CH 12

VECTOR MECHANICS FOR ENGINEERS:
DYNAMICS
Tenth Edition
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell
Lecture Notes:
Brian P. Self
California Polytechnic State University
CHAPTER
2013 The McGraw-Hill Companies, Inc. All rights reserved.
12
Kinetics of Particles:
Newtons Second Law
Vector Mechanics for Engineers: Dynamics
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Contents
12 - 2
Introduction
Newtons Second Law of
Motion
Linear Momentum of a Particle
Systems of Units
Equations of Motion
Dynamic Equilibrium
Sample Problem 12.1
Sample Problem 12.3
Sample Problem 12.4
Sample Problem 12.5
Sample Problem 12.6
Angular Momentum of a Particle
Equations of Motion in Radial &
Transverse Components
Conservation of Angular Momentum
Newtons Law of Gravitation
Sample Problem 12.7
Sample Problem 12.8
Trajectory of a Particle Under a
Central Force
Application to Space Mechanics
Sample Problem 12.9
Keplers Laws of Planetary Motion
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Kinetics of Particles
2 - 3
We must analyze all of the forces
acting on the wheelchair in order
to design a good ramp
High swing velocities can
result in large forces on a
swing chain or rope, causing
it to break.
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Introduction
12 - 4
Newtons Second Law of Motion
m E = F a
If the resultant force acting on a particle is not
zero, the particle will have an acceleration
proportional to the magnitude of resultant
and in the direction of the resultant.
Must be expressed with respect to a Newtonian (or inertial)
frame of reference, i.e., one that is not accelerating or rotating.
This form of the equation is for a constant mass system
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Linear Momentum of a Particle
12 - 5
Replacing the acceleration by the derivative of the velocity
yields
( )
particle the of momentum linear =
= =
=
L
dt
L d
v m
dt
d
dt
v d
m F
Linear Momentum Conservation Principle:

If the resultant force on a particle is zero, the linear momentum
of the particle remains constant in both magnitude and direction.
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Systems of Units
12 - 6
Of the units for the four primary dimensions (force,
mass, length, and time), three may be chosen arbitrarily.
The fourth must be compatible with Newtons 2nd Law.
International System of Units (SI Units): base units are
the units of length (m), mass (kg), and time (second).
The unit of force is derived,
( )
2 2
s
m kg
1
s
m
1 kg 1 N 1

= |
.
|
\
|
=
U.S. Customary Units: base units are the units of force
(lb), length (m), and time (second). The unit of mass is
derived,
ft
s lb
1
s ft 1
lb 1
slug 1
s ft 32.2
lb 1
lbm 1
2
2 2

= = =
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Equations of Motion
12 - 7
Newtons second law
a m F

Can use scalar component equations, e.g., for

rectangular components,
( ) ( )
z m F y m F x m F
ma F ma F ma F
k a j a i a m k F j F i F
z y x
z z y y x x
z y x z y x

= = =
= = =
+ + = + +


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Dynamic Equilibrium
12 - 8
Alternate expression of Newtons second law,
ector inertial v a m
a m F

0

=
With the inclusion of the inertial vector, the system

of forces acting on the particle is equivalent to
zero. The particle is in dynamic equilibrium.
Methods developed for particles in static
equilibrium may be applied, e.g., coplanar forces
may be represented with a closed vector polygon.
Inertia vectors are often called inertial forces as
they measure the resistance that particles offer to
changes in motion, i.e., changes in speed or
direction.
Inertial forces may be conceptually useful but are
not like the contact and gravitational forces found
in statics.
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Free Body Diagrams and Kinetic Diagrams
12 - 9
The free body diagram is the same as you have done in statics; we
will add the kinetic diagram in our dynamic analysis.
2. Draw your axis system (e.g., Cartesian, polar, path)
3. Add in applied forces (e.g., weight, 225 lb pulling force)
4. Replace supports with forces (e.g., normal force)
1. Isolate the body of interest (free body)
5. Draw appropriate dimensions (usually angles for particles)
x
y
225 N
F
f
N

mg

25
o
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12 - 10
Put the inertial terms for the body of interest on the kinetic diagram.
2. Draw in the mass times acceleration of the particle; if unknown,
do this in the positive direction according to your chosen axes
1. Isolate the body of interest (free body)
x
y
225 N
F
f
N

mg

25
o
ma
y
ma
x
m E = F a
=
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2 - 11
Draw the FBD and KD for block A (note that the
massless, frictionless pulleys are attached to block A
and should be included in the system).
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2 - 12
1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions (already drawn)
x
y
mg

F
f-1
N
1
T

T

T

T

T

F
f-B
N
B
ma
y
= 0
ma
x
6. Kinetic diagram
=
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2 - 13
Draw the FBD and KD for the collar B. Assume
there is friction acting between the rod and collar,
motion is in the vertical plane, and u is increasing
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2 - 14
1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions
6. Kinetic diagram
mg

F
f
N

ma
r

ma
u
e
u
e
r
=
u
u
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Sample Problem 12.1
12 - 15
A 200-lb block rests on a horizontal
plane. Find the magnitude of the force
P required to give the block an
acceleration of 10 ft/s
2
to the right. The
coefficient of kinetic friction between
the block and plane is
k
= 0.25.
SOLUTION:
Resolve the equation of motion for the
block into two rectangular component
equations.
Unknowns consist of the applied force
P and the normal reaction N from the
plane. The two equations may be
solved for these unknowns.
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Sample Problem 12.1
12 - 16
N
N F
g
W
m
k
25 . 0
ft
s lb
21 . 6
s ft 2 . 32
lb 200
2
2
=
=
=
= =
x
y
O
SOLUTION:
Resolve the equation of motion for the block
into two rectangular component equations.
: ma F
x
=
( )( )
lb 1 . 62
s ft 10 ft s lb 21 . 6 25 . 0 30 cos
2 2
=
= N P
: 0 =
y
F
0 lb 200 30 sin = P N
Unknowns consist of the applied force P and
the normal reaction N from the plane. The two
equations may be solved for these unknowns.
( ) lb 1 . 62 lb 200 30 sin 25 . 0 30 cos
lb 200 30 sin
= +
+ =
P P
P N
lb 151 = P
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Sample Problem 12.3
12 - 17
The two blocks shown start from rest.
The horizontal plane and the pulley are
frictionless, and the pulley is assumed
to be of negligible mass. Determine
the acceleration of each block and the
tension in the cord.
SOLUTION:
Write the kinematic relationships for the
dependent motions and accelerations of
the blocks.
Write the equations of motion for the
blocks and pulley.
Combine the kinematic relationships
with the equations of motion to solve for
the accelerations and cord tension.
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Sample Problem 12.3
12 - 18
Write equations of motion for blocks and pulley.
:
A A x
a m F =
( )
A
a T kg 100
1
=
:
B B y
a m F =
( )( ) ( )
( )
B
B
B B B
a T
a T
a m T g m
kg 300 - N 2940
kg 300 s m 81 . 9 kg 300
2
2
2
2
=
=
=
: 0 = =
C C y
a m F
0 2
1 2
= T T
SOLUTION:
Write the kinematic relationships for the dependent
motions and accelerations of the blocks.
A B A B
a a x y
2
1
2
1
= =
x
y
O
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Sample Problem 12.3
12 - 19
( )
N 1680 2
N 840 kg 100
s m 20 . 4
s m 40 . 8
1 2
1
2
2
1
2
= =
= =
= =
=
T T
a T
a a
a
A
A B
A
Combine kinematic relationships with equations of
motion to solve for accelerations and cord tension.
A B A B
a a x y
2
1
2
1
= =
( )
A
a T kg 100
1
=
( )
( )( )
A
B
a
a T
2
1
2
kg 300 - N 2940
kg 300 - N 2940
=
=
( ) ( ) 0 kg 100 2 kg 150 N 2940
0 2
1 2
=
=
A A
a a
T T
x
y
O
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Sample Problem 12.4
12 - 20
The 12-lb block B starts from rest and
slides on the 30-lb wedge A, which is
supported by a horizontal surface.
Neglecting friction, determine (a) the
acceleration of the wedge, and (b) the
acceleration of the block relative to the
wedge.
SOLUTION:
The block is constrained to slide down
the wedge. Therefore, their motions are
dependent. Express the acceleration of
block as the acceleration of wedge plus
the acceleration of the block relative to
the wedge.
wedge and block.
Solve for the accelerations.
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Sample Problem 12.4
12 - 21
SOLUTION:
The block is constrained to slide down the
wedge. Therefore, their motions are dependent.
A B A B
a a a

+ =
Write equations of motion for wedge and block.
x
y
:
A A x
a m F =
( )
A A
A A
a g W N
a m N
=
=
1
1
5 . 0
30 sin
( ): 30 cos
A B A B x B x
a a m a m F = =
( )( )
+ =
=
30 sin 30 cos
30 cos 30 sin
g a a
a a g W W
A A B
A B A B B
( ): 30 sin = =
A B y B y
a m a m F
( ) = 30 sin 30 cos
1 A B B
a g W W N
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Sample Problem 12.4
12 - 22
( )
A A
a g W N =
1
5 . 0
Solve for the accelerations.
( )
( ) ( )
( )( )
( ) ( ) +

=
+

=
=
=
30 sin lb 12 lb 30 2
30 cos lb 12 s ft 2 . 32
30 sin 2
30 cos
30 sin 30 cos 2
30 sin 30 cos
2
1
A
B A
B
A
A B B A A
A B B
a
W W
gW
a
a g W W a g W
a g W W N
2
s ft 07 . 5 =
A
a
( ) ( ) + =
+ =
30 sin s ft 2 . 32 30 cos s ft 07 . 5
30 sin 30 cos
2 2
A B
A A B
a
g a a
2
s ft 5 . 20 =
A B
a
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Kinetics: Normal and Tangential Coordinates
2 - 23
Aircraft and roller coasters can both experience large
normal forces during turns.
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Equations of Motion
12 - 24
For tangential and normal components,
t t
t
F ma
dv
F m
dt
=
=
Newtons second law

a m F

2
n n
n
F ma
v
F m
=
=

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Sample Problem 12.5
12 - 25
The bob of a 2-m pendulum describes
an arc of a circle in a vertical plane. If
the tension in the cord is 2.5 times the
weight of the bob for the position
shown, find the velocity and accel-
eration of the bob in that position.
SOLUTION:
Resolve the equation of motion for the
bob into tangential and normal
components.
Solve the component equations for the
normal and tangential accelerations.
Solve for the velocity in terms of the
normal acceleration.
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Sample Problem 12.5
12 - 26
SOLUTION:
Resolve the equation of motion for the bob into
tangential and normal components.
Solve the component equations for the normal and
tangential accelerations.
:
t t
ma F =
=
=
30 sin
30 sin
g a
ma mg
t
t
2
s m 9 . 4 =
t
a
:
n n
ma F =
( ) =
=
30 cos 5 . 2
30 cos 5 . 2
g a
ma mg mg
n
n
2
s m 03 . 16 =
n
a
Solve for velocity in terms of normal acceleration.
( )( )
2
2
s m 03 . 16 m 2 = = =
n n
a v
v
a
s m 66 . 5 = v
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Sample Problem 12.6
12 - 27
Determine the rated speed of a
highway curve of radius = 400 ft
banked through an angle u = 18
o
. The
rated speed of a banked highway curve
is the speed at which a car should
travel if no lateral friction force is to
be exerted at its wheels.
SOLUTION:
The car travels in a horizontal circular
path with a normal component of
acceleration directed toward the center
of the path.The forces acting on the car
are its weight and a normal reaction
from the road surface.
Resolve the equation of motion for
the car into vertical and normal
components.
Solve for the vehicle speed.
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Sample Problem 12.6
12 - 28
SOLUTION:
The car travels in a horizontal circular
path with a normal component of
acceleration directed toward the center
of the path.The forces acting on the
car are its weight and a normal
reaction from the road surface.
Resolve the equation of motion for
the car into vertical and normal
components.
: 0 =
y
F
u
u
cos
0 cos
W
R
W R
=
=
:
n n
ma F =
u
u
u
2
sin
cos
sin
v
g
W W
a
g
W
R
n
=
=
Solve for the vehicle speed.
( )( ) =
=
18 tan ft 400 s ft 2 . 32
tan
2
2
u g v
h mi 1 . 44 s ft 7 . 64 = = v
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Group Problem Solving
2 - 29
The 3-kg collar B rests on the
frictionless arm AA'. The collar is
held in place by the rope attached to
drum D and rotates about O in a
horizontal plane. The linear velocity
of the collar B is increasing according
to v= 0.2 t
2
where v is in m/s and t is
in sec. Find the tension in the rope
and the force of the bar on the collar
after 5 seconds if r = 0.4 m.
v
SOLUTION:
collar.
Combine the equations of motion with
kinematic relationships and solve.
Draw the FBD and KD for the collar.
Determine kinematics of the collar.
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2 - 30
SOLUTION: Given: v= 0.2 t
2
, r = 0.4 m
Find: T and N at t = 5 sec
Draw the FBD and KD of the collar
ma
n
T
N

e
t
e
n
ma
t

Write the equations of motion
=
n n
F ma E =
t t
F ma E =
2
v
N m
=
dv
T m
dt
=
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2 - 31
ma
n
T
N

e
t
e
n
ma
t

=
2 2
2
5
62.5 (m/s )
0.4
n
v
a
= = =
2
0.4 0.4(5) 2 m/s
t
dv
a t
dt
= = = =
Kinematics : find v
t
, a
n
, a
t
2 2
0.2 0.2(5 ) =5 m/s
t
v t = =
Substitute into equations of motion
3.0(62.5) N = 3.0(2) T =
187.5 N N = 6.0 N T =
u
n n
F ma E =
t t
F ma E =
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2 - 32
ma
n
T
N

e
t
e
n
ma
t

=
How would the problem
change if motion was in the
vertical plane?
mg

u
You would add an mg term
and would also need to
calculate u
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Kinetics: Radial and Transverse Coordinates
2 - 33
Hydraulic actuators and
extending robotic arms are
often analyzed using radial
and transverse coordinates.
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Eqs of Motion in Radial & Transverse Components
12 - 34
( )
( ) u u
u
u u

r r m ma F
r r m ma F
r r
2
2
+ = =
= =
Consider particle at r and u, in polar coordinates,

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2 - 35
collar.
Combine the equations of motion with
kinematic relationships and solve.
Draw the FBD and KD for the collar.
Determine kinematics of the collar.
SOLUTION:
The 3-kg collar B slides on the frictionless arm AA'. The arm is attached to
drum D and rotates about O in a horizontal plane at the rate where
and t are expressed in rad/s and seconds, respectively. As the arm-drum
assembly rotates, a mechanism within the drum releases the cord so that the
collar moves outward from O with a constant speed of 0.5 m/s. Knowing that
at t = 0, r = 0, determine the time at which the tension in the cord is equal to
the magnitude of the horizontal force exerted on B by arm AA'.
0.75t u = u
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2 - 36
ma
r

T
N

e
u
e
r
ma
u

=
r r
F ma E =
B
F m a
u u
E =
Draw the FBD and KD of the collar
Write the equations of motion
SOLUTION: Given:

Find: time when T = N
2
( ) T m r ru = ( 2 ) N m r r u u = +
0.75t u =
5 m/s r =
(0) 0 r =
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2 - 37
3 2
: (3 kg)( 0.28125 ) m/s
r r
F ma T t E = =
2
: (3 kg)(1.125 ) m/s
B
F m a N t
u u
E = =
0 0
0.5
r t
dr dt =
} }
(0.5 ) m r t =
0 r =
2
(0.75 ) rad/s
0.75 rad/s
t u
u
=
=
2 2 3 2
0 [(0.5 ) m][(0.75 ) rad/s] (0.28125 ) m/s
r
a r r t t t u = = =
2
2
2 [(0.5 ) m][0.75 rad/s ] 2(0.5 m/s)[(0.75 ) rad/s]
(1.125 ) m/s
a r r t t
t
u
u u = + = +
=
Kinematics : find expressions for r and u

Substitute values into a
r
, a
u
Substitute into equation of motion

3
(0.84375 ) (3.375 ) t t =
2
4.000 t =
2.00s t =
Set T =N

5 m/s r =
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2 - 38
Satellite orbits are analyzed using conservation
of angular momentum.
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Eqs of Motion in Radial & Transverse Components
12 - 39
( )
( ) u u
u
u u

r r m ma F
r r m ma F
r r
2
2
+ = =
= =
Consider particle at r and u, in polar coordinates,

( )
( )
( ) u u
u u
u
u
u
u
r r m F
r r r m
mr
dt
d
F r
mr H
O
2
2
2
2
2
+ =
+ =
=
=
This result may also be derived from conservation

of angular momentum,
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12 - 40
moment of momentum or the angular
momentum of the particle about O.
= = V m r H
O

Derivative of angular momentum with respect to time,

=
=
+ = + =
O
O
M
F r
a m r V m V V m r V m r H
It follows from Newtons second law that the sum of

the moments about O of the forces acting on the
particle is equal to the rate of change of the angular
momentum of the particle about O.
z y x
O
mv mv mv
z y x
k j i
H
=
is perpendicular to plane containing
O
H
V m r

and
u
|
u
2
sin
mr
v rm
rmV H
O
=
=
=
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12 - 41
When only force acting on particle is directed
toward or away from a fixed point O, the particle
is said to be moving under a central force.
Since the line of action of the central force passes
through O, and 0
= =
O O
H M

constant = =
O
H V m r

Position vector and motion of particle are in a

plane perpendicular to .
O
H
Magnitude of angular momentum,

0 0 0
sin
constant sin
|
|
V m r
V rm H
O
=
= =
mass unit
momentum angular
constant
2
2
= = =
= =
h r
m
H
mr H
O
O
u
u
or
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12 - 42
Radius vector OP sweeps infinitesimal area
u d r dA
2
2
1
=
Define = = = u
u

2
2
1
2
2
1
r
dt
d
r
dt
dA
areal velocity
Recall, for a body moving under a central force,
constant
2
= = u
r h
When a particle moves under a central force, its
areal velocity is constant.
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Newtons Law of Gravitation
12 - 43
Gravitational force exerted by the sun on a planet or by
the earth on a satellite is an important example of
gravitational force.
Newtons law of universal gravitation - two particles of
mass M and m attract each other with equal and opposite
force directed along the line connecting the particles,
4
4
9
2
3
12
2
s lb
ft
10 4 . 34
s kg
m
10 73 . 66
n gravitatio of constant
=
=
=

G
r
Mm
G F
For particle of mass m on the earths surface,
2 2 2
s
ft
2 . 32
s
m
81 . 9 = = = = g mg
R
MG
m W
T
e
n
t
h

E
d
i
t
i
o
n

Sample Problem 12.8
12 - 44
A satellite is launched in a direction
parallel to the surface of the earth
with a velocity of 18820 mi/h from
an altitude of 240 mi. Determine the
velocity of the satellite as it reaches it
maximum altitude of 2340 mi. The
radius of the earth is 3960 mi.
SOLUTION:
Since the satellite is moving under a
central force, its angular momentum is
constant. Equate the angular momentum
at A and B and solve for the velocity at B.
T
e
n
t
h

E
d
i
t
i
o
n

Sample Problem 12.8
12 - 45
SOLUTION:
Since the satellite is moving under a
central force, its angular momentum is
constant. Equate the angular momentum
at A and B and solve for the velocity at B.
( )
( )
( )mi 2340 3960
mi 240 3960
h mi 18820
constant sin
+
+
=
=
=
= =
B
A
A B
B B A A
O
r
r
v v
v m r v m r
H v rm |
h mi 12550 =
B
v
T
e
n
t
h

E
d
i
t
i
o
n

12 - 46
Integration constant C is determined by conditions
at beginning of free flight, u =0, r = r
0
,
( )
2
0 0
0
2
0
2
2
0
1 1
0 cos 1
1
v r
GM
r
h
GM
r
C
GM
Ch
h
GM
r
= =
|
|
.
|
\
|
+ =
( )
0
0
2
0 0
2
2
or 1
r
GM
v v
v r GM h GM C
esc
= =
= > > c
Satellite escapes earth orbit for
Trajectory is elliptic for v
0
< v
esc
and becomes
circular for c = 0 or C = 0,
0
r
GM
v
circ
=
T
e
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t
h

E
d
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t
i
o
n

12 - 47
Recall that for a particle moving under a central
force, the areal velocity is constant, i.e.,
constant
2
1
2
2
1
= = = h r
dt
dA
u
Periodic time or time required for a satellite to

complete an orbit is equal to area within the orbit
divided by areal velocity,
h
ab
h
ab t t
t
2
2
= =
where
( )
1 0
1 0
2
1
r r b
r r a
=
+ =
T
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t
h

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d
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t
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o
n

Sample Problem 12.9
12 - 48
Determine:
a) the maximum altitude reached by
the satellite, and
b) the periodic time of the satellite.
A satellite is launched in a direction
parallel to the surface of the earth
with a velocity of 36,900 km/h at an
altitude of 500 km.
SOLUTION:
Trajectory of the satellite is described by
u cos
1
2
C
h
GM
r
+ =
Evaluate C using the initial conditions
at u = 0.
Determine the maximum altitude by
finding r at u = 180
o
.
With the altitudes at the perigee and
apogee known, the periodic time can
be evaluated.
T
e
n
t
h

E
d
i
t
i
o
n

Sample Problem 12.9
12 - 49
SOLUTION:
Trajectory of the satellite is described by
u cos
1
2
C
h
GM
r
+ =
Evaluate C using the initial conditions
at u = 0.
( )
( )( )
( )( )
2 3 12
2
6 2 2
2 9
3 6
0 0
3
0
6
0
s m 10 398
m 10 37 . 6 s m 81 . 9
s m 10 4 . 70
s m 10 25 . 10 m 10 6.87
s m 10 25 . 10
s/h 3600
m/km 1000
h
km
36900
m 10 6.87
km 500 6370
=
= =
=
= =
=
=
=
+ =
gR GM
v r h
v
r
( )
1 - 9
2
2
2 3 12
6
2
0
m 10 3 . 65
s m 4 . 70
s m 10 398
m 10 87 . 6
1
1
=
=
h
GM
r
C
T
e
n
t
h

E
d
i
t
i
o
n

Sample Problem 12.9
12 - 50
Determine the maximum altitude by finding r
1

at u = 180
o
.
( )
km 66700 m 10 7 . 66
m
1
10 3 . 65
s m 4 . 70
s m 10 398 1
6
1
9
2
2
2 3 12
2
1
= =

= =

r
C
h
GM
r
( ) km 60300 km 6370 - 66700 altitude max = =
With the altitudes at the perigee and apogee known,
the periodic time can be evaluated.
( ) ( )
( )( )
s m 10 70.4
m 10 21.4 m 10 36.8 2
h
2
m 10 21.4 m 10 7 . 66 87 . 6
m 10 36.8 m 10 7 . 66 87 . 6
2 9
6 6
6 6
1 0
6 6
2
1
1 0
2
1

= =
= = =
= + = + =
t t
t
ab
r r b
r r a
min 31 h 19 s 10 3 . 70
3
= = t
T
e
n
t
h

E
d
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t
i
o
n

Keplers Laws of Planetary Motion
12 - 51
Results obtained for trajectories of satellites around earth may also be
applied to trajectories of planets around the sun.
Properties of planetary orbits around the sun were determined
astronomical observations by Johann Kepler (1571-1630) before
Newton had developed his fundamental theory.
1) Each planet describes an ellipse, with the sun located at one of its
foci.
2) The radius vector drawn from the sun to a planet sweeps equal
areas in equal times.
3) The squares of the periodic times of the planets are proportional to
the cubes of the semimajor axes of their orbits.

CH 12

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CH 12

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VECTOR MECHANICS FOR ENGINEERS:

Linear Momentum Conservation Principle:

Can use scalar component equations, e.g., for

2013 The McGraw-Hill Companies, Inc. All rights reserved.

With the inclusion of the inertial vector, the system

Newtons second law

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Consider particle at r and u, in polar coordinates,

Consider particle at r and u, in polar coordinates,

This result may also be derived from conservation

Derivative of angular momentum with respect to time,

It follows from Newtons second law that the sum of

Position vector and motion of particle are in a

Magnitude of angular momentum,

Periodic time or time required for a satellite to

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