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E-raamat: Dynamics in Engineering Practice

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(Texas A&M University, Corpus Christi, USA), (Texas A&M University, College Station, USA)
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Observing that most books on engineering dynamics left students lacking and failing to grasp the general nature of dynamics in engineering practice, the authors of Dynamics in Engineering Practice, Eleventh Edition focused their efforts on remedying the problem. This text shows readers how to develop and analyze models to predict motion. While establishing dynamics as an evolution of continuous motion, it offers a brief history of dynamics, discusses the SI and US customary unit systems, and combines topics that are typically covered in an introductory and intermediate, or possibly even an advanced dynamics course. It also contains plenty of computer example problems and enough tools to enable readers to fully grasp the subject. A free support book with worked computer examples using MATLAB® is available upon request.

New in the Eleventh Edition:

A large number of problems have been added; specifically, 59 new problems have been included in the original problem sets provided in chapters two through five. Chapter six has been added and covers the application of Lagranges equations for deriving equations of motion.

The new and improved chapters in this text:











Address the fundamental requirements of dynamics, including units, force, and mass, and provides a brief history of the development of dynamics Explore the kinematics of a particle, including displacement, velocity, and acceleration in one and two dimensions Cover planar kinetics of rigid bodies, starting with inertia properties and including the mass moment of inertia, the radius of gyration, and the parallel-axis formula Explain how to develop equations of motion for dynamics using Lagranges equations

Dynamics in Engineering Practice, Eleventh Edition shows readers how to develop general kinematic equations and EOMs, analyze systems, and set up and solve equations, using a revolutionary approach to modeling and analysis along with current computer techniques.

Arvustused

"It is easy to identify students who learned dynamics from (previous editions) of this book. They are confident, they approach new problems based on fundamental principles, they are not afraid of dynamics. The integrated, differential equations & fundamental principles based approach removes the dread from dynamics! No longer is there fear an uncertainty of picking the correct equation & guessing the correct special case every problem can be methodically approached from the same few principles and conquered." James R Morgan, Charles Sturt University, Bathurst, NSW, Australia "It is easy to identify students who learned dynamics from (previous editions) of this book. They are confident, they approach new problems based on fundamental principles, they are not afraid of dynamics. The integrated, differential equations and fundamental principles based approach removes the dread from dynamics! No longer is there fear; an uncertainty of picking the correct equation and guessing the correct special case every problem can be methodically approached from the same few principles and conquered." James R Morgan, Charles Sturt University, Bathurst, NSW, Australia

Preface xv
Authors xix
1 Introduction and Fundamentals
1(6)
1.1 Introduction
1(1)
1.2 Short History of Dynamics
1(2)
1.3 Units
3(4)
2 Planar Kinematics of Particles
7(38)
2.1 Introduction
7(1)
2.2 Motion in a Straight Line
7(3)
2.2.1 Distance Traveled
10(1)
2.3 Particle Motion in a Plane: Cartesian Coordinates
10(2)
2.4 Coordinate Transformations: Relationships between Components of a Vector in Two-Coordinate Systems
12(2)
2.5 Particle Motion in a Plane: Polar Coordinates
14(3)
2.6 Particle Motion in a Plane: Normal-Tangential (Path) Coordinates
17(3)
2.7 Moving between Cartesian, Polar- and Path-Coordinate Definitions for Velocity and Acceleration Components
20(7)
2.7.1 Example That Is Naturally Analyzed with Cartesian Components
20(3)
2.7.2 Example That Is Naturally Analyzed Using Polar Coordinates
23(2)
2.7.3 Example That Is Naturally Analyzed with Path-Coordinate Components
25(2)
2.8 Time-Derivative Relationships in Two-Coordinate Systems
27(2)
2.9 Velocity and Acceleration Relationships in Two Cartesian Coordinate Systems
29(4)
2.9.1 Comparisons to Polar-Coordinate Definitions
30(1)
2.9.2 Coordinate System Expressions for Kinematic Equations
31(1)
2.9.3 Coordinate System Observers
31(2)
2.10 Relative Position, Velocity, and Acceleration Vectors between Two Points in the Same Coordinate System
33(3)
2.11 Summary and Discussion
36(9)
Problems
38(7)
3 Planar Kinetics of Particles
45(120)
3.1 Introduction
45(2)
3.2 Differential Equations of Motion for a Particle Moving in a Straight Line: An Introduction to Physical Modeling
47(36)
3.2.1 Constant Acceleration: Free Fall of a Particle without Drag
47(2)
3.2.2 Acceleration as a Function of Displacement: Spring Forces
49(1)
3.2.2.1 Deriving the Equation of Motion Starting with the Spring Undeflected
49(1)
3.2.2.2 Deriving the Equation of Motion for Motion about Equilibrium
50(2)
3.2.2.3 Developing a Time Solution for the Equation of Motion
52(1)
3.2.2.4 Developing a Solution for Y as a Function of Y
53(1)
3.2.2.5 Negative Sign for the Stiffness Coefficient
54(1)
3.2.3 Energy Dissipation: Viscous Damping
54(1)
3.2.3.1 Viscous Damper
54(1)
3.2.3.2 Deriving the Equation of Motion for a Mass--Spring--Damper System
55(1)
3.2.3.3 Motion about the Equilibrium Position
55(1)
3.2.3.4 Developing a Time Solution for the Equation of Motion
55(5)
3.2.3.5 Characterizing Damping
60(1)
3.2.3.6 Solution for Y as a Function of Y Including Damping?
61(1)
3.2.3.7 Negative Damping and Dynamic Instability
62(1)
3.2.4 Base Excitation for a Spring--Mass--Damper System
62(1)
3.2.4.1 Deriving the Equation of Motion
62(5)
3.2.4.2 Relative Motion due to Base Excitation
67(1)
3.2.5 Harmonic Excitation for a 1DOF, Spring--Mass--Damper System: Solution for Motion in the Frequency Domain
67(4)
3.2.5.1 Base Excitation
71(2)
3.2.5.2 Steady-State Relative Motion due to Base Excitation
73(1)
3.2.5.3 Rotating-Imbalance Excitation
74(3)
3.2.5.4 Summary and Extensions
77(1)
3.2.6 Energy Dissipation: Coulomb Damping
78(2)
3.2.7 Quadratic Damping: Aerodynamic Drag
80(1)
3.2.7.1 Terminal Velocity Calculation
80(3)
3.2.8 Closure and Review
83(1)
3.3 More Motion in a Straight Line: Degrees of Freedom and Equations of Kinematic Constraints
83(9)
3.3.1 Pulleys: Equations of Motion and Equations of Constraint
84(5)
3.3.2 Linkage Problems: More Equations of Constraint
89(3)
3.4 Motion in a Plane: Equations of Motion and Forces of Constraint
92(13)
3.4.1 Cartesian Coordinate Applications: Trajectory Motion in a Vertical Plane
92(1)
3.4.1.1 Drag-Free Motion
92(3)
3.4.1.2 Trajectory Motion with Aerodynamic Drag
95(1)
3.4.1.3 Trajectory Motion and Coulomb Drag
96(1)
3.4.2 Polar-Coordinate Applications
96(1)
3.4.2.1 Particle Sliding on the Inside of a Horizontal Cylinder without Friction
96(1)
3.4.2.2 Particle Sliding on the Inside of a Horizontal Cylinder with Coulomb Friction
97(1)
3.4.2.3 Simple Pendulum
98(2)
3.4.2.4 Simple Pendulum with Damping
100(2)
3.4.3 Path-Coordinate Applications
102(2)
3.4.4 Summary and Overview
104(1)
3.5 Particle Kinetics Examples with More than 1DOF
105(20)
3.5.1 Developing Equations of Motion for Problems Having More than 1DOF
105(1)
3.5.1.1 Developing Equations of Motion for a Two-Mass Vibration Example
105(5)
3.5.1.2 Developing Equations of Motion for a Double Pendulum
110(2)
3.5.2 Analyzing Multidegree-of-Freedom Vibration Problems
112(1)
3.5.2.1 Analyzing Undamped 2DOF Vibration Problems
112(5)
3.5.2.2 Free Motion from Initial Conditions (the Homogeneous Solution)
117(3)
3.5.2.3 Modal Damping Models
120(2)
3.5.2.4 Steady-State Solutions due to Harmonic Excitation
122(2)
3.5.2.5 Harmonic Response with Damping
124(1)
3.6 Work--Energy Applications for 1DOF Problems in Plane Motion
125(11)
3.6.1 Work---Energy Equation and Its Application
126(2)
3.6.1.1 More on Spring Forces and Spring Potential-Energy Functions
128(2)
3.6.1.2 More on the Force of Gravity and the Potential-Energy Function for Gravity
130(2)
3.6.2 Deriving Equations of Motion from Work--Energy Relations
132(4)
3.7 Linear-Momentum Applications in Plane Motion
136(6)
3.7.1 Collision Problems in One Dimension
137(1)
3.7.2 Coefficient of Restitution
138(1)
3.7.3 Collision Problems in Two Dimensions
139(3)
3.8 Moment of Momentum
142(2)
3.8.1 Developing the Moment-of-Momentum Equation for a Particle
142(1)
3.8.2 Applying Conservation of Moment of Momentum for a Particle
143(1)
3.8.2.1 Two Particles Connected by an Inextensible Cord
143(1)
3.8.2.2 Closing Comments
144(1)
3.9 Summary and Discussion
144(21)
Problems
146(19)
4 Planar Kinematics of Rigid Bodies
165(42)
4.1 Introduction
165(1)
4.2 Rotation about a Fixed Axis
165(2)
4.3 Velocity and Acceleration Relationships for Two Points in a Rigid Body
167(4)
4.4 Rolling without Slipping
171(7)
4.4.1 Wheel on a Plane
171(1)
4.4.1.1 Geometric Development
171(2)
4.4.1.2 Vector Developments of Velocity Relationships
173(1)
4.4.1.3 Vector Developments of Acceleration Results
174(4)
4.4.2 Wheel Rolling inside or on a Cylindrical Surface
178(1)
4.4.2.1 Wheel Rolling inside a Cylindrical Surface
178(1)
4.4.2.2 Wheel Rolling on the Outside of a Cylindrical Surface
178(1)
4.5 Planar Mechanisms
178(16)
4.5.1 Introduction
178(1)
4.5.2 Slider-Crank Mechanism
179(1)
4.5.2.1 Geometric Approach
179(2)
4.5.2.2 Vector Approach for Velocity and Acceleration Results
181(1)
4.5.3 Four-Bar-Linkage Example
182(1)
4.5.3.1 Geometric Approach
183(2)
4.5.3.2 Vector Approach for Velocity and Acceleration Relationships
185(3)
4.5.4 Another Slider-Crank Mechanism
188(1)
4.5.4.1 Geometric Approach
188(2)
4.5.4.2 Vector, Two-Coordinate System Approach for Velocity and Acceleration Relationships
190(2)
4.5.4.3 Solution for the Velocity and Acceleration of Point D
192(1)
4.5.4.4 Closing Comments
193(1)
4.6 Summary and Discussion
194(13)
Problems
194(13)
5 Planar Kinetics of Rigid Bodies
207(132)
5.1 Introduction
207(1)
5.2 Inertia Properties and the Parallel-Axis Formula
207(4)
5.2.1 Centroids and Moments of Inertia
207(2)
5.2.2 Parallel-Axis Formula
209(2)
5.3 Governing Force and Moment Equations for a Rigid Body
211(4)
5.3.1 Force Equation
212(1)
5.3.2 Moment Equation
213(2)
5.3.2.1 Reduced Forms for the Moment Equation
215(1)
5.4 Kinetic Energy for Planar Motion of a Rigid Body
215(1)
5.5 Fixed-Axis-Rotation Applications of the Force, Moment, and Energy Equations
216(8)
5.5.1 Rotor in Frictionless Bearings: Moment Equation
216(1)
5.5.2 Rotor in Frictionless Bearings: Energy Equation
217(1)
5.5.3 Rotor in Bearings with Viscous Drag: Moment Equation
217(1)
5.5.4 Rotor in Bearings with Viscous Drag: Energy Equation
218(1)
5.5.5 Torsional Vibration Example: Moment Equation
218(1)
5.5.6 Torsional Vibration Example: Energy Equation
219(1)
5.5.7 Pulley/Weight Example: Free-Body Approach
220(1)
5.5.8 Pulley/Weight Example: Energy Approach
221(1)
5.5.9 Example Involving a Disk and a Particle: Newtonian Approach
221(1)
5.5.10 Example Involving a Disk and a Particle: Work--Energy Approach
222(1)
5.5.11 Two Driven Pulleys Connected by a Belt
223(1)
5.5.12 Two Driven Pulleys Connected by a Belt: Work-Energy Approach
224(1)
5.6 Compound Pendulum Applications
224(15)
5.6.1 Simple Compound Pendulum: EOM, Linearization, and Stability
224(5)
5.6.2 Compound Pendulum with Damping
229(1)
5.6.3 Compound Pendulum/Spring and Damper Connections: Linearization and Equilibrium
230(1)
5.6.3.1 Compound Pendulum with a Spring Attachment to Ground: Moment Equation
230(1)
5.6.3.2 Compound Pendulum with a Spring Attachment to Ground: Energy Approach
231(1)
5.6.3.3 Compound Pendulum with a Damper Attachment to Ground: Moment Equation
232(2)
5.6.3.4 Bars Supported by Springs: Preload and Equilibrium
234(3)
5.6.3.5 Closing Comments and (Free) Advice
237(1)
5.6.4 Prescribed Acceleration of a Compound Pendulum's Pivot Support Point
238(1)
5.7 General Applications of Force, Moment, and Energy Equations for Planar Motion of a Rigid Body
239(54)
5.7.1 Rolling-without-Slipping Examples: Newtonian and Energy Approaches
240(1)
5.7.1.1 Cylinder Rolling Down an Inclined Plane: Free-Body-Diagram Approach
240(2)
5.7.1.2 Cylinder Rolling Down an Inclined Plane: Work-Energy Approach
242(1)
5.7.1.3 Imbalanced Cylinder Rolling Down an Inclined Plane: Newtonian Approach
242(2)
5.7.1.4 Imbalanced Cylinder Rolling Down an Inclined Plane: Work--Energy Approach
244(1)
5.7.1.5 Half Cylinder Rolling on a Horizontal Plane: Newtonian Approach
244(2)
5.7.1.6 Half-Cylinder Rotating on a Horizontal Plane: Energy Approach
246(1)
5.7.1.7 Cylinder, Restrained by a Spring and Rolling on a Plane: Newtonian Approach
247(1)
5.7.1.8 Cylinder, Restrained by a Spring and Rolling on a Plane: Energy Approach
248(1)
5.7.1.9 Cylinder Rolling inside a Cylindrical Surface
248(2)
5.7.1.10 Pulley-Assembly Example: Newtonian Approach
250(1)
5.7.1.11 Pulley-Assembly Example: Energy Approach
251(1)
5.7.1.12 Closing Comments
251(1)
5.7.2 One Degree of Freedom, Planar-Motion Applications, and Newtonian and Energy Approaches
252(1)
5.7.2.1 Uniform Bar, Acted on by an External Force, Moving in Slots, and Constrained by Springs
252(3)
5.7.2.2 Adding Viscous Damping to the Slots Supporting the Uniform Bar
255(1)
5.7.2.3 Bar Leaning and Sliding on a Smooth Floor and against a Smooth Vertical Wall
256(2)
5.7.2.4 Bar Leaning and Sliding on a Floor and against a Vertical Wall with Coulomb Friction
258(2)
5.7.2.5 Summary and Discussion
260(1)
5.7.3 Multibody, Single-Coordinate Applications of the Work--Energy Equation
260(1)
5.7.3.1 Two Bars with an Applied Force and a Connecting Spring
260(3)
5.7.3.2 Hinged Bar/Plate Example
263(1)
5.7.3.3 Parallel, Double-Bar Arrangement for Retracting a Cylinder
264(1)
5.7.3.4 Closing Comments
265(1)
5.7.4 Examples Having More than One Degree of Freedom
266(1)
5.7.4.1 Torsional Vibration Examples
266(3)
5.7.4.2 Beams as Springs: Bending Vibration Examples
269(8)
5.7.4.3 Jeffcott/Laval Rotor Model
277(2)
5.7.4.4 Translating Mass with an Attached Compound Pendulum
279(1)
5.7.4.5 Swinging Bar Supported at Its End by a Cord
280(3)
5.7.4.6 Double Compound Pendulum
283(1)
5.7.5 Planar Mechanisms
284(1)
5.7.5.1 Slider-Crank Mechanism
284(4)
5.7.5.2 Four-Bar-Linkage Example
288(3)
5.7.5.3 Alternative Slider-Crank Mechanism
291(1)
5.7.5.4 Closing Comments
292(1)
5.8 Moment of Momentum for Planar Motion
293(9)
5.8.1 Developing Moment-of-Momentum Equations for Planar Motion of Rigid Bodies
293(3)
5.8.2 Applying Moment-of-Momentum Equations in Planar Dynamics
296(1)
5.8.2.1 Two Spinning Wheels Connected by an Adjustable-Tension Belt
296(2)
5.8.2.2 Particle of Mass Impacting with a Compound Pendulum
298(1)
5.8.2.3 Spinning Baton Striking the Ground
299(2)
5.8.2.4 Rolling Cylinder That Encounters an Inclined Plane
301(1)
5.9 Summary and Discussion
302(37)
Problems
304(35)
6 Lagrange's Equations of Motion
339(30)
6.1 Introduction
339(1)
6.2 Deriving Lagrange's Equations of Motion
339(3)
6.3 Applying Lagrange's Equation of Motion to Problems without Kinematic Constraints
342(7)
6.3.1 Two-Mass Vibration Example
342(1)
6.3.2 Double Pendulum Example
343(1)
6.3.3 Coupled Cart--Pendulum
344(2)
6.3.4 Cart--Pendulum Example with an Additional External Force
346(1)
6.3.5 Cart--Pendulum Example with Viscous Dissipation Forces
346(1)
6.3.6 Cart--Pendulum Example with a Coulomb-Friction Moment in the Pendulum Support Pivot
347(1)
6.3.7 Closing Comments
348(1)
6.4 Conservation of Momenta from Lagrange's Equations of Motion
349(3)
6.4.1 Two Particles Connected by an Inextensible Cord
349(1)
6.4.2 Particle Moving on the Inner Surface of an Inverted Cone
350(1)
6.4.3 Two Translating Masses Connected by a Linear Spring
351(1)
6.4.4 Closing Comments
352(1)
6.5 Application of Lagrange's Equations to Examples with Algebraic Kinematic Constraints
352(8)
6.5.1 Accounting for Algebraic Constraints with Lagrange Multipliers
353(1)
6.5.1.1 Simple Pendulum as an Example with a Kinematic Constraint
354(1)
6.5.1.2 Two-Bar Linkage Problem with a Nonlinear Kinematic Constraint
354(2)
6.5.1.3 Bar Supported by a Wire and a Horizontal Plane
356(2)
6.5.2 Lagrange Multipliers for Multiple Algebraic Constraints
358(1)
6.5.2.1 Three-Bar Linkage Example
358(2)
6.5.3 Closing Comments
360(1)
6.6 Using Lagrange Multipliers to Define Reaction Forces for Systems with Generalized Coordinates
360(3)
6.6.1 Finding the Tension in the Cord of a Simple Pendulum
361(1)
6.6.2 Uniform Bar Leaning and Sliding on a Floor and against a Vertical Wall
361(2)
6.7 Summary and Discussion
363(6)
Problems
364(5)
Appendix A Essentials of Matrix Algebra 369(2)
Appendix B Essentials of Differential Equations 371(8)
Appendix C Mass Properties of Common Solid Bodies 379(4)
Appendix D Answers to Selected Problems 383(64)
References 447(2)
Index 449
Dr. Dara Childs is professor of mechanical engineering at Texas A&M University (TAMU) in College Station, Texas. He has been director of the TAMU Turbomachinery Laboratory since 1984. He has received several best-paper awards, is an American Society of Mechanical Engineers (ASME) life fellow, and received the ASME Henry R. Worthington medal for outstanding contributions in pumping machinery. He is the author of many conference and journal papers plus two prior books. Dr. Childs has taught graduate and undergraduate courses in dynamics and vibrations since 1968: Colorado State University (19681971), University of Louisville (19711980), TAMU (1980present).







Andrew P. Conkey

received his PhD from Texas A&M University (TAMU) in 2007, where his research was in the application of the fiber FabryPerot interferometer to machinery/vibration measurements. He received his bachelors and masters degrees from TAMUKingsville. He has over 16 years of teaching experience, having taught at TAMUKingsville, TAMUCollege Station, TAMUQatar, and TAMUCorpus Christi. In addition to teaching, he has worked for a refinery, a fiber-optic sensor company, and an engineering consulting firm.
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