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Transcript
ENT252 - DYNAMICS CHAPTER 14 KINEMATICS OF A PARTICLE (WORK AND ENERGY) Chapter Objectives To develop the principle of work and energy and apply it solve problems that involve force, velocity and displacement To study problems that involves power and efficiency To introduce the concept of a conservative force and apply the theorem of conservation of energy to solve kinetics problems 14.1 The work of a force A force F does work when the particle undergoes a displacement in the direction of the force. Eg : particles moves along the paths, from position r to r’, dr = r’ – r, where dr = ds. If the angle , the work dU is done by F is a scalar quantity dU = F.ds cos Definition of the dot product dU = F.dr dU = F.ds cos = F.dr dU = o when F perpendiculars. dr = ds cos Work of a variable force. If the particle undergoes finite displacement along its path, s 1 to s 2 , work is determined by integration. u 1 2 = s2 r1 F .dr s2 s1 f cos . -1ZOL BAHRI / SHAZMIN ANIZA ENT252 - DYNAMICS If ( F cos vs s ) was plotted, working components as the area under the curve, from position s 1 to s 2 . Work of constant force moving along a straight line If the F c has a constant magnitude and acts at a constant angle from its straight line path, so work done F c is u 1 2 = F c cos s2 s1 d s = F c cos ( s 2 - s 1 ). Work F c represents the area of the rectangle. Work of weight The particle moves along the path s, from s 1 to s 2 .At the immediate point, the displacement dr = dx i + dy j + dz k . Since w = -w j u 1 2 = = f .dr r2 r1 ( wj).( dxi dyj dzk ) -2ZOL BAHRI / SHAZMIN ANIZA ENT252 - DYNAMICS = 1 2 1 1 wdy w( y 2 y1 ) u 1 2 = -w (y 2 - y 1 ) This, work done is equal to the magnitude of the particle’s weight times its vertical displacement. Work of spring The magnitude of force developed in a linear elastic spring when the spring is displaced a distance s from its unstreched position is Fs = ks , where k is the spring stiffness. If the spring is elongated or compressed from a position s1 to a further position s2 , the work done on the spring by Fs is positive, since in each case, the force and displacement are in the same direction. U1-2 = s2 s1 Fsds = s2 s1 ksds = 1 ks22 1 ks12 . 2 2 When the particle is attach to a spring, then the force Fs exerted on the particle is opposite to that exerted on the spring. The force will do negative work on the particle when the particle is moving so as a further elongate ( or compress ) the spring. U1-2 = - ( 1 ks22 1 ks12 ). 2 2 If both same direction – positive work .opposite direction – negative work. -3ZOL BAHRI / SHAZMIN ANIZA ENT252 - DYNAMICS 14.2 Principle work and energy If the particle has a means, m and is subjected to a system of external forces, represented by the resultant FR = Ft = ma t. Applying the kinematics equation: at v. dv s2 s1 Ft ds = v2 v1 ds mvdv. 2 2 = 1 mv2 1 mv1 2 2 U 1 2 = the sum of the work done by all the forces acting as the particle moves from point 1 -2. T = 1 mv 2 T = particle final kinetic energy 2 1 mv 2 = particle initial kinetic energy 2 T1 + U1-2 = T2 Note : i ) Ft = m.at , to obtain at , integrate at = v. dv ds . ii ) F n = m.an cannot be used, since these force do no work on the particle on the forces directed normal to the path. -4ZOL BAHRI / SHAZMIN ANIZA ENT252 - DYNAMICS Procedure for analysis The principle of work and energy is used to solve the kinetic problems that involve velocity , force and displacement. FBD : Draw FBD in order to account for all the forces. Principle of w E : T1 + U1-2 = T2 Kinetic energy at the initial / final point always positive T = 1 mv 2 2 A forces does work when it moves through its displacement in the direction of the force.( +ve same direction ) Force that are functions of displacement must be integrate to obtain the work. The work of a weight – weight magnitude and the vertical displacement. Uw = wy ( + ). The work of spring , us = 1 hs2 . 2 -5ZOL BAHRI / SHAZMIN ANIZA ENT252 - DYNAMICS 14.3 Principle of Work and Energy for a system of particles i th particles m i mass F i resultant external force f i resultant internal force Which applies in the tangential direction, the principle of work and energy: s s 1 mi vi 2 i 2 ( Fi) t ds i 2 ( fi) t ds 1 mi vi 2 2 si1 si1 2 2 For all of the i th particles. 12 m v 2 i i1 ( Fi) t ds ( fi) t ds 1 mi vi 2 2 si 1 si 1 si 2 ii 2 2 T 1 + U 1 2 = T 2 system’s ferial kinetic energy work done by all the external or internal forces. system’s initial kinetic energy. -6ZOL BAHRI / SHAZMIN ANIZA ENT252 - DYNAMICS Work of Friction Caused by Sliding. v v P P The cases where a body is sliding over the surface on another body in the presence of friction. s Applied force P just balance the resultant friction force k .N . W P 1 mv 2 Ps k N s 1 mv 2 2 2 F = kN is satisfied when P = k N N The sliding motion will generate heat, a form of energy which seems not to be accounted for in the W&E equation. See Example: - 14.2 - 14.3 - 14.4 - 14.5 - 14.6 -7ZOL BAHRI / SHAZMIN ANIZA ENT252 - DYNAMICS 14.4 Power and Efficiency Defined as the amount of work performance per unit of time. Power du dt F.dr = dt dr = F. dt P= where du = F.dr or P = F.V. Power is a scalar, where in the formulation, V represents the velocity of the point which is acted upon by the force, F. I WaH = I J s = I N. m s =Iw Note: The term ‘power’ provides the useful basis for determining the type of motor or machine which is required to do a certain amount of work in a given time. For example, two pumps may each be able to empty a reservoir if given enough time, however the pump having the larger power will be complete the job sooner. The mechanical efficiency of a machine is defined as the ratio of the output of useful power produce by the machine to the input of power supplied to the machine. Efficiency E If the energy applied, E power output power input energy output energy input Since machines consist of a series of moving parts, frictional forces will always be developed within the machine, and as result, extra energy or power is needed to overcome these forces. “The efficiency of a machine is always less than 1” -8ZOL BAHRI / SHAZMIN ANIZA ENT252 - DYNAMICS Procedure for Analysis o o o o Determine the external force F If accelerating , F m.a One F and V here been found, P = F.V = Fr cos In some problem F per unit time, P = du dt See Example: - 14.7 - 14.8 -9ZOL BAHRI / SHAZMIN ANIZA ENT252 - DYNAMICS 14.5 Conservative forces and potential energy Conservative force When the work done by a force in moving a particle from one point to another is independent of the path followed by the particle, the force is called a conservative force. e.g. : - weight of the particle : - the force of an elastic spring weight – depends on the particle’s vertical displacement spring – depends only on the extension/compression. in contrast – force of friction exerted on a moving objects – depends on the path/neoconservative. Potential Energy Energy - capacity for doing works. - from the motion of particle – kinetic energy. - from the position of particle ( fixed datum / reference ) - potential energy (potential energy due to gravity ( weight ) and elastic spring is important.) Gravitational potential energy: Vg = Wy - 10 ZOL BAHRI / SHAZMIN ANIZA ENT252 - DYNAMICS 2 Elastic potential energy: v e = 1 k s 2 [ v e always +ve, the spring has the capacity for always doing positive work ] when the spring back to outstretch position. Potential Function If a particle is subjected to both gravitational and elastic forces, - potential function. v = v g + ve U 1 2 = V 1 - V 2 work done by a conservative force. E.g. : potential function for a particle of weight W, suspended from a spring can be expressed in term of its position, s , measured from a datum. V = Vg + Ve = - ws + 1 ks2 2 If the particle moves from s1 to lower s2, 2 2 u 12 v1 v2 (ws1 1 ks1 ) (ws2 1 ks2 ) 2 2 2 2 = w( s 2 s1 ) ( 1 ks2 1 ks1 ) 2 2 - 11 ZOL BAHRI / SHAZMIN ANIZA ENT252 - DYNAMICS 14.6 Conservation of Energy When the particle acted upon by a system of both conservative and neoconservative, work done by conservative position. T1 V1 (U12 )noncons T2 V2 If ‘noncons’ is zero => T1 V1 T2 V2 Note : conservative force ( not follow the path ) – weight / spring neoconservative force ( follow exactly the path ) – friction. T1 V1 T2 V2 conservation of mechanical energy, conservation energy. Note : during the motion, sun of potential and kinetic energies remains constant. Far this occur, kinetic energy must be transformed into potential energy and vice versa. E.g. : The ball of weight ‘w’ is dropped from a height, ‘h’ above the ground (datum). at initial position, mechanical energy E = T1 + V1 2 = 1 mv1 (ve v g ) 2 2 = 1 mv1 wh 2 = 0 + wh = wh. When the ball has fallen a distance h , its speed can be determined by using: 2 v 2 v0 2ac ( y yo ) = 2a c ( y y o ) = 2 g (h ) 2 v = 2 g (h ) 2 2 = 2 gh Therefore: E V2 T2 = w( h ) 1 m( gh ) 2 2 2 w = w( h ) 1 ( gh ) 2 2 2g = wh. - 12 ZOL BAHRI / SHAZMIN ANIZA ENT252 - DYNAMICS When the ball strikes the ground, P.E. (0) and v 2 vo 2ac ( y yo ) = 2.g.(h) 2 = 2 gh Total energy: E V3 T3 = 0 1w ( 2 gh ) 2 2g = wh. - 13 ZOL BAHRI / SHAZMIN ANIZA