LY VAR YI NG MOT ION
(5)
Vp/V w = Ra/ Rb
the same
which is the same equation found when both poin ts were on
wheel.
r-
2-25. MoJion Classified. Since the moti on of a body is dete
nt par-
mined by the motion of not more than t hree of its compone
g the
ticles, not lying in a strai ght line, it is essen tial before beginnin
the
analysis of the motion of rigid bodies that the laws governing
it is
motion of a particle be fully understood. For this purpose
t acco rd-
convenient to classify motion as applied to a parti cle or poin
has:
ing to the kind of acceleration which the mov ing parti cle
1. Acceleration zero.
2. Acceleration constant.
3. Acceleration variable.
(a) According to some simple law 'YI,ich .may be
expressed in terms of
s, v, or t.
simil ar means.
(b) In a mann er which can be expressed only by a graph or
yzin g
A brief consideration will now be given to the methods of anal
Later
each of these cases for a particle having rectilinea r motion.
mod i-
on it will appear that the same general principles , with proper
and to
fications, will appl y to a particle moving in a curved path
the angular motion of a line.
c-
2-26. Uniform Motion. When the acceleration is zero the velo
strai ght
ity is constant and the moving particle cont inues to move in a
velo city
line over equal distances in equal intervals of time. The
in linea r
(or speed) therefore is equal to the length of the path s,
erse the
units, divided by the time t, in time units, required to trav
path, or
V = s/t (6)
- r unit s
where Vis expressed'in linear units per unit of time. The linea
t be the
of V and s mus t be the same and t he time unit of l' mus
same as t.
ion
2-27. Uniformly Varying Motion. In this case the accelerat
in equa l
is cons tant; that is,. tqe speed changes by equa l amo unts
actio n of
intervals of time, like that of a body falling unde r the
gravity.
d units
Let A repre sent the acce leration, that is, the num ber of spee
the speed
added per unit of time ( a minus sign mus t precede A if
is At, and
is decreasing). Then, durin g a time t the change ip speed
MOTION
t6 . . f that time interv al the speed is Vo, then at th.
if at the beginning O • At Therefore
end of time t the speed will be Vo + .
V = Vo+ At (7)
From this it follows that the average· speed is
dt = d8
V
.·• t ds
V\
=f (12)
From the two equations V = ds/dt and A = dV/dt we have
V/A = ds/dV or V dV =Ads {13)
and
13
12
11
l 5 110 2.5
s=
I.. u
5 9
.,,
!.
I
s=
u 3
-.,i
4 .5 8
C:
7
6
2.0
Il
.5 u 1.5
5 i
Ill
5
~
j
~
2 i5 4
1
3
2
1.0
ll
0
J
I
i
1.5 2.0 2.5
Time 1n seconds
3.0 3.5 4.0 4.5° s -
-0.S
Acceleration
-1.0
-1.5
In the figure the construction is shown at the point on the curve corresponding
to 3.5 sec. In dividing As by ·At, care must be taken to express As in displace-
ment units as indicated by the scale of the graph and tt.t in time u~its. For
example, if the vertical leg of the triangle should measure ¾ in. and the scale
of ordinates is such that 1 in. represents 4-in. displacement then tt.s = ¾ X 4
or 3 in. The values of V = tt.s/ At for each of the given values of t having
been obtained, they may be plotted as ordinates against the same time units,
either at the same scale as in the previous graph or at any other scale if more
convenient. A similar process of "differentiating" the velocity-time curve may
then be followed to obtain the acceleration. The only approximation in the
above method is that involved in the accuracy of the drafting. The velocity-
time and acceleration-time curves are shown in the figure .
Example 2. Graphical Integration. Given values of A for a series of known
values of t as shown in the following table. Assume the particle to start from rest
(Vo = 0) and to move in a straight line. Find V and s.
A, inches A, inches
per second per second
t, seconds per second t, seconds per second
0.0 3 ('0 2.5 0.00
0.5 2.50 3 .0 - 0.25
1.0 1.50 3.5 -0.63
1.5 0.75 4.0 -2.00
2.0 0.25 4.5 - 3.50
Solution. See Fig. 2-7. Plot a curve with t values for abscissas and correspond-
ing A values as ordinates, choosing convenie~t scales. Obtain the aver~e value of
A during each of the intervals by consti:uctmg a rectangle whose_area 1s equal as
nearly 88 may be estimated to the area mcluded under that portion of the curve.
This is shown by the dotted line across the Oto 0.5 interval. Now, since average
A • AV I At, then AV - average A .At; that is, the a.rn_ount of ~el_ocity added dur-
. ach time interval is equal to the average acceleration mult1pbed by the length
:gt:e interval. Record these values 88 s_hown.in col~s 2 and 3 of ~he table ac-
companying the plot in Fig. 2-7, and obtam their su~abon 88 shown m the fourth
1 Thus the values of V at the ond of each mterval are found. Plot a V-C
= ~ m these values, and get the values of • in a similar way, as shown in the
fifth, sixth, and seventh columns.
MOTION
'0
12 63
0
111
Q)
10
.8.
G)
1/1
.s;
0
C
·-C 8 ,,
·-...
~ 6
E
G)
·=z, Il
~ 4
0.
~l
G)
>
,,
C
1/1
leration
0 2
I
3.5 4.0 4.5
I
0
1.0 1.5 2.0 2.5
0 l
•
Ill
Time in seconds .c
u
.5
C
-1 ~
Time Average
~l tJ.t ~"i £\t :8
interval
A1 tJ.t =Vat end Average ½.at =sat end l!
A=A1 of interval V=Vi of interval I
0.0-0.5
0.5-1.0
2.80
2.05
1.400
1.025
1.400
2.425
0.72 0.36 0.36 -2f
1.98 0.99 1.35
1.0-1.5 1.10 0.550 2.975 2.78 1.39 2.74
1.5-2.0 0.50 0.250 3.225 3.14 1.57 4.31
2.0-2.5 0.14 0.070 3.295 3.30 1.65 -3
2.5-3.0 5.96
-0.14 -0.070 3.225 3.30 1.65
3.0-3.5 7.61
-0.44 -0.220 3.005 3.14 1.57
3.5-4.0 9.18
-1.30 -0.650 2.355 2.70
4.0-4.5 l.35 10.53
-2.80 -1.400 0.955 1.74 -4
0.87 11.40
Fm. 2-7.
A, inches
per second
a, inches per second
0 6
2 8
4 9
6 7
8 4
10 2.5
S~lution. Bee Fig. 2-8. The process is somewhat similar to that Wied ill
Example 2, with the modifications made necessary by the fact that the data
show the relation between A and s instead of A and t. The figure shows &he
curves, and the table that accompanies it records the steps involved in the
solution.
HARMONIC MO TION at
1.5 "O
C
0
12 8~
"O
C
...
0
0
!
Cl)
VI 1.0
...
VI
Cl)
Q.
'O
C
0
VI
Cl)
...
Q,)
0
Cl)
.c Q.
VI 0
C:
.s VI
Cl)
.c
C
6 4g
Q,)
E
i= 0.5
-
>.
·u
0
C
C
~ 0
:.:;
co
3 2~
Cl>
u
u
<
0 0 0
0 2 4 6 8 10
Displacement in inches
Space Average
AAs
VVc,2 +2~AAs Average At= tu
~ At=t
at end of
~AAs =Vat end V
interval A V interval
of interval
0- 2 7.05 14.10 14.10 7.29 6.15 0.325 0.325
2- 4 8.55 17.10 31.20 9.35 8.37 0.239 0.564
4- 6 8.25 16.50 47.70 10.97 10.23 0.195 0.759
6-8 5.38 10.76 58.46 11.91 11.52 0.174 0.933
8-10 3.16 6.32 64.78 12.43 12.15 0.164 1.097
FIG. 2-8.
Fm. 2-11.
M = ½At2 or A = 2M / t2
but
V =At= 2M/ t
also
V = D/(T - 2t)
therefore
2M/t = D/(T - 2t)
whence
t = 2MT /(-!M + D) (20)
In Fig. 2-12, let the conditions be the same as in F ig. 2-11, except
that the acceleration and retardation are in accordance with the law
M~-----D----""-M
FIG. 2-12.
"' = ,,,.;2t
v = wM = ,,,-M/2t also V = D/( T - 2t)
rM/2t = D/(T - 2t)
·whence
t = 1rMT/(21rM + 2D) (21)
PROBLEMS
that s . 2t feet where
2-1. A particle moves in a strai ght line in su?h a way
or varia ble acceJera-
t is in seconds. Is its acceleration zero, or has 1t cons tant
tion? Find V when s = 0. h.\ wa.,,: that , = 2t2
2-2. Il a particle moves along ~ strai ght path _in suc
feet, where t is in seconds, what kind of acceleration
has 1t. Fmd the accel-
erati on when t = 5 sec. Find V when t = IO3 sec. 2
2-3. Same as Prob. 2-2, except that s = (2t +
t ) feet.
2 and its initia l ,·elo dty
2-4. Il the acceleration A of a particle is 3 in./sec
to mov e 27 in. Find ·y
l'0 is zero, find the time required for this particle
at the end of this time.
2-5. Let A ~ 1200 ft/min2 and VO = 100 ips. Find
s in inches and r in
inches per second at the end of 10 sec.
tant rate for 3 min,
2-6. A particle start s from rest and accelerates at cons
ity to carry it at uniform
at the end of which time it has acquired enough veloc
first 3 min and l' at tlae
velocity a distance of 10 ft in 2 min. Find A during
end of that time.
in2 cons tant. When
2-7. A particle is moving in a straight line. A = 60 ft/m
passing anoth er fixed particle B it has a velocity of
40 fpm. Wha t will be it.a
velocity when it has moved 2000 ft from B?
a and t when V =
2-8. Let A = (V + 3) feet per minute per minute. Find
12 fpm. V0 = 0.
2-9. Let A = 1/V feet per second per second; VO = 5 fps.
Find V and t when
a= 25 ft.
2-10. Let A = 4s feet per second per second; V0 = 5 fps.
Find y and I at
the end of 4 sec.
+
2-11 . Let A = (2s 3) feet per second per second; y 0
= o. ...,Find A, y 1 and
t when s = 7 ft.
spee d d I tion
2-12 . Referring to· Fig. 2-9, let CE= 4 in. Find the
ns an ~de ra
of P when fJ = 75° if CE has an angular speed of 241r radia
: ~2~ n~ .
2-13 . A particle moves with harmonic motion, over a ID
on pa d m. DI,
5 sec. Find A, V, and t when it •has moved 3 in. from e en .
,. A .1 . •
2-1... part1c e reciprocat es with harmonic motion Over a path 8 m Jong
. h d d, wher e is the d" l • •
.A = -168 me es perF.secon d A
per secon 8
l8J> &cem ent from the
· h
centerthof 1tsd pat : tm . htandlnVdicatewhen the particle is I½ in. from left end
sense of each F" d • .
o1 pa an movmg o ng . m time t requ ired
·
for this l~in . motion and for the entire ~in. motion
2-15 . Let A = t feet per second per second; y 0 ~
2 6 l .
pa. Find t and Y
when a = '¥1 ft. -
PROBLEMS tJ6
2-16. Let A= -t feet per second per second; V = 800 fps. How long 8
time will be required for the particle to come to ~est, and how far will it
travel in that time?
~-1 ~• A particle moves in a straight line in such a way that its displacement
s, m inches, from a given reference point at successive I-sec intervals from
0 to 6, both inclusive, is 4.1, 4.5, 4.2, 3.0, 1.45, 0.40, o respectively. Plot a dis-
placement-time curve. Scales: Time 1 in. = 1 sec. Displacement 1 in. = 1 in.
From this curve find the velocity for each value of t.
2-18. A particle moves in a straight line. Its velocity ,at successive seconds
from O to 6 inclusive is 0, 0.814, 1.571, 2.220, 2.712, 3.03, r, all in inches per
aecond. Plot a velocity-time curve. Scales: Time 1 in.= 1 sec. Velocity
2 in.= 1 ips. From this curve determine the displacement at the end of each
second.
2-19. A particle moves in a straight line. By means of suitable instruments
the acceleration is measured at a given instant and at the end of each 2-ft
interval of displacement until it has moved 12 ft. The values of A in feet
per minute .per minute are : 6, 4, 3½, 3, !;2, 0, -1. Plot an acceleration-
displacement curve. Scales: Displacement 1 in. = 2 ft. Acceleration 1 in. =
1 ft/min 2 • From this curve find V at the end of each 2-ft interval. Assume
that .VO was 3 fpm when the first measurement of A was made.
2-20. A block is to start from rest and slide along a rectilinear path 12 in.
long in 8 sec. It is to accelerate uniformly over half its path during the first
4 sec and retard at the same rate during the remaining 4 sec. Determine the
acceleration in inches per second per second and the speed at the end of the
fourth second. Draw half size the path of one point on the block, and show
and dimension the position of the point at the end of each second.
2-21. A point is to start from rest, accelerate uniformly for 1½ in., then
move at a constant speed for 15 in., and retard uniformly for 1½ in., coming
to rest at the end. The time allowed for the entire motion is 18 sec. Find
the time required for acceleration, and the speed when moving at constant speed.
2-22. Same as Prob. 2-21, except that the acceleration and retardation are
to be according to the laws of simple harmonic motion.
2-23. The flywheel of a steam engine is 9 ft in diameter and rotates at 112
rpm. Find (1) the angular speed in radians per second; (2) the linear speed
in feet per minute of a point on the rim; and (3) the linear speed in feet per
minute of a point located on the spoke midway between the center and rim
of the wheel.
2-24. A 2½-ft diameter flywheel of a gas engine has a. pulley 10 in. in diameter
bolted to it (both turning together). The flywheel turns at a speed of 150 rpm.
Find (1) the angular speed of the pulley in revolutions per minute and radians
per second; (2) the angular speed of the flywheel in radians per second; (3) the
linear speed in feet per minute of a point on the surface of the ffywheel; and
(4) the linear $peed in feet per minute of a belt running on the pulley, assuming
no slipping between the belt and pulley surface.
2-25. The economical speed for leather belting is around 4500 fpm. A pu.Jley
of what diameter in inches should be used on a motor nmning at 1760 rpm
to gh-e the required belt speed, if there is no slipping between the belt and
pulley surface?
MOTION
~ • running at 125 rpm is tumed off and the ~
za. The power of annde~; minO
and 40 sec. Assuming that there ia 00
comes to rest at the e d Uey surface and that the deceleration • lllli•
slipping between the belt an P: in radians per second of the engine pulley
form, find (1) the average = ~ a r distance traveled in revolutiona, radiant
in coming to _rest; (~) the ~ . d (a) the distance in feet traveled by a beJi
and degrees m commg_ to . 'gS.:o rest if the pulley diameter is 3 ft.
running OD ~e pull~y m com::ne has a' normal speed of 450
1-27. A 6-m.xS-m. gas ene- second and radians ·
rpm. Det.ennme
d·, and (2) ibe
. ti" DB ~per per secon
(1) the speed m revo1u o . f d •
·t f th ankpm· in feet per mmute, eet per eecon , and incbee
1
linear veoc1ro ecr nif te' 3 ·
per aecond. If the engine is allowed to stop at aku. ormadi ra m mm and
·
20 aec., dete rmme (3) the deceleration of the cran m r
k . . ans per . aecond per
second; (4) the distance in feet traveled by ~e c~an pm_ m commg to nm;
and (5) the distance in feet traveled by the piston_ m ~omm_g to ~-
1-28. Same 88 Prob. 2-27, except that the engme JS 5 m. x 7 m. and die
normal speed is 500 rpm.
z.z,. The 16-in.-diameter pulley of a gasoline engine is connect.ed by a belt
(which is 8S8Wlled not to slip) to the pulley of a pump. The belt speed ii
4000 fpm. Determine (1) the angular speed of the engine pulley in revolutioaa
per minute and in radians per second; and (2) the diameter in inchea of the
pump pulley if the pump speed is one-half the speed of the engine pulley.
2-30. The speed of a flywheel whose diameter is 8 ft. is increasing from NI&
at the uniform rate of 2 rad/sec2. Determine the number of seconds elalJllld
and the number of radians turned through by the flywheel before a pow cm
the rim has a tangential velocity of 1200 fP,s.
2-31. A chute for delivering shipments of freight is so designed that the bum,
starting from rest, receive a uniform acceleration of 18 ft/sec2 on the first. Natiall,
which is 18 ft long. Then they are retarded by a 6 ft/sec2 uniform deceleratica
on the next section. H the time consumed in shooting both sections is U ae,
de~rmine (1) the velocity, in feet per second, of the boxes at the end of eaell
aect1on; and (2) the length, in feet, of the second section.