FE Exam: Dynamics review

D. A. Lyn
School of Civil Engineering
3 March 2013
Preliminaries
Units (relevant quantities: g, displacement, velocity,
acceleration, energy, momentum, etc.)
Notation (dot, vector)
Vectors (components and directions/signs, graphical
addition and subtraction, dot and cross products,
vector polygons)
Coordinate systems (Cartesian and curvilinear, fixed
and moving or relative, unit vectors)
Statics (free body diagram)
Classification of dynamics and problems
Kinematics: description of motion without reference to
forces
Particle (no rotation about itself, size unimportant) and rigid-
body
Coordinate systems (Cartesian, curvilinear, rotation)
Constraints on motion
Kinetics: inclusion of forces (mass, or momentum or energy)
Types of forces: conservative (gravitational, spring, elastic
collisions) and non-conservative (friction, inelastic collisions)
Newtons 2
nd
law: linear and angular momentum
Use of free body diagram to deal with external forces
Particles and rigid body (system of particles)
Impulse (time involved) and momentum
still working with vectors (before and after)
Work (distances involved) and energy (velocities involved)
working with scalars (usually easier) (before and after)
Particle kinematics
General relations between displacement (r),
velocity (u), and acceleration (a)

Given a formula for (or graph of) r as function
of t, take derivatives to find u and a
Given a formula for u or a as function of t,
integrate to find r or u
Special case: constant (in magnitude and direction)
acceleration, (initial conditions needed to
determine integration constants)




( ) , ( ) = ( , , ), ( , , ), ( , , )
d d
t t x y z x y z x y z
dt dt
= = = = = = =
r u
u r a u r r u a
0
= a a
2
0 0
1
( ) ( 0) , ( ) ( 0) ( 0)
2
t t t t t t t t
| |
= = + = = + = +
|
\ .
u u a r r u a
Sample problems
The position of a particle moving horizontally is described by
, with s in m and t in s. At t = 2 s, what is its
acceleration?
Soln: Take derivatives of s with respect to t, and evaluate at t=2s
( ) so a(t=2s) = 4 m/s
2
.
Projectile problem: A projectile is launched with an initial speed
of v
0
=100 ft/s at u=30 to the horizontal, what is the horizontal
distance, L, covered by the projectile when it lands again?
Soln: constant acceleration (only gravitational
acceleration involved) problem, so apply
formulae in two directions
2
( ) 2 8 3 s t t t = +
( ) ( ) 4 8, ( ) ( ) 4 u t s t t a t s t = = = =
( )
( )
2
0 0
2
0 0
/ 2
/ 2
end x end x end
end y end y end
x x v t a t
y y v t a t
= +
= +
0 0
Given: 0, , 100cos30 , 100sin30
x y x y
a a g v v = = = =
wish to find L=x
end
-x
0
, for y
end
-y
0
=0, so we solve
L=v
0x
t
end
and 0=v
0y
t
end
-g(t
end
2
/2) for t
end
and L;
L
v
0
u
x
y
t
end
=3.1 s and L=269.2 ft
Kinetics of a particle
Linear momentum, L=mu (mass, m, i.e., measure of inertia)
Newtons 2
nd
law:
Forces determined from free body diagram (as in statics)
Types of forces: gravitational, frictional, spring, external
Angular momentum (about a point O) ,
Newtons 2
nd
law:
Impulse (used in impact and collision problems),
momentum conservation:
mini-problem: A golf ball of mass 50-g is hit with a club. If the initial
velocity of the ball is 20 m/s, what is the impulse imparted to the ball? If
the contact duration was 0.05 s, what was the average force on the ball?
m = =

F a L
0
m = H r u
0 0
=

M H
2
1
1 2

t
t
dt

=
}
Imp F
2
1
2 1 1 2

t
t
dt

= =
}
L L Imp F
1 2 1 2 2
1 2
0
0 Imp (0.05 kg)(20 m/s) = 1 Ns
Imp 1 Ns 1 Ns / 0.05 s 20 N
t
avg avg
L L mv
F dt F t F

= = = =
= A = = = =
}
Problem: kinetics of a particle (truck)
A truck of weight W = 4000 lbf moves down a u=10
incline at an initial speed of u
0
= 20 ft/s. A constant
braking force of F
brk
=1200 lbf is experienced by the
truck from a time, t = 0. What is the distance
covered by the truck before it stops from the time
that the braking force is applied?
kinematics problem:
2
sin ( ) sin 4.1 ft/s
brk
brk net s s
F
F W F ma W mg a g
W
u u
| |
+ = = = = + =
|
\ .
0
2 2
0 0
( ) ( 0) / 4.9 s
( ) ( 0) ( / 2) / 2 48.8 ft
end s end end s
end end s end s
u t t u t a t t u a
s t t s t u t a t u a
= = = + = =
= = = + = =
Notes: forces involved kinetics problem, rectilinear (straight-line) motion: determine net
force on truck in direction of motion, apply Newtons 2
nd
law to evaluate distance covered
From free body diagram, sum of forces in direction of motion,
u
0
u
W
F
b
rk
W
s
in
u
m
a
s
s
kinetics problem (force balance in s dirn):
Curvilinear coordinates and motion
Plane motion (motion on a surface, i.e., in only two dimensions)
Tangential (t) and normal (n) coordinates

is the radius of curvature of particle
path at the particle position
(advantage: v
n
= 0, zero normal comp.)
Radial (r) and transverse (u) or polar coordinates

Special case: pure circular motion at an angular frequency,
e(t):


2
( ) , ( ) ( ) ( 2 )
r r
t r r t r r r r
u u
u u u u = + = + + v e e a e e
( )
2
( ) , ( ) /
t n t
t v t v v = = + v e a e e
2
2 2
2
, 0, , [ , ]
0, ,
( ) , ( )
r n t
r
r v r r
v
r r r v r r r
r
a t r a t r
u
u
u e u e
u e u e o
e o
= = = = = =
= = = = = =
= =
e e e e
x
x
1
y
y
1
r
u
e
r
e
n
e
t
e
u
particle
path
particle
at time t
r
v
=
r
u
e
a
r
r
=
e
2
a
r
r
u
=
o
=
e
.
(o is the angular acceleration)
Particle kinetics problem
Find the tension, T, in the string and the
angular acceleration, o, at the instant shown
if at the position shown the sphere of mass,
m=10 kg, has a tangential velocity of v
0
=4
m/s. R = 0.6 m, and u
0
=30.
Choose a radial-transverse coordinate system,
perform free body analysis to determine sum
of forces, and set equal to ma.
2
0 2
0 0 0
2
0 0
dir'n: - cos / cos 352 N
dir'n: sin sin / 8.2/s
r
v
r T W ma mv R T m g
R
W ma mR W mR
u
u u
u u u o u u
| |
+ = = = + =
|
\ .
= = = = =
W
T
r
u
R
u
0
v
0
m
2
( ) , ( ) ( ) ( 2 )
r r
t r r t r r r r
u u
u u u u = + = + + v e e a e e
Energy and work
Work of a force,F, resulting in a change in position from state 1 to
state 2:
Constant force in rectilinear motion, F
x
(x
2
-x
1
)
Gravitational force, -W(y
2
-y
1
), y>0 upwards
Spring force, -k(x
2
2
-x
1
2
)/2, (x
2
<x
1
, returning to undeformed state)
Kinetic energy,
Relation between work and kinetic energy:
for conservative forces (such as gravitational and spring forces, but
not frictional forces), a potential energy function, V, can be defined
such that
Gravitational force: V = Wy, spring force, V=kx
2
/2
For conservative forces, an equation for conservation of energy can
be expressed as or

2
1 2
1
U d

= -
}
F r
2
/ 2 T mv =
1 2 2 1
U T T

=
1 2 1 2
U V V

=
1 2 2 1
V V T T =
1 1 2 2
T V T V + = +
A problem solved using energy principles
A 2-kg block (A) rests on a frictionless plane
inclined at an angle u=30. It is attached by an
inextensible cable to a 3-kg block (B) and to a
fixed support. Assume pulleys are frictionless
and weightless. If initially both blocks are
stationary, how far will the 2-kg block
Motion constraints: s
B
=s
A
/2 (and Ay
A
=-2Ay
B
sinu), and v
B
=v
A
/2
Frictionless system conservative gravitational forces only, only distances
and speeds explicitly involved apply energy equation
( ) ( ) ( )
( )( )
2
2 2 2
1 2
Initially, 0; at end, / 2 / 2 / 2 1 / /
A A B A B A
A B
T T mv mv m v m m v v
(
= = + = +

( ) ( )
( )
1 2 2 1 2 1 2
1 2
2
2
2
2
1
1 1 1
2 2sin
1 2.24 m 0 (
2 1 / 2 sin
A A B B A A B B A A B B
A A B B B B B
A A A A
A A A A A
A B B
A
B A A A
V V T T T W y W y W y W y W y W y U
m v m v W y W
W y W y
m v W y W
v m v
y
g W W m v
u
u

= = = + + = A A =
(
| | | | A | | (
+ = A + = A
(
| | |
(
A
\ . \ . \ . (

(
| |
A = + = >
(
|

\ .
(

Block A rises)
/ sin 2 4.48 m
A A
s y y u A = A = A =
3 kg
3 kg
2

k
g
2
k
g
u=30 u=30
State 1 State 2
s y
B
=A
B
Ay
A
v
B
B
A
A
s
A
travel before its speed is 4 m/s?
Rigid body (plane) dynamics
rigid body: distance between any two arbitrary points
on body remain same
types of motion
pure translation (can be treated as a particle)
pure rotation about a fixed axis
convenient to characterize in terms of angular frequency, e, and
angular acceleration, o
general plane motion (combined translation and rotation
about a fixed axis)
rotation is distinguishing feature of rigid-body
dynamics
moment equation: product of mass moment of inertia and
angular acceleration analogous to ma
effective forces and moments and mass centers in
force and moment equations
Rigid body (plane) kinematics
general plane motion of
a rigid body is sum of a
translation of a point and
rotation about that point.
/
/
/
/ /
( )
( )
2
/ / /
( )
=
=
B A t
B A n
B A t
B A B A A B A
B A B A A B A B A
e
o e
+ = +
+ = +
v
a
a
v v v v k r
a a a a k r r
choose point A to write equation for the motion of point B
direction of v
B/A
, (a
B/A
)
t
, and
(a
B/A
)
n
crucial to solution
directions of unknown e and o
may be assumed
velocity problem: knowing v
A
and
direction of v
B
and geometry, find
magnitude of v
B
and e.
acceleration problem: knowing a
A

and direction of a
B
and geometry,
find magnitude of a
B
and o
for plane problems, the direction of and
especially is known, usually key to solution.
/ B A
k r
/ B A
r
Problem: Kinematics of rigid body example
The end A of rod AB of length L = 0.6 m moves at
velocity V
A
= 2 m/s and acceleration, a
A
= 0.2 m/s
2
,
both to the left, at the instant shown, when u =
60. What is the velocity, V
B
,and acceleration, a
B
,
of end B at the same instant?
Pure kinematics problem: assuming clockwise
rotation about A (may not be correct)

/
2 2
/ /
2
2
2
cos , sin / ( sin ) 3.85/s, 1.16 m/s

0 sin cos cos
sin cos sin sin
B A B A B A
B A A B
B A B A B A B A
A A A
Bx A
By B
V V L
V L V L V L V
a a L L
a a V
a a L L
L L L
a a
e e
e u e u e u
o e o e
e
o u e u o u
u u u u
o
= + += +
= = = = = +
= + += + +
| |
= = + = + = +
|
\ .
= =
v v k r
a a k r r
( )
2
2 2
cos sin 1 cos 11.7 m/s
sin
A
A
V
L L a
L
u e u u
u
+ = + + =
V , a
A, A
A
B
L
V ?
B
a ?
B
u
x
y
a
A
a
B
u
u
o
L
e
2
L
r
B/A
V
A
V
B
u
e
L
r
B/A
u
u
u
Kinetics of a system of particles (or rigid body)
For a system of particles (or a rigid body), analysis is performed in
terms of the mass center, G, located at radial vector, r
G
, and total
mass m

Equations of motions:
where a
G
is the acceleration of the mass center, and H
G
is the
angular momentum about the mass center
For a system with no external forces or moment acting, then linear
momentum, L, and angular momentum, H, is conserved, i.e., remains
constant
May be more convenient to deal with effective forces and effective
moments
For a system of particles (or a rigid body), and
where the mass moment of inertia I is defined by
(Standard formulae for I = mk
2
, where k is the radius of gyration, for
standard bodies are listed in tables; be careful about which axis I is
defined, whether centroidal axis or not, remember parallel axis
theorem)
or
G i i G
m m m dm = =

}
r r r r
= and
G G G
m = =

F a L M H
G G G
I I = = H
2 2
or
i i
I r m I r dm = =

}
G G
I = H

Problem: two-particle system
A particle A of mass m and and a particle B, of
mass 2m are connected by rigid massless rod of
length R. If mass B is suddenly given a vertical
velocity v perpendicular to the connecting rod,
determine the location of the mass center, the
velocity of the mass center, the angular
momentum, and the angular velocity of the
system soon after the motion begins.
( ) ( ) ( )
( ) ( )
( ) ( ) ( ) ( )
( )
/ /
2 2
/ /
2
3 2
3
2 2
3 2
3 3
2 1 2
0 2
3 3 3

A B G A A B B G A B G A B A
G A B G A A B B G A B G B
G A G A A B G B B
G G G A A G B B G
m m m m m m
m m m m m m v
m m m R m R v mvR
I I m r m r e
+ = + = + = +
= + = + = + = =
| | | |
= + + =
| |
\ \ . .
= = + =
r r r r r r r r r r
L u u u u u u u u j
H r u r u k k k
H k
2 2
2
0 2
0
2 1 2
2
3 3 3
2 2

3 3
m R m R mR
v
mv R mR
R
e e
e e
(
| | | |
+ =
(
| |
\ \ . .
(

= =
k k
k k
v
x
y
j
r
A
r
B
r r
B A
-
A B
G
m
2m
(2 /3) v j
A B
G
m
2m
e
Problem: rigid-body kinetics
What is the angular acceleration, o, of the
60-kg (cylindrical) pulley of radius R = 0.2 m
and the tension in the cable if a 30-kg block is
attached to the end of the cable?
Analysis of block
Kinematic constraint (a
block
=Ro)
O
R
m=30-kg
m
pulley
=60-kg
( )
( )

y y y
F ma T W ma m R
T m g R
o
o
= = =
=

Analysis of pulley
( )
2 2
0 0 0 pulley pulley
where / 2 / 2 M I I m R TR m R o o = = =

( )
2
pulley pulley
2 1
Solve for and : 147 N, 24.5
1 2 / s
mg T
T T
m m m R
o o = = = =
+
R
T
T
W=mg
o
a R
y
= o
y
+