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This paper considers an issue joint rate control and dynamic scheduling in mobile ad hoc networks. We propose a cross-layer rate control scheme that jointly computes both the rate allocation and dynamic scheduling. The scheduling in ad hoc networks is a difficult problem and in general NP-hard, or requires centralized implementation. In this paper, we present a dynamic approximation algorithm adapted to mobile ad hoc networks. We study the case with dynamic arrivals and departures of the users. It is for the first time in the literature that the rescheduling is introduced to the network scheduling, and this rescheduling method can adapt to topology environment changed with high frequency. So this dynamic scheduling can suit the mobile ad hoc networks.