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CHAPTER 2 Mechanical Forces
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Between the pushing and pulling of the atomic forces, it is as if each atom is connected to its neighboring atom by a spring. The spring is made up of millions of smaller atomic springs, in the same way that an apple is pulled toward the Earth by the force of the gravity spring. Of course, these aren t tiny physical springs inside our big spring. They are the forces that keep our universe together. Strain occurs when you pull or push the atoms in an object against the atomic forces that are working to keep them in place. The object then changes shape, or deforms. This deformation is the visible manifestation of the strain inside an object. You feel the strain by the force of the object trying to return to its original shape. Of course, if you put too much strain into something, the atoms can be pushed and pulled too far and break their internal springs. Then the object bends or breaks, and its stored potential energy is rearranged so we can t use it anymore. When you stretch or compress a spring, it pushes back with the force of: F k l 2-7
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k is the spring constant, which describes how springy the spring is, and l is how far the spring has been stretched or squished (Fig. 2-13). The spring s force pushes in the opposite direction of the force used to deform it. The spring s stored force exactly matches the force it took to deform it. The same with a rubber band, though rubber bands are only useful in the stretch direction. In robotics, you can use the force stored in a spring or rubber band to push against the acceleration of gravity, to make it easier for the robot s motors to lift something. Springs can also be used to hold something in position, to keep it from moving.
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Fig. 2-13.
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Spring forces.
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CHAPTER 2 Mechanical Forces
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Energy is never really lost, it is only shu ed around into di erent forms. Kinetic energy is converted into potential energy, which might be stored as deformation in a spring or as a displacement against gravity. These might eventually be turned back into kinetic energy. So energy changes form, but it never goes away. So why does the brick stop moving when you push it across your desk Where is the kinetic energy going The energy you are adding to the brick is being lost into the desk through friction. Friction is what we call the process of transferring energy by rubbing things together. The force of friction always appears to act in the opposite direction of the kinetic energy causing the friction. Because of this, an object rubbing against another object slows down and stops. There are two kinds of friction. An object at rest on a surface has a higher friction than an object that is already moving. The stationary, or static, friction force is called stiction. When you press on the brakes in your car, the force holding the wheel to the road is this stiction. Once you start skidding, the lesser force of friction takes over. Once the wheels start to get hot and melt, it gets even more di cult. Friction can be an extremely complicated thing, especially if either of the objects being rubbed together are sticky, fuzzy, oily, or otherwise not dry and smooth. Plain vanilla friction is molecules, by way of their atomic forces, banging against each other. Let s look down into the atoms of the object and see what this banging means to them. Everything that you come into contact with has heat. Heat is a form of energy and, in fact, it is a form of energy stored by motion. Each atom within an object is not just sitting there quietly but is vibrating madly against the springy forces that keep it from escaping. This vibration is described as the heat of the object. The faster the atoms in an object are moving, the more energy it is storing; it s hotter. Of course, if something gets too hot, the atoms get enough energy to break their springs and they escape. At one temperature the springs are only mostly broken, so the object doesn t hold together as rmly and its atoms are pulled down by gravity. It melts. Get it even hotter and the atoms have enough energy to jump up away from gravity s pull and the attraction of its neighbors and the object evaporates, or becomes a gas. Of course, like almost everything else in this book, it s a bit more complicated than that. But you get the general idea. When you hold a hot object against a cold object, the atoms in the hot object bang into the atoms in the cold object, making the slower atoms move
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