DYNAMICS

BDA 20103 LECTURE 6

DR. MOHD KHIR BIN MOHD NOR

Universiti Tun Hussein Onn Malaysia

General Plane Motion

F ma

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I G

I G mad

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Principle of energy conservation

The principle of work and energy applies to a rigid body system

U1c2 T Vg Ve

U1c2 Fdr

U1c2 Md

U1c 2 :

Work of all external non conservative forces

Vg :

Total conservative gravitational potential energy

Ve :

Total conservative elastic potential energy

T :

Total kinetic Energy

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Energy involved

1
1
m v2 2 v12 I 2 2 12
2
2

Vg mg (h2 h1 )

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(Rotation)

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EXAMPLE 1
The bar shown has a mass of 10-kg and is subjected to a couple
moment of M = 50 N.m and a force of P = 80 N, which is always
applied perpendicular to the end of the bar. Also, the spring has an
unstretched length of 0.5 m and remains in the vertical position
due to the roller guide at B. determine the total work done by all
the forces acting on the bar when it has rotated downward from
= 0 to = 90.

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EXAMPLE 1
View Free Body Diagram

Solution
First the free-body diagram of the bar is drawn in
order to account for all the forces that act on it.

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EXAMPLE 1
Weight W.
Since the weight 10(9.81) = 98.1 N is
displaced downward 1.5 m, the work is
U W 98.1(1.5) 147.2 J

Couple Moment M.
The couple moment rotates through an angle
of = /2 rad. Hence,
U M 50( / 2) 78.5 J

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EXAMPLE 1
Spring Force Fs
When = 0the spring is stretched (0.75 0.5) =
0.25 m, and when = 90, the stretched is (2 +
0.75) 0.5 = 2.25 m. Thus,
1

2 1
U s (30)(2.25) (30)(0.25)2 75.0 J
2
2

By

inspection the spring does negative work on

the bar since Fs acts in the opposite direction to
displacement.

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EXAMPLE 1
Force P
As the bar moves downward, the force is
displaced through a distance of (/2)(3) =
4.172 m.
The work is positive.
U P 80( 4.172) 377.0 J

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EXAMPLE 1
Pin Reactions
Forces Ax and Ay do no work since they are
not displaced.
Total Work
The work of all forces when the bar is
displaced is thus
U 147.2 78.5 75.0 377.0 528 J

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EXAMPLE 2
The 10-kg rod AB is confined so that its ends move
in the horizontal and vertical slots. The spring has a
stiffness of k = 800 N/m and is unstretched when
= 0. Determine the angular velocity of AB when
= 0, if the rod is released from rest when = 30.

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EXAMPLE 2
Potential Energy
The two diagrams of the rod,
when it is located at its initial
and final positions as shown
The datum, used to measure
the gravitational potential
energy, is placed in line with the
rod when = 0.

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EXAMPLE 2
When

the rod is in position 1, the center of

gravity G is located below the datum so that
the gravitational potential energy is negative.
(positive) elastic potential energy is stored in
the spring, since it is stretched a distance of s1
= (0.4 sin 30) m, thus
1 2
V1 Wy1 ks1
2
1
98.1(0.2 sin 30 ) (800)(0.4 sin 30 ) 2
2
6.19 J

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EXAMPLE 2
When

the rod is in position 2, the potential

energy of the rod is zero, since the spring is
unstretched, s2 = 0, and the center of gravity
G is located at the datum. Thus,

V2 0
Kinetic Energy
The rod is released from rest from position 1,
thus (vG)1 = 0 and 1 = 0, and
T1 0
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EXAMPLE 2
In

position 2, the angular velocity is 2 and the

rods mass center has a velocity of (vG)2. Thus,
1
1
m(vG ) 22 I G22
2
2
1
1 1
(10)(vG ) 22 [ (10)(0.4) 2 ]22
2
2 12

T2

Using

kinematics, (vG)2 can be related to 2 as

shown

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EXAMPLE 2
At

the instant considered, the instantaneous

center of zero velocity (IC) for the rod is at
point A; hence (vG)2 =(rG/IC)2 = (0.2)2

Substituting

into the previous expression and

simplfying, we get
T2 0.26722

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EXAMPLE 2
Conservation of Energy

T1 V1 T2 V2
0 6.19 0.26722 0
2 4.82 rad / s

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See you .
In the FINAL EXAMINATION

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