Dynamics of Solid Mechanics– MEE 201
Lecturer: Selase Kwame Mantey
Department: Civil Engineering
Sept. 2024
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Dynamics of Solid Mechanics– MEE 201
Lecture 5-6-7-8
Kinematics of Rigid Bodies
And
Vibration
Sept. 2024
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Contents
➢Kinematics of Rigid Bodies
◆Equations of motions
◆Work and Energy
◆Impulse and momentum
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Planar Rigid-Body Motion Kinematics of Rigid Bodies
Rectilinear and
Particle motion
Curvilinear translation
Rectilinear,
Rigid bodies Curvilinear translation and
motion angular rotation
Linear and angular displacements, Cams, gears, and
velocities, and acceleration shafts
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Planar Rigid-Body Motion Kinematics of Rigid Bodies
Motion generated
Development of forces for
design consideration
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Planar Rigid-Body Motion Kinematics of Rigid Bodies
A rigid body is a system of particles for which the
distances between the particles remain unchanged.
Assumption Plane Motion
Interparticle motion is Translation-rectilinear and
negligible compared to the curvilinear.
motion of the whole body Rotation, Combination of
translation and rotation is
general plane motion. 6
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Planar Rigid-Body Motion Kinematics of Rigid Bodies
Rotation
The rotation is described by its angular motion.
All lines on a rigid body in its plane of motion
have the same angular displacement, the same
angular velocity, and the same angular
acceleration.
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Planar Rigid-Body Motion Kinematics of Rigid Bodies
Angular-Motion Relations
The angular velocity 𝝎 and angular acceleration
𝜶 are derived by solving the first and second
derivatives of the angular displacement 𝜽.
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Planar Rigid-Body Motion Kinematics of Rigid Bodies
Constant Angular Acceleration
The equations of motion are represented by
(after integrating the above eqns):
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Planar Rigid-Body Motion Kinematics of Rigid Bodies
Rotation about a Fixed Axis
All body on a rigid body move in concentric
about a fixed axis other than points on the fixed
axis.
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Planar Rigid-Body Motion Kinematics of Rigid Bodies
Work Example
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Planar Rigid-Body Motion Kinematics of Rigid Bodies
General eqn of motion
General equations of motion for a rigid
body in plane motion
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Planar Rigid-Body Motion Kinematics of Rigid Bodies
Work Example
Translation
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Planar Rigid-Body Motion Kinematics of Rigid Bodies
Work Example
Fixed – Axis Rotation
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Planar Kinetics of a Rigid Body: Kinematics of Rigid Bodies
Kinetic Energy
Work and Energy Translation
Work done by force is :
Fixed-axis rotation
General plane motion
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Planar Kinetics of a Rigid Body: Kinematics of Rigid Bodies
Power
Work and Energy
Potential Energy and the Work energy eqn
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Planar Kinetics of a Rigid Body: Kinematics of Rigid Bodies
Work and Energy
Work example
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Planar Kinetics of a Rigid Body: Kinematics of Rigid Bodies
Angular Momentum
Impulse-Momentum Equations
Linear Momentum
Conservation of Momentum
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Planar Kinetics of a Rigid Body: Kinematics of Rigid Bodies
Impulse-Momentum Equations
Work Example
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Vibration and Time Response: Kinematics of Rigid Bodies
Vibration
Free Vibration of Particles
Oscillation to applied disturbance in the
presence of restoring forces. Free Vibration Forced Vibration
Example: motion in earthquakes, vibration Undamped Damped
of unbalance rotating machine, wind free Free
vibration Vibration
induced vibration of power lines, and flutter
of aircraft wings.
Objective: is to reduce excess vibration.
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Vibration and Time Response: Kinematics of Rigid Bodies
Equation of Motion for Undamped Free
Free Vibration of Particles Vibration
Motion of a body from its equilibrium
position when disturbed with application of
an imposed external force. The oscillation of a mass subjected to a
linear restoring force is called simple
There is the presence of damping forces, harmonic motion. It is characterized by
mechanical and fluid friction. acceleration which is proportional to the
displacement but opposite direction.
where
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Vibration and Time Response: Kinematics of Rigid Bodies
Substitute the x function into harmonic
Free Vibration of Particles equation
Solution for Undamped Free Vibration
The constants A,B an C are determined
A solution is assumed that gives the x
by knowing initial displacement x0 and
displacement as a periodic function of time.
initial velocity of the mass.
For example, evaluating x and ẋ at time
t=0,
Or x0 = A and ẋ0= Bwn
Substituting the values into equation
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Vibration and Time Response: Kinematics of Rigid Bodies
Solving for C and ψ yields
Free Vibration of Particles
The final displacement equation yields
In similar manner , C and ψ can be solve The two-x equation represent different
from equation mathematical expressions for the same
time-dependent motion.
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Vibration and Time Response: Kinematics of Rigid Bodies
Solving fo
Free Vibration of Particles
Graphical representation of motion
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Vibration and Time Response: Kinematics of Rigid Bodies
At equilibrium position x=0, the sum of
Free Vibration of Particles forces is zero
Equilibrium of vertical motion
The terms cancel out and given
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Vibration and Time Response: Kinematics of Rigid Bodies
Free Vibration of Particles
Equation of motion for damp free vibration
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Vibration and Time Response: Kinematics of Rigid Bodies
Free Vibration of Particles
Solution for Damped free vibration
The linear system can be superimposed,
the general solution is the sum of the
The solution of the form: is assumed individual solutions each of which
corresponds to one root of the
characteristic equation. General Solution
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Vibration and Time Response: Kinematics of Rigid Bodies
Free Vibration of Particles Damped natural frequency
Categories of Damped Motion
0 ≤ 𝜻 ≤ ∞ the radicand ( 𝜻 2-1) , maybe
positive , negative, or even zero
1. If 𝜻> 1 (overdamped). Distinct roots
2. If 𝜻 = 𝟏 (Critically damped). The roots
are equal, real and negative.
3. If 𝜻 < 𝟏 (underdamped).
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Vibration and Time Response: Kinematics of Rigid Bodies
Free Vibration of Particles
Work Example:
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