Cinemática Cuerpo Rígido
Cinemática Cuerpo Rígido
Cinemática Cuerpo Rígido
15
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr. Kinematics of
Lecture Notes:
Rigid Bodies
J. Walt Oler
Texas Tech University
r r
• Velocity vector v = dr dt of the particle P is
tangent to the path with magnitude v = ds dt
∆s = ( BP )∆θ = (r sin φ )∆θ
ds ∆θ
v= = lim (r sin φ ) = rθ& sin φ
dt ∆t →0 ∆t
dθ dθ
• Recall ω = or dt =
dt ω
dω d 2θ dω
α= = 2 =ω
dt dt dθ
• Uniform Rotation, α = 0:
θ = θ 0 + ωt
(aD )n
tan φ =
(aD )t
48
=
9 φ = 79.4°
vB vA vA
= tan θ = = cosθ
vA v B A lω
v B = v A tan θ vA
ω=
l cosθ
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 14
Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Absolute and Relative Velocity in Plane Motion
• Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity ω leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
• Angular velocity ω of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 15
Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.2
SOLUTION:
• The displacement of the gear center in
one revolution is equal to the outer
circumference. Relate the translational
and angular displacements. Differentiate
to relate the translational and angular
velocities.
• The velocity for any point P on the gear
The double gear rolls on the may be written as
stationary lower rack: the velocity of r r r r r r
vP = v A + vP A = v A + ωk × rP A
its center is 1.2 m/s.
Determine (a) the angular velocity of Evaluate the velocities of points B and D.
the gear, and (b) the velocities of the
upper rack R and point D of the gear.
y
Differentiate to relate the translational and angular
velocities.
x
v A = − r1ω
vA 1.2 m s r r r
ω =− =− ω = ωk = −(8 rad s )k
r1 0.150 m
r r r vD B = lω BD
vD = vB + vD B vD B 495.9 in. s
ω BD = =
l 8 in. r
r
= 62.0 rad s ω BD = (62.0 rad s )k
• The velocity of all other particles in the slab are the same
as originally defined since the angular velocity and
translational velocity at A are equivalent.
rD = (0.15 m ) 2 = 0.2121 m
vD = rDω = (0.2121 m )(8 rad s )
vD = 1.697 m s
r r r
vD = (1.2i + 1.2 j )(m s )
r r
• Given a A and v A ,
r r
determine a B and α .
r r r
aB = a A + aB A
r
( r
)n (
= a A + aB A + aB
r
A t)
r
• Vector result depends on sense of a A and the
relative magnitudes of a A and (a B A )
n
r r r
• Write a B = a A + a B A in terms of the two component equations,
+
→ x components: 0 = a A + lω 2 sin θ − lα cosθ
v A = x& A v B = y& B
= lθ& cosθ = −lθ& sin θ
= lω cosθ = −lω sin θ
a A = &x&A a B = &y&B
= −lθ& 2 sin θ + lθ&& cosθ = −lθ& 2 cosθ − lθ&&sin θ
= −lω 2 sin θ + lα cosθ = −lω 2 cosθ − lα sin θ
a A = −r1θ&& = −r1α
aA 3 m s2
α =− =−
r1 0.150 m
r r
( )r
α = α k = − 20 rad s 2 k
r r r r r
( r
aB = a A + aB A = a A + aB A + aB A
t n
) ( )
r r r r
= a A + α k × rB A − ω 2 rB A
( 2 r
) ( r
) r r
= 3 m s i − 20 rad s k × (0.100 m ) j − (8 rad s ) (− 0.100 m ) j
2 2
( 2 r
) ( 2 r
= 3 m s i + 2 m s i − 6.40 m s j ) (
2 r
)
r
( r
) ( r
aB = 5 m s 2 i − 6.40 m s 2 j ) aB = 8.12 m s 2
r r r r r r 2r
aC = a A + aC A = a A + α k × rC A − ω rC A
( 2 r
) ( r
) r r
= 3 m s i − 20 rad s k × (− 0.150 m ) j − (8 rad s )2 (− 0.150 m ) j
2
( r
) ( r
) (
= 3 m s 2 i − 3 m s 2 i + 9.60 m s 2 j
r
)
r
ac = 9.60 m s j(2 r
)
r r r r r r r
aD = a A + aD A = a A + α k × rD A − ω 2 rD A
( 2 r
) ( r
) r
= 3 m s i − 20 rad s k × (− 0.150 m )i − (8 rad s )2 (− 0.150m )i
2 r
( r
) ( r
) (
= 3 m s 2 i + 3 m s 2 j + 9.60 m s 2 i
r
)
r
( 2 r
aD = 12.6 m s i + 3 m s j) ( 2 r
)
aD = 12.95 m s 2
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 36
Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.7
SOLUTION:
• The angular acceleration of the
connecting rod BD and the acceleration
of point D will be determined from
r r r r
(r
)t (
aD = aB + aD B = aB + aD B + aD B
r
)n
• The acceleration of B is determined from
the given rotation speed of AB.
r r
• The directions of the accelerations aD , aD ( )
B t , and (a
r
D B )n are
determined from the geometry.
r r
aD = m aD i
From Sample Problem 15.3, ωBD = 62.0 rad/s, β = 13.95o.
(aD B )n = (BD )ω BD
2
= (12
8 ft )(62.0 rad s )2 = 2563 ft s 2
y components:
0 = −10,962 sin 40° + 2563 sin 13.95° + 0.667α BD cos13.95°
r
( )r
α BD = 9940 rad s 2 k
aD = −(9290 ft s ) i
2 r
r
r r r r r r
vD = ω DE × rD = ω DE k × (− 17i + 17 j )
r r
= −17ω DE i − 17ω DE j
r r r r r r
vB = ω AB × rB = 20k × (8i + 14 j )
r r
= −280i + 160 j
r r r r r r
vD B = ω BD × rD B = ω BD k × (12i + 3 j )
r r
= −3ω BD i + 12ω BD j
r r r r
ω BD = −(29.33 rad s )k ω DE = (11.29 rad s )k
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 42
Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.8
• The angular accelerations are determined by
simultaneously solving the component equations for
r r r
aD = aB + aD B
r r r 2 r
aD = α DE × rD − ω DE rD
r r r r r
= α DE k × (− 17i + 17 j ) − (11.29 ) (− 17i + 17 j )
2
r r r r
= −17α DE i − 17α DE j + 2170i − 2170 j
r r r 2 r 2 r r
aB = α AB × rB − ω AB rB = 0 − (20 ) (8i + 14 j )
r r
= −3200i + 5600 j
r r r 2 r
aD B = α BD × rB D − ω BD rB D
r r r r r
= α B D k × (12i + 3 j ) − (29.33)2 (12i + 3 j )
r r r r
= −3α B D i + 12α B D j − 10,320i − 2580 j
x components: − 17α DE + 3α BD = −15,690
y components: − 17α DE − 12α BD = −6010
r
(
α BD = − 645 rad s k
2
r
) r
(
α DE = 809 rad s k
2
r
)
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 43
Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Rate of Change With Respect to a Rotating Frame
• With respect to the rotating Oxyz frame,
r r r r
Q = Qx i + Q y j + Qz k
()
r&
&
r
&
r
&
r
Q Oxyz = Qx i + Q y j + Qz k
()
• Frame Oxyz rotates about r r
fixed axisr OA with angular • If Q were fixed within Oxyz then Q& OXYZ is
velocity Ω equivalent to velocity of a point in a rigid
r& r& r& rbodyr
r attached to Oxyz and Qx i + Q y j + Qz k = Ω × Q
• Vector function Q(t ) varies
in direction and magnitude. • With respect to the fixed OXYZ frame,
r&
Q () = Q
OXYZ
r&
() r r
+ Ω×Q
Oxyz
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 44
Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Coriolis Acceleration
• Frame OXYr is fixed and frame Oxy rotates with angular
velocity Ω .
r
• Position vector rP for the particle P is the same in both
frames but the rate of change depends on the choice of
frame.
vP = 500 mm s
r r r
aP′ = (aP′ )n + (aP′ )t
r
( ) r
(aP′ )n = rω S (− cos 42.4°i − sin 42.4° j )
2 r
r r
(arP′ )t = (rα S )(− sin 42.4°i + cos 42.4° j )
r r
(arP′ )t = (α S )(37.1mm )(− sin 42.4°i + cos 42.4° j )
note: αS may be positive or negative
© 2007 The McGraw-Hill Companies, Inc. All rights reserved. 15 - 53
Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 15.10
• The direction of the Coriolis acceleration is obtained
r
by rotating the direction of the relative velocity vP s
by 90o in the sense of ωS.
r r
r
( )
ac = 2ω S vP s (− sin 42.4°i + cos 42.4 j )
r r
= 2(4.08 rad s )(477 mm s )(− sin 42.4°i + cos 42.4 j )
( ) r
= 3890 mm s 2 (− sin 42.4°i + cos 42.4 j )
r
r
• The relative acceleration aP s must be parallel to
the slot.
r
( ) (
2 r
) (
2 r 2
a = − 3.54 m s i − 1.50 m s j + 1.80 m s k
r
)
r r r r
ω1 = 0.30 j ω 2 = 0.50k
r r r
r = 10.39i + 6 j