Planar Kinetics of a Rigid Body: Force and Acceleration Chapter 17 Chapter Objectives
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Rotational Motion (The Dynamics of a Rigid Body)
University of Nebraska - Lincoln DigitalCommons@University of Nebraska - Lincoln Robert Katz Publications Research Papers in Physics and Astronomy 1-1958 Physics, Chapter 11: Rotational Motion (The Dynamics of a Rigid Body) Henry Semat City College of New York Robert Katz University of Nebraska-Lincoln, [email protected] Follow this and additional works at: https://digitalcommons.unl.edu/physicskatz Part of the Physics Commons Semat, Henry and Katz, Robert, "Physics, Chapter 11: Rotational Motion (The Dynamics of a Rigid Body)" (1958). Robert Katz Publications. 141. https://digitalcommons.unl.edu/physicskatz/141 This Article is brought to you for free and open access by the Research Papers in Physics and Astronomy at DigitalCommons@University of Nebraska - Lincoln. It has been accepted for inclusion in Robert Katz Publications by an authorized administrator of DigitalCommons@University of Nebraska - Lincoln. 11 Rotational Motion (The Dynamics of a Rigid Body) 11-1 Motion about a Fixed Axis The motion of the flywheel of an engine and of a pulley on its axle are examples of an important type of motion of a rigid body, that of the motion of rotation about a fixed axis. Consider the motion of a uniform disk rotat ing about a fixed axis passing through its center of gravity C perpendicular to the face of the disk, as shown in Figure 11-1. The motion of this disk may be de scribed in terms of the motions of each of its individual particles, but a better way to describe the motion is in terms of the angle through which the disk rotates. -
Lecture 10: Impulse and Momentum
ME 230 Kinematics and Dynamics Wei-Chih Wang Department of Mechanical Engineering University of Washington Kinetics of a particle: Impulse and Momentum Chapter 15 Chapter objectives • Develop the principle of linear impulse and momentum for a particle • Study the conservation of linear momentum for particles • Analyze the mechanics of impact • Introduce the concept of angular impulse and momentum • Solve problems involving steady fluid streams and propulsion with variable mass W. Wang Lecture 10 • Kinetics of a particle: Impulse and Momentum (Chapter 15) - 15.1-15.3 W. Wang Material covered • Kinetics of a particle: Impulse and Momentum - Principle of linear impulse and momentum - Principle of linear impulse and momentum for a system of particles - Conservation of linear momentum for a system of particles …Next lecture…Impact W. Wang Today’s Objectives Students should be able to: • Calculate the linear momentum of a particle and linear impulse of a force • Apply the principle of linear impulse and momentum • Apply the principle of linear impulse and momentum to a system of particles • Understand the conditions for conservation of momentum W. Wang Applications 1 A dent in an automotive fender can be removed using an impulse tool, which delivers a force over a very short time interval. How can we determine the magnitude of the linear impulse applied to the fender? Could you analyze a carpenter’s hammer striking a nail in the same fashion? W. Wang Applications 2 Sure! When a stake is struck by a sledgehammer, a large impulsive force is delivered to the stake and drives it into the ground. -
Impact Dynamics of Newtonian and Non-Newtonian Fluid Droplets on Super Hydrophobic Substrate
IMPACT DYNAMICS OF NEWTONIAN AND NON-NEWTONIAN FLUID DROPLETS ON SUPER HYDROPHOBIC SUBSTRATE A Thesis Presented By Yingjie Li to The Department of Mechanical and Industrial Engineering in partial fulfillment of the requirements for the degree of Master of Science in the field of Mechanical Engineering Northeastern University Boston, Massachusetts December 2016 Copyright (©) 2016 by Yingjie Li All rights reserved. Reproduction in whole or in part in any form requires the prior written permission of Yingjie Li or designated representatives. ACKNOWLEDGEMENTS I hereby would like to appreciate my advisors Professors Kai-tak Wan and Mohammad E. Taslim for their support, guidance and encouragement throughout the process of the research. In addition, I want to thank Mr. Xiao Huang for his generous help and continued advices for my thesis and experiments. Thanks also go to Mr. Scott Julien and Mr, Kaizhen Zhang for their invaluable discussions and suggestions for this work. Last but not least, I want to thank my parents for supporting my life from China. Without their love, I am not able to complete my thesis. TABLE OF CONTENTS DROPLETS OF NEWTONIAN AND NON-NEWTONIAN FLUIDS IMPACTING SUPER HYDROPHBIC SURFACE .......................................................................... i ACKNOWLEDGEMENTS ...................................................................................... iii 1. INTRODUCTION .................................................................................................. 9 1.1 Motivation ........................................................................................................ -
Post-Newtonian Approximation
Post-Newtonian gravity and gravitational-wave astronomy Polarization waveforms in the SSB reference frame Relativistic binary systems Effective one-body formalism Post-Newtonian Approximation Piotr Jaranowski Faculty of Physcis, University of Bia lystok,Poland 01.07.2013 P. Jaranowski School of Gravitational Waves, 01{05.07.2013, Warsaw Post-Newtonian gravity and gravitational-wave astronomy Polarization waveforms in the SSB reference frame Relativistic binary systems Effective one-body formalism 1 Post-Newtonian gravity and gravitational-wave astronomy 2 Polarization waveforms in the SSB reference frame 3 Relativistic binary systems Leading-order waveforms (Newtonian binary dynamics) Leading-order waveforms without radiation-reaction effects Leading-order waveforms with radiation-reaction effects Post-Newtonian corrections Post-Newtonian spin-dependent effects 4 Effective one-body formalism EOB-improved 3PN-accurate Hamiltonian Usage of Pad´eapproximants EOB flexibility parameters P. Jaranowski School of Gravitational Waves, 01{05.07.2013, Warsaw Post-Newtonian gravity and gravitational-wave astronomy Polarization waveforms in the SSB reference frame Relativistic binary systems Effective one-body formalism 1 Post-Newtonian gravity and gravitational-wave astronomy 2 Polarization waveforms in the SSB reference frame 3 Relativistic binary systems Leading-order waveforms (Newtonian binary dynamics) Leading-order waveforms without radiation-reaction effects Leading-order waveforms with radiation-reaction effects Post-Newtonian corrections Post-Newtonian spin-dependent effects 4 Effective one-body formalism EOB-improved 3PN-accurate Hamiltonian Usage of Pad´eapproximants EOB flexibility parameters P. Jaranowski School of Gravitational Waves, 01{05.07.2013, Warsaw Relativistic binary systems exist in nature, they comprise compact objects: neutron stars or black holes. These systems emit gravitational waves, which experimenters try to detect within the LIGO/VIRGO/GEO600 projects. -
Apollonian Circle Packings: Dynamics and Number Theory
APOLLONIAN CIRCLE PACKINGS: DYNAMICS AND NUMBER THEORY HEE OH Abstract. We give an overview of various counting problems for Apol- lonian circle packings, which turn out to be related to problems in dy- namics and number theory for thin groups. This survey article is an expanded version of my lecture notes prepared for the 13th Takagi lec- tures given at RIMS, Kyoto in the fall of 2013. Contents 1. Counting problems for Apollonian circle packings 1 2. Hidden symmetries and Orbital counting problem 7 3. Counting, Mixing, and the Bowen-Margulis-Sullivan measure 9 4. Integral Apollonian circle packings 15 5. Expanders and Sieve 19 References 25 1. Counting problems for Apollonian circle packings An Apollonian circle packing is one of the most of beautiful circle packings whose construction can be described in a very simple manner based on an old theorem of Apollonius of Perga: Theorem 1.1 (Apollonius of Perga, 262-190 BC). Given 3 mutually tangent circles in the plane, there exist exactly two circles tangent to all three. Figure 1. Pictorial proof of the Apollonius theorem 1 2 HEE OH Figure 2. Possible configurations of four mutually tangent circles Proof. We give a modern proof, using the linear fractional transformations ^ of PSL2(C) on the extended complex plane C = C [ f1g, known as M¨obius transformations: a b az + b (z) = ; c d cz + d where a; b; c; d 2 C with ad − bc = 1 and z 2 C [ f1g. As is well known, a M¨obiustransformation maps circles in C^ to circles in C^, preserving angles between them. -
Rigid Body Dynamics 2
Rigid Body Dynamics 2 CSE169: Computer Animation Instructor: Steve Rotenberg UCSD, Winter 2017 Cross Product & Hat Operator Derivative of a Rotating Vector Let’s say that vector r is rotating around the origin, maintaining a fixed distance At any instant, it has an angular velocity of ω ω dr r ω r dt ω r Product Rule The product rule of differential calculus can be extended to vector and matrix products as well da b da db b a dt dt dt dab da db b a dt dt dt dA B dA dB B A dt dt dt Rigid Bodies We treat a rigid body as a system of particles, where the distance between any two particles is fixed We will assume that internal forces are generated to hold the relative positions fixed. These internal forces are all balanced out with Newton’s third law, so that they all cancel out and have no effect on the total momentum or angular momentum The rigid body can actually have an infinite number of particles, spread out over a finite volume Instead of mass being concentrated at discrete points, we will consider the density as being variable over the volume Rigid Body Mass With a system of particles, we defined the total mass as: n m m i i1 For a rigid body, we will define it as the integral of the density ρ over some volumetric domain Ω m d Angular Momentum The linear momentum of a particle is 퐩 = 푚퐯 We define the moment of momentum (or angular momentum) of a particle at some offset r as the vector 퐋 = 퐫 × 퐩 Like linear momentum, angular momentum is conserved in a mechanical system If the particle is constrained only -
New Rotational Dynamics- Inertia-Torque Principle and the Force Moment the Character of Statics Guagsan Yu* Harbin Macro, Dynamics Institute, P
Computa & tio d n ie a l l p M Yu, J Appl Computat Math 2015, 4:3 p a Journal of A t h f e o m l DOI: 10.4172/2168-9679.1000222 a a n t r ISSN: 2168-9679i c u s o J Applied & Computational Mathematics Research Article Open Access New Rotational Dynamics- Inertia-Torque Principle and the Force Moment the Character of Statics GuagSan Yu* Harbin Macro, Dynamics Institute, P. R. China Abstract Textual point of view, generate in a series of rotational dynamics experiment. Initial research, is wish find a method overcome the momentum conservation. But further study, again detected inside the classical mechanics, the error of the principle of force moment. Then a series of, momentous the error of inside classical theory, all discover come out. The momentum conservation law is wrong; the newton third law is wrong; the energy conservation law is also can surpass. After redress these error, the new theory namely perforce bring. This will involve the classical physics and mechanics the foundation fraction, textbooks of physics foundation part should proceed the grand modification. Keywords: Rigid body; Inertia torque; Centroid moment; Centroid occurrence change? The Inertia-torque, namely, such as Figure 3 the arm; Statics; Static force; Dynamics; Conservation law show, the particle m (the m is also its mass) is a r 1 to O the slewing radius, so it the Inertia-torque is: Introduction I = m.r1 (1.1) Textual argumentation is to bases on the several simple physics experiment, these experiments pass two videos the document to The Inertia-torque is similar with moment of force, to the same of proceed to demonstrate. -
Rigid Body Dynamics II
An Introduction to Physically Based Modeling: Rigid Body Simulation IIÐNonpenetration Constraints David Baraff Robotics Institute Carnegie Mellon University Please note: This document is 1997 by David Baraff. This chapter may be freely duplicated and distributed so long as no consideration is received in return, and this copyright notice remains intact. Part II. Nonpenetration Constraints 6 Problems of Nonpenetration Constraints Now that we know how to write and implement the equations of motion for a rigid body, let's consider the problem of preventing bodies from inter-penetrating as they move about an environment. For simplicity, suppose we simulate dropping a point mass (i.e. a single particle) onto a ®xed ¯oor. There are several issues involved here. Because we are dealing with rigid bodies, that are totally non-¯exible, we don't want to allow any inter-penetration at all when the particle strikes the ¯oor. (If we considered our ¯oor to be ¯exible, we might allow the particle to inter-penetrate some small distance, and view that as the ¯oor actually deforming near where the particle impacted. But we don't consider the ¯oor to be ¯exible, so we don't want any inter-penetration at all.) This means that at the instant that the particle actually comes into contact with the ¯oor, what we would like is to abruptly change the velocity of the particle. This is quite different from the approach taken for ¯exible bodies. For a ¯exible body, say a rubber ball, we might consider the collision as occurring gradually. That is, over some fairly small, but non-zero span of time, a force would act between the ball and the ¯oor and change the ball's velocity. -
Newton Euler Equations of Motion Examples
Newton Euler Equations Of Motion Examples Alto and onymous Antonino often interloping some obligations excursively or outstrikes sunward. Pasteboard and Sarmatia Kincaid never flits his redwood! Potatory and larboard Leighton never roller-skating otherwhile when Trip notarizes his counterproofs. Velocity thus resulting in the tumbling motion of rigid bodies. Equations of motion Euler-Lagrange Newton-Euler Equations of motion. Motion of examples of experiments that a random walker uses cookies. Forces by each other two examples of example are second kind, we will refer to specify any parameter in. 213 Translational and Rotational Equations of Motion. Robotics Lecture Dynamics. Independence from a thorough description and angular velocity as expected or tofollowa userdefined behaviour does it only be loaded geometry in an appropriate cuts in. An interface to derive a particular instance: divide and author provides a positive moment is to express to output side can be run at all previous step. The analysis of rotational motions which make necessary to decide whether rotations are. For xddot and whatnot in which a very much easier in which together or arena where to use them in two backwards operation complies with respect to rotations. Which influence of examples are true, is due to independent coordinates. On sameor adjacent joints at each moment equation is also be more specific white ellipses represent rotations are unconditionally stable, for motion break down direction. Unit quaternions or Euler parameters are known to be well suited for the. The angular momentum and time and runnable python code. The example will be run physics examples are models can be symbolic generator runs faster rotation kinetic energy. -
Rotation: Moment of Inertia and Torque
Rotation: Moment of Inertia and Torque Every time we push a door open or tighten a bolt using a wrench, we apply a force that results in a rotational motion about a fixed axis. Through experience we learn that where the force is applied and how the force is applied is just as important as how much force is applied when we want to make something rotate. This tutorial discusses the dynamics of an object rotating about a fixed axis and introduces the concepts of torque and moment of inertia. These concepts allows us to get a better understanding of why pushing a door towards its hinges is not very a very effective way to make it open, why using a longer wrench makes it easier to loosen a tight bolt, etc. This module begins by looking at the kinetic energy of rotation and by defining a quantity known as the moment of inertia which is the rotational analog of mass. Then it proceeds to discuss the quantity called torque which is the rotational analog of force and is the physical quantity that is required to changed an object's state of rotational motion. Moment of Inertia Kinetic Energy of Rotation Consider a rigid object rotating about a fixed axis at a certain angular velocity. Since every particle in the object is moving, every particle has kinetic energy. To find the total kinetic energy related to the rotation of the body, the sum of the kinetic energy of every particle due to the rotational motion is taken. The total kinetic energy can be expressed as .. -
Post-Newtonian Approximations and Applications
Monash University MTH3000 Research Project Coming out of the woodwork: Post-Newtonian approximations and applications Author: Supervisor: Justin Forlano Dr. Todd Oliynyk March 25, 2015 Contents 1 Introduction 2 2 The post-Newtonian Approximation 5 2.1 The Relaxed Einstein Field Equations . 5 2.2 Solution Method . 7 2.3 Zones of Integration . 13 2.4 Multi-pole Expansions . 15 2.5 The first post-Newtonian potentials . 17 2.6 Alternate Integration Methods . 24 3 Equations of Motion and the Precession of Mercury 28 3.1 Deriving equations of motion . 28 3.2 Application to precession of Mercury . 33 4 Gravitational Waves and the Hulse-Taylor Binary 38 4.1 Transverse-traceless potentials and polarisations . 38 4.2 Particular gravitational wave fields . 42 4.3 Effect of gravitational waves on space-time . 46 4.4 Quadrupole formula . 48 4.5 Application to Hulse-Taylor binary . 52 4.6 Beyond the Quadrupole formula . 56 5 Concluding Remarks 58 A Appendix 63 A.1 Solving the Wave Equation . 63 A.2 Angular STF Tensors and Spherical Averages . 64 A.3 Evaluation of a 1PN surface integral . 65 A.4 Details of Quadrupole formula derivation . 66 1 Chapter 1 Introduction Einstein's General theory of relativity [1] was a bold departure from the widely successful Newtonian theory. Unlike the Newtonian theory written in terms of fields, gravitation is a geometric phenomena, with space and time forming a space-time manifold that is deformed by the presence of matter and energy. The deformation of this differentiable manifold is characterised by a symmetric metric, and freely falling (not acted on by exter- nal forces) particles will move along geodesics of this manifold as determined by the metric. -
Equation of Motion for Viscous Fluids
1 2.25 Equation of Motion for Viscous Fluids Ain A. Sonin Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge, Massachusetts 02139 2001 (8th edition) Contents 1. Surface Stress …………………………………………………………. 2 2. The Stress Tensor ……………………………………………………… 3 3. Symmetry of the Stress Tensor …………………………………………8 4. Equation of Motion in terms of the Stress Tensor ………………………11 5. Stress Tensor for Newtonian Fluids …………………………………… 13 The shear stresses and ordinary viscosity …………………………. 14 The normal stresses ……………………………………………….. 15 General form of the stress tensor; the second viscosity …………… 20 6. The Navier-Stokes Equation …………………………………………… 25 7. Boundary Conditions ………………………………………………….. 26 Appendix A: Viscous Flow Equations in Cylindrical Coordinates ………… 28 ã Ain A. Sonin 2001 2 1 Surface Stress So far we have been dealing with quantities like density and velocity, which at a given instant have specific values at every point in the fluid or other continuously distributed material. The density (rv ,t) is a scalar field in the sense that it has a scalar value at every point, while the velocity v (rv ,t) is a vector field, since it has a direction as well as a magnitude at every point. Fig. 1: A surface element at a point in a continuum. The surface stress is a more complicated type of quantity. The reason for this is that one cannot talk of the stress at a point without first defining the particular surface through v that point on which the stress acts. A small fluid surface element centered at the point r is defined by its area A (the prefix indicates an infinitesimal quantity) and by its outward v v unit normal vector n .