CHAPTER
11
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Kinematics of Particles
Lecture Notes:
J. Walt Oler
Texas Tech University
Eighth
Eighth
Eighth
Eighth
Average velocity
t
x
lim
Instantaneous velocity
t 0 t
Instantaneous velocity may be positive or
negative. Magnitude of velocity is referred
to as particle speed.
From the definition of a derivative,
x dx
v lim
dt
t 0 t
e.g., x 6t 2 t 3
dx
v
12t 3t 2
dt
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Eighth
2
dt dt
t 0 t
e.g. v 12t 3t 2
dv
a
12 6t
dt
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Eighth
dx
12t 3t 2
dt
dv d 2 x
a
12 6t
dt dt 2
at t = 0,
x = 0, v = 0, a = 12 m/s2
at t = 2 s,
x = 16 m, v = vmax = 12 m/s, a = 0
at t = 4 s,
at t = 6 s,
Eighth
Eighth
dt
v
0
dx
v t
dt
x t
dx v t dt
v t v0 f t dt
0
dx v t dt
x0
x t x0 v t dt
dx
dx
or dt
dt
v
v dv f x dx
a
v x
dv
dv
or a v f x
dt
dx
x
v dv f x dx
v0
x0
1 v x 2
2
12 v02
f x dx
x0
Eighth
v0
dv
dt
f v
v t
v0
t
dv
dt
f v 0
dv
t
f v
dv
v a f v
dx
x t x0
v t
v0
v dv
dx
f v
x t
v t
x0
v0
dx
v dv
f v
v dv
f v
Eighth
Determine:
velocity and elevation above ground at
time t,
highest elevation reached by ball and
corresponding time, and
time when ball will hit the ground and
corresponding velocity.
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Eighth
v t 10
dy
v 10 9.81t
dt
y t
t
dy 10 9.81t dt
y0
m
m
9.81 2 t
s
s
y t y0 10t 12 9.81t 2
m
m
y t 20 m 10 t 4.905 2 t 2
s
s
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Eighth
m
m
9.81 2 t 0
s
s
t 1.019 s
y t 20 m 10 t 4.905 2 t 2
s
s
m
m
s
y 25.1 m
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Eighth
y t 20 m 10 t 4.905 2 t 2 0
s
s
t 1.243 s meaningless
t 3.28 s
v t 10
m
m
9.81 2 t
s
s
v 3.28 s 10
m
m
9.81 2 3.28 s
s
s
v 22.2
m
s
Eighth
Eighth
k
dt
ln
kt
dt
v0
v v
0
0
v t v0 e kt
Integrate v(t) = dx/dt to find x(t).
dx
v t
v0 e kt
dt
x t
t
1 kt
kt
dx
v
e
dt
x
t
0
0 e
0
0
x t
2007 The McGraw-Hill Companies, Inc. All rights reserved.
t
0
v0
1 e kt
k
Eighth
v0
dv k dx
dv k dx
v v0 kx
v v0 kx
Alternatively,
v0
1 e kt
k
with
x t
and
v t v0 e kt or e kt
then
x t
v0
v t
1
k
v0
v t
v0
v v0 kx
Eighth
x0
dx v dt
x x0 vt
x x0 vt
Eighth
v0
dv a dt
v v0 at
v v0 at
dx
v0 at
dt
x0
dx v0 at dt
x x0 v0t 12 at 2
x x0 v0t 12 at 2
dv
v a constant
dx
v0
x0
v dv a dx
1
2
v 2 v02 2a x x0
2007 The McGraw-Hill Companies, Inc. All rights reserved.
v 2 v02 a x x0
Eighth
v B v A relative velocity of B
with respect to A
vB v A vB A
vB
a B a A relative acceleration of B
with respect to A
aB a A aB A
aB
Eighth
Eighth
m
m
9.81 2 t
s
s
m
m
y B y0 v0 t 12 at 2 12 m 18 t 4.905 2 t 2
s
s
Substitute initial position and constant velocity of
elevator into equation for uniform rectilinear
motion. m
vE 2
s
m
y E y0 v E t 5 m 2 t
s
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Eighth
12 18t 4.905t 2 5 2t 0
t 0.39 s meaningless
t 3.65 s
y E 12.3 m
18 9.81t 2
16 9.81 3.65
vB
19.81
m
s
Eighth
Eighth
Eighth
12
2a A 8 in.
aA 9
v A v A 0 a At
12
in.
in.
9 2t
s
s
t 1.333 s
in.
s2
Eighth
x A x A 0 2 x D xD 0 xB x B 0 0
8 in. 2 4 in. x B x B 0 0
x B x B 0 16 in.
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Eighth
12
in.
in.
3 vB 0
s
s
v B 18
in.
s
a A 2a D a B 0
in.
vB 0
a B 9
in.
s2
Eighth
Eighth
Eighth
v1
t1 t dv
v0
using dv = a dt ,
x1 x0 v0 t1
v1
t1 t a dt
v0
v1
v0
Eighth
Eighth
r by
defined
at t +
r by at time t and P defined
t,
r dr
v lim
dt
t 0 t
instantaneous velocity (vector)
s ds
dt
t 0 t
v lim
Eighth
v
at t + t,
v dv
a lim
dt
t 0 t
instantaneous acceleration (vector)
In general, acceleration vector is not tangent to
particle path and velocity vector.
Eighth
dP
P
P u u P u
lim
lim
du u 0 u u 0
u
Derivative of vector sum,
d P Q dP dQ
du
du du
Derivative of product of scalar and vector functions,
d f P df
dP
P f
du
du
du
Derivative of scalar product and vector product,
d P Q dP dQ
Q P
du
du
du
d P Q dP
dQ
Q P
du
du
du
Eighth
vx i v y j vz k
Acceleration vector,
d 2 x d 2 y d 2 z
a 2 i 2 j 2 k xi y j zk
dt
dt
dt
ax i a y j az k
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Eighth
0 gt
y v y y 12 gt 2
0
vy vy
vz 0
z0
Eighth
r
Vector B A joining A and B defines the position of
B with respect to the moving frame Axyz and
rB rA rB A
Differentiating twice,
vB v A vB A vB
a B a A aB
aB
A
A
velocity of B relative to A.
acceleration of B relative
to A.
Eighth
et
sin 2
lim
lim
en en
0
0 2
det
en
d
2007 The McGraw-Hill Companies, Inc. All rights reserved.
Eighth
With the velocity vector expressed as v vet
the particle acceleration may be written as
de dv
de d ds
dv dv
a
et v
et v
dt dt
dt dt
d ds dt
but
det
ds
en
d ds
v
d
dt
After substituting,
dv
v2
dv v 2
a et en
at
an
dt
dt
Eighth
dv
at
dt
v2
an
en principal normal
eb binormal
Acceleration has no component along binormal.
Eighth
r re r
der
e
d
der dr
dr
d
d
v re r e r r
er r
e
dt
dt
dt
dt
dt
r er r e
de
er
d
der der d d
e
dt
d dt
dt
de de d
d
er
dt
d dt
dt
d 2 r dr der dr d
d 2
d de
2 er
e r 2 e r
dt dt dt dt
dt dt
dt
dt
r r 2 er r 2r e
Eighth
vectors e R , e , and k .
Position vector,
r R e R z k
Velocity vector,
dr
v
R e R R e z k
dt
Acceleration vector,
dv
2
R eR R 2 R e z k
a
R
dt
Eighth
Eighth
2.75 2
t
8s
s
v 2 88 ft s 2
ft
an
3.10 2
2500 ft
s
60 mph 88 ft/s
45 mph 66 ft/s
4
.
14
a at a n 2.75 3.10
s2
tan
1 a n
at
tan 1
3.10
2.75
48.4
Eighth
Eighth
0.15 t 2
30 0.524 rad
t 1.869 s
Eighth
v vr2 v2
v 0.524 m s
31.0
ar r r 2
0.240 m s 2 0.481m 0.561rad s 2
0.391m s 2
a r 2r
a
tan 1
ar
a 0.531m s
42.6
Eighth