INSTITUTE OF AERONAUTICAL

ENGINEERING
(Autonomous)
Dundigal, Hyderabad - 500 043

Course : ENGINEERING MECHANICS

(AME002)

Prepared by : Mr. B.D.Y.Sunil

Assistant Professor

Engineering Mechanics – Dynamics 1

 Subject
 Graduates:
◦ Midterm exam 30%
◦ Final exam 70%
 Course Materials
◦ Lecture notes
 Power points slides
 Class notes
◦ Textbooks
 Engineering Mechanics: Statics 10th Edition by R.C.
Hibbeler

Engineering Mechanics – Dynamics 2

Engineering Mechanics – Dynamics 2
COURSE OBJECTIVES
The course should enable the students to:

I. Develop the ability to work comfortably with basic engineering mechanics

concepts required for analysing static structures.
II. Identify an appropriate structural system to studying a given problem and
isolate it from its environment, model the problem using good free body
diagrams and accurate equilibrium equations.
III. Identify and model various types of loading and support conditions that act
on structural systems, apply pertinent mathematical, physical and
engineering mechanical principles to the system to solve and analyze
the problem.
IV. Solve the problem of equilibrium by using the principle of work and energy
in mechanical design and structural analysis.
V. Apply the concepts of vibrations to the problems associated with dynamic
behavior.

Engineering Mechanics – Dynamics 3

Engineering Mechanics – Dynamics 3
COURSE OUTCOMES
After completing this course the student must
demonstrate the knowledge and ability to:
1.Classifying different types of motions in kinematics.
2.Categorizing the bodies in kinetics as a particle, rigid
body in translation and rotation.
3.Choosing principle of impulse momentum and virtual
work for equilibrium of ideal systems, stable and
unstable equilibriums
4.Appraising work and energy method for particle
motion and plane motion.
5.Apply the concepts of vibrations.

Engineering Mechanics – Dynamics 4

Engineering Mechanics – Dynamics 4
 Course Outline
PARTICLE SYSTEM OF RIGID BODIES
PARTICLES

KINEMATICS Chapter 1 Chapter 3

KINETICS
NEWTON’S LAW Chapter 2 Chapter 4 Chapter 4

KINETICS
ENERGY & MOMENTUM
Chapter 3 Chapter 5

Engineering Mechanics – Dynamics

Dynami5cs 5
 Introduction to Mechanics
 What is mechanics?
 Physical science deals
with the state of rest or Mechanics
motion of bodies under
the action of force
Statics Dynamics
 Why we study mechanics?
This science form the
groundwork for further Kinematics Kinetics

study in the design and

analysis of structures

Engineering Mechanics – Dynamics 6

Engineering Mechanics – Dynamics 6
 Basic Terms
 Essential basic terms to be understood
◦ Statics: dealing with the equilibrium of a rigid-body at rest
◦ Rigid body: the relative movement between its parts are negligible
◦ Dynamics: dealing with a rigid-body in motion
◦ Length: applied to the linear dimension of a straight line or curved line
◦ Area: the two dimensional size of shape or surface
◦ Volume: the three dimensional size of the space occupied by substance
◦ Force: the action of one body on another whether it’s a push or a pull
force
◦ Mass: the amount of matter in a body
◦ Weight: the force with which a body is attracted toward the centre of the
Earth
◦ Particle: a body of negligible dimension

Engineering Mechanics – Dynamics 7

Engineering Mechanics – Dynamics 7
Units of Measurement
 Four fundamental quantities in mechanics
◦ Mass
◦ Length
◦ Time
◦ Force
 Two different systems of units we dealing with during the
course
◦ Units (CGS)
 Length in centimeter(cm)
 Time in Seconds (s)
 Force in kilograms (kg)
◦ International System of Units or Metric Units (SI)
 Length in metre (m)
 Time in Seconds (s)
 Force in Newton (N)

Engineering Mechanics – Dynamics 8

1/27/2017 Engineering Mechanics – Dynamics 8
 Units of Measurement
Summery of the four fundamental quantities
in the two system
SI Units US Units
Quantity
Unit Symbol Unit Symbol

Mass kilogram kg slug -

Length meter m foot ft

Time second s second sec

Force newton N pound lb

Engineering Mechanics – Dynamics 9

Engineering Mechanics – Dynamics 9
Units of Measurement
 Metric System (SI)
◦ SI System offers major advantages relative to the FPS system
 Widely used throughout the world
 Use one basic unit for length  meter; while FPS uses many basic units
 inch, foot, yard, mile
 SI based on multiples of 10, which makes it easier to use & learn whereas
FPS is complicated, for example
 SI system 1 meter = 100 centimeters, 1 kilometer = 1000 meters, etc
 FPS system 1 foot = 12 inches, 1 yard = 3 feet, 1 mile = 5280 feet, etc

 Metric System (SI)

◦ Newton’s second law F = m.a
 Thus the force (N) = mass (kg)  acceleration (m/s2)
◦ Therefore 1 Newton is the force required to give a mass of 1 kg
an acceleration of 1 m/s2

Engineering Mechanics – Dynamics 10

Engineering Mechanics – Dynamics 10
Units of Measurement
 U.S. Customary System (FPS)
◦ Force (lb) = mass (slugs)  acceleration (ft/sec2 )
 Thus (slugs) = lb.sec2/ft
◦ Therefore 1 slug is the mass which is given an
acceleration of 1 ft/sec2 when acted upon by a force
of 1 lb
 Conversion of Units
◦ Converting from one system of unit to another;
Quantity FPS Equals SI
Force 1 lb 4.448 N
Mass 1 slug 14.593 kg
Length 1 ft 0.304 m
 The standard value of g (gravitational
acceleration)
◦ SI units g = 9.806 m/s2
◦ FPS units Engineering Mechanics
g = 32.174– Dynamics
ft/sec2 11
Engineering Mechanics – Dynamics 11
 Objectives

To provide an introduction of:

※ Fundamental concepts,
※ General principles,
※ Analysis methods,
※ Future Studies
in Engineering Mechanics.

Engineering Mechanics – Dynamics 12

Engineering Mechanics – Dynamics 12
Outline

 1. Engineering Mechanics
 2. Fundamental Concepts
 3. General Principles
 4. StaticAnalysis
 5. DynamicAnalysis
 6. Future Studies

Engineering Mechanics – Dynamics 13

Engineering Mechanics – Dynamics 13
1. Engineering Mechanics
 Mechanics :
- Rigid-body Mechanics
- Deformable-body Mechanics
- Fluid Mechanics
 Rigid-body Mechanics :
- Statics
- Dynamics

Engineering Mechanics – Dynamics 14

Engineering Mechanics – Dynamics 14
 1. Engineering Mechanics

 Statics – Equilibrium Analysis of

particles and bodies
 Dynamics – Accelerated motion of
particles and bodies
Kinematics and Kinetics
 Mechanics of Materials…
 Theory ofVibration…
Engineering Mechanics – Dynamics 15
Engineering Mechanics – Dynamics 15
 2. Fundamentals Concepts

Basic Quantities
 Length, Mass,Time, Force
Units of Measurement
 m, kg,s, N… (SI, Int.System of Units)

- Dimensional Homogeneity
- Significant Figures
Engineering Mechanics – Dynamics 16
Engineering Mechanics – Dynamics 16
2. Fundamentals Concepts

Idealizations
 Particles
– Consider mass but neglect size

 Rigid Body
– Neglect material properties

 Concentrated Force
 Supports and Reactions
Engineering Mechanics – Dynamics 17
Engineering Mechanics – Dynamics 17
3. General Principles

- Newton’s Laws of Motion

 First Law, Second Law,Third Law
 Law of Gravitational Attraction

- D’Alembert Principle : F+(-ma)=0

- Impulse and Momentum
- Work and Energy
- Principle ofVirtualWork (Equilibrium)
Engineering Mechanics – Dynamics 18
Engineering Mechanics – Dynamics 18
4. Static Analysis

 Force and Equilibrium

 Force System Resultants
 Structural Analysis
 Internal forces
 Friction
 Centroid and Moments of Inertia
 Virtual Work and Stability
Engineering Mechanics – Dynamics 19
Engineering Mechanics – Dynamics 19
 5. Dynamic Analysis
 Kinematics of a Particle
 Kinetics: Force andAcceleration
 Work and Energy
 Impulse and Momentum (Impact)
 Planar Kinematics and Kinetics
 3-D Kinematics and Kinetics
 Vibrations

Engineering Mechanics – Dynamics 20

Engineering Mechanics – Dynamics 20
UNIT-I
KINEMATICS OF
PARTICLES IN
RECTILINEAR MOTION
Motion of a particle, rectilinear motion, motion curves, rectangular
components of curvilinear motion, kinematics of rigid body, types of
rigid body motion, angular motion, fixed axis rotation.

Engineering Mechanics – Dynamics 21

Engineering Mechanics – Dynamics 21
 INTRODUCTION TO DYNAMICS

 Galileo and Newton (Galileo’s

experiments led to Newton’s laws)
 Kinematics – study of motion
 Kinetics – the study of what causes
changes in motion
 Dynamics is composed of kinematics
and kinetics
Engineering Mechanics – Dynamics 22
Engineering Mechanics – Dynamics 22
Introduction
• Dynamics includes:
- Kinematics: study of the motion (displacement, velocity,
acceleration, & time) without reference to the cause of motion
(i.e. regardless of forces).
- Kinetics: study of the forces acting on a body, and the resulting
motion caused by the given forces.

• Rectilinear motion: position, velocity, and acceleration of a

particle as it moves along a straight line.
• Curvilinear motion: position, velocity, and acceleration of a
particle as it moves along a curved line.

Engineering Mechanics – Dynamics 23

23
RECTILINEAR MOTION OF PARTICLES

Engineering Mechanics – Dynamics 24

24
Rectilinear Motion: Position,
Velocity & Acceleration

Engineering Mechanics – Dynamics 25

 MECHANICS
Kinematics of Particles
Motion in One Dimension

Acceleration

Engineering Mechanics – Dynamics 26

Summary of properties of vectors

Engineering Mechanics – Dynamics 27

POSITION, VELOCITY, AND
ACCELERATION
For linear motion x marks the position of an object.
Position units would be m, ft, etc.
Average velocity is

v
 x
t
Velocity units would be in m/s, ft/s, etc.
The instantaneous velocity is

v  lim
 x dx

t 0 t
En dt
gineering Mech
Engineering anics –– Dynamics
Mechanics Dynamics 28
 The average acceleration is

a
v
t
The units of acceleration would be m/s2, ft/s2, etc.
The instantaneous acceleration is

v  dv  d dx  d x 2
a  lim
t 0 t dt dt dt dt 2

Engineering Mechanics – Dynamics 29

Notice If v is a function of x, then

dv dv dx dv
a  v
dt dx dt dx
One more derivative

da
 Jerk
dt
Engineering Mechanics – Dynamics 30
 Plotted
Consider the function x(m)

32

x  t  6t
3 2 16

0
2 4 6
t(s)
v(m/s)
12

0 t(s)
2 4 6
-12

v  3t  12t
-24
2 -36

a(m/s2)
12

2 4 6
0 t(s)

a  6t  12
-12

-24

Engineering Mechanics – Dynamics 31

Rectilinear Motion: Position, Velocity &
Acceleration
• Particle moving along a straight line is said
to be in rectilinear motion.
• Position coordinate of a particle is defined
by (+ or -) distance of particle from a fixed
origin on the line.
• The motion of a particle is known if the
position coordinate for particle is known for
every value of time t. Motion of the particle
may be expressed in the form of a function,
e.g., 3
x  6t 2  t
or in the form of a graph x vs. t.

Engineering Mechanics – Dynamics 32

Rectilinear Motion: Position, Velocity & Acceleration

• Consider particle which occupies position P

at time t and P’ at t+t,
x
Average velocity 
t
x
Instantaneous velocity  v  lim
t0 t

• Instantaneous velocity may be positive or

negative. Magnitude of velocity is referred
to as particle speed.
• From the definition of a derivative,
x dx
v  lim 
t0 t dt
e.g., x  6t 2  t 3
dx
v  12t  3t 2
dt
Engineering Mechanics – Dynamics 33
Rectilinear Motion: Position, Velocity & Acceleration
• Consider particle with velocity v at time t and
v’ at t+t,
Instantaneous acceleration  a  lim v
t0 t

• From the definition of a derivative,

v dv d 2 x
a  lim  
t0 t dt dt 2
e.g. v  12t  3t 2
dv
a  12  6t
dt

Engineering Mechanics – Dynamics 34

Rectilinear Motion: Position, Velocity & Acceleration

• Consider particle with motion given by

x  6t 2  t 3
dx
v  12t  3t 2
dt
dv d 2 x
a   12  6t
dt dt 2

• at t = 0, x = 0, v = 0, a = 12 m/s2

• at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0

• at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

• at t = 6 s, x = 0, v = -36 m/s, a = -24 m/s2

Engineering Mechanics – Dynamics 35
 DETERMINATION OF THE
MOTION OF A PARTICLE

Three common classes of motion

Engineering Mechanics – Dynamics 36

1. a  f ( t )  dv
dt
dv  adt  f ( t )dt
t
v  v0   f ( t )dt   v0
dx
0
dt
t

dt
0 
dx  v  f ( t )dt
0
Engineering Mechanics – Dynamics 37
 t

dt
0 
dx  v  f ( t )dt
0

 
t

dx  v0 dt   f ( t )dt  dt
0 
 t

t

x  x0  v0 t    f ( t )dt  dt
0 0 
Engineering Mechanics – Dynamics 38
  t
 t
x  x0  v0t    f ( t )dtdt
0 0 

Engineering Mechanics – Dynamics 39

 dv
2. a  f ( x )  v
dx
vdv  adx  f ( x )dx
x
1
2
(v  v ) 
2 2
0 
xo
f (x)dx
dx
with v  then get x  x(t)
dt
Engineering Mechanics – Dynamics 40
 dv dv
3. a  f ( v )   v
dt dx
v t
dv
 f(v)   dt  t
v 0 0
x v
vdv
or
 
dx
x0

v0
f(v)
Both can lead to

x  x( t )
Engineering Mechanics – Dynamics 41
 UNIFORM RECTILINEAR
MOTION
v  constant
a 0
dx
v
dt
x  x0   vdt  vt
1/27/2017
x  x0  v t
E Mechanics – Dynamics
ngineering Mechanics
Engineering Dynamics 42
42
 UNIFORMLY ACCELERATED
RECTILINEAR MOTION

a  constant
v  v 0  at
x  x o  v 0 t  2 at
1 2

dv
Also v a
dx
v  v  2a( x  x )
2 2
1/27/2017 0
Engineering Mechanics – Dynamics
Engineering 0 43
43
Determining the Motion of a Particle

• Recall, motion is defined if position x is known for all time t.

dx dv d 2x dv dv dx dv
v a a 2 a  v
dt dt dt dt dx dt dx

• If the acceleration is given, we can determine velocity and

position by two successive integrations.

• Three classes of motion may be defined for:

- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)

14/247/2017 Engineering Mechanics – Dynamics 44

 Determining the Motion of a Particle
• Acceleration given as a function of time, a = f(t):
v t t

a  f (t)  dv  dv  f (t)dt   dv   f (t)dt  v  v0   f (t)dt

dt v0 0 0
x t t
dx
v  dx  vdt   dx  vdt  x  x0  vdt
dt x0 0 0

•Acceleration given as a function of position, a = f(x):

v x x
a  f (x)  v dv  vdv  f (x)dx   vdv   f (x)dx
1 2 1 2
 v  v0   f (x)dx
dx v0 x0
2 2 x0
t
x
dx dx dx
v   dt     dt
dt v x
v 0 0

14/257/2017 Engineering Mechanics – Dynamics 45

Determining the Motion of a Particle
• Acceleration given as a function of velocity, a = f(v):
v t v
dv dv dv dv
a  f (v)    dt     dt  t
dt f (v) v
f (v) 0 v0
f (v)
0

x v v
dv vdv vdv vdv
a  f (v)  v  dx    dx    x  x0  
dx f (v) x0 v0
f (v) v
f (v)
0

14/267/2017 Engineering Mechanics – Dynamics 46

 Summary

Procedure:
1. Establish a coordinate system & specify an origin
2. Remember: x,v,a,t are related by:

dx dv d 2 x a  dv  dv dx  v dv
v a a 2
dt dt dt dt dx dt dx
3. When integrating, either use limits (if known) or add a constant of
integration

14/277/2017 Engineering Mechanics – Dynamics 47

 Sample Problem 1

Ball tossed with 10 m/s vertical velocity from window 20 m above ground.

Determine:
• velocity and elevation above ground at time t,
• highest elevation reached by ball and corresponding time, and
• time when ball will hit the ground and corresponding velocity.

14/287/2017 Engineering Mechanics – Dynamics 48

 Sample Problem 1
SOLUTION:
• Integrate twice to find v(t) and y(t).

dv
 a  9.81m s 2
dt
vt  t
 dv   9.81dt vt  v0  9.81t
v0 0

m 
vt   10  9.81 t
m
s  s2 
dy
 v  10  9.81t
dt
yt  t
 dy   10  9.81t dt yt  y0  10t  12 9.81t 2
y0 0

 m
yt   20 m  10 t   4.905 2 t 2
m
 s  s 49
14/297/2017 Engineering Mechanics – Dynamics
 Sample Problem 1
• Solve for t at which velocity equals zero and evaluate
corresponding altitude.
m 
vt   10  9.81 2 t  0
m
s  s 
t  1.019s

 m
yt   20 m  10 t   4.905 2 t 2
m
 s  s 
 m  m
y  20 m  10  1.019 s   4.905 2  1.019s2
 s  s 
y  25.1m

15/207/2017 Engineering Mechanics – Dynamics 50

 Sample Problem 1
• Solve for t at which altitude equals zero and
evaluate corresponding velocity.
 m
yt   20 m  10 t   4.905 2 t 2  0
m
 s  s 
t  1.243s meaningless
t  3.28s

m 
vt   10  9.81 2 t
m
s  s 
m 
v3.28s  10  9.81 2 3.28s
m
s  s 

m
v  22.2
s

15/217/2017 Engineering Mechanics – Dynamics 51

What if the ball is tossed downwards with the same speed? (The
audience is thinking …)

vo= - 10 m/s

15/227/2017 Engineering Mechanics – Dynamics 52

 Uniform Rectilinear Motion
Uniform rectilinear motion acceleration = 0 velocity = constant

dx
 v  constant
dt
x t
 dx  v dt
x0 0
x  x0  vt
x  x0  vt

15/237/2017 Engineering Mechanics – Dynamics 53

 Uniformly Accelerated Rectilinear Motion
Uniformly accelerated motion acceleration = constant

v t
dv
dt
 a  constant  dv  a  dt v  v0  at
v0 0
v  v0  at
x t
dx
dt
 v 0  at  dx   v0  at dt x  x0  v0t  12 at 2
x0 0

x  x0  v0t  12 at 2

v2  v02  ax  x0 

v x
Also: v dv  a  constant  v dv  a  dx
1
dx 2
v0 x0
v 2  v 2  2a x  x 
0 0
15/247/2017 A p p li ca tion: free fall
Mecha nics –– Dynamics
Engineering Mechanics Dy n am i cs 54
 MOTION OF SEVERAL PARTICLES

When independent particles move along the same

line, independent equations exist for each.
Then one should use the same origin and time.

Engineering Mechanics – Dynamics 55

Relative motion of two particles.

The relative position of B with respect to A

xB  x B  x A
A

The relative velocity of B with respect to A

vB  v B  v A
A

Engineering Mechanics – Dynamics 56

The relative acceleration of B with respect to A

aB  a B  a A
A

Engineering Mechanics – Dynamics 57

 Motion of Several Particles: Relative Motion
• For particles moving along the same
line, displacements should be measured
from the same origin in the same
direction.
xB A  xB  x A  relative position of B
with respect to A
xB  x A  x B A

vB A  vB v A  relative velocity of B

with respect to A
vB  v A  vB A

a B A  a B  a A  relative acceleration of B
with respect to A
aB  a A  aB A
15/287/2017 Engineering Mechanics – Dynamics 58
Let’s look at some dependent motions.

Engineering Mechanics – Dynamics 59

 G

xA C D

A xB

E F
Let’s look at the
B
relationships.
xA  2x B  cons tant
System has one degree of vA  2vB  0
freedom since only one
coordinate can be chosen a A  2aB  0
independently.
Engineering Mechanics – Dynamics 60
 xC
xA
C xB

System has 2 degrees of 2x A  2x B  xC  cons tant

freedom.
2v A  2vB  vC  0
Let’s look at the relationships.
2a A  2aB  aC  0
Engineering Mechanics – Dynamics 61
Sample Problem 2

Ball thrown vertically from 12 m

level in elevator shaft with initial
velocity of 18 m/s. At same
instant, open-platform elevator
passes 5 m level moving upward
at 2 m/s.
Determine (a) when and where
ball hits elevator and (b) relative
velocity of ball and elevator at
contact.

16/227/2017 Engineering Mechanics – Dynamics 62

 SOLUTION: Sample Problem 2

• Ball: uniformly accelerated motion

(given initial position and velocity).
• Elevator: constant velocity (given
initial position and velocity)
• Write equation for relative position of
ball with respect to elevator and solve
for zero relative position, i.e., impact.

• Substitute impact time into equation

for position of elevator and relative
velocity of ball with respect to
16/237/2017
elevator.
Engineering Mechanics – Dynamics 63
 Sample Problem 3

SOLUTION:
• Ball: uniformly accelerated rectilinear motion.

m 
 9.81 
m
v  v  at  18
B 0  t
s  s 
2

 m
y B  y 0  v0t  12 at 2  12 m  18 t   4.905 2 t 2
m
 s  s 

• Elevator: uniform rectilinear motion.

m
vE  2
s
y E  y 0  v E t  5 m   2 t
m
 s
16/247/2017 Engineering Mechanics – Dynamics 64
 Sample Problem 3

• Relative position of ball with respect to elevator:

yB E  
 1218t  4.905t 2 5  2t   0
t  0.39s meaningless
t  3.65s

• Substitute impact time into equations for position of elevator

and relative velocity of ball with respect to elevator.
yE  5  23.65
yE  12.3m

vB E  18  9.81t  2
 16  9.813.65
m
vB E  19.81
s
16/257/2017 Engineering Mechanics – Dynamics 65
Motion of Several Particles: Dependent Motion
• Position of a particle may depend on position of one
or more other particles.
• Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A  2x B  constant (one degree of freedom)
• Positions of three blocks are dependent.
2x A  2x B  xC  constant (two degrees of freedom)

• For linearly related positions, similar relations hold

between velocities and accelerations.
dx dx dx
2 A  2 B  C  0 or 2vA  2vB  vC  0
dt dt dt
dv dv dv
2 A  2 B  C  0 or 2a A  2aB  aC  0
dt dt dt 66
16/267/2017 Engineering Mechanics – Dynamics
Applications

16/277/2017 Engineering Mechanics – Dynamics 67

 Sample Problem 4

Pulley D is attached to a collar which is pulled down at 3 in./s. At t = 0, collar A

starts moving down from K with constant acceleration and zero initial velocity.
Knowing that velocity of collar A is 12 in./s as it passes L, determine the change
in elevation, velocity, and acceleration of block B when block A is at L.

16/287/2017 Engineering Mechanics – Dynamics 68

 Sample Problem 4
SOLUTION:
• Define origin at upper horizontal surface with
positive displacement downward.

• Collar A has uniformly accelerated rectilinear

motion. Solve for acceleration and time t to reach L.

v A  v 0
2 A 2  2a A x A  x A  
0
2
12 in.   2a 8in.  aA  9
in.
  A
 s  s2

v A  vA 0  a At
in. in.
12 9 t t  1.333 s
s s2

16/297/2017 Engineering Mechanics – Dynamics 69

 Sample Problem 4
• Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
xD  xD 0  vDt

x D  x D 0  3 1.333s  4 in.

in.
 s 
• Block B motion is dependent on motions of collar
A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A  2xD  xB  xA 0  2xD 0  xB 0
xA  xA 0  2xD  xD 0  xB  xB 0  0
8in. 24 in. xB  xB 0  0
xB  xB 0  16in.
17/207/2017 Engineering Mechanics – Dynamics 70
 Sample Problem 4
• Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A  2xD  xB  constant
v A  2vD  vB  0

12 in.   23 in.   v  0

    B vB  18
in.
 s   s  s

aA  2aD  aB  0
in.
 in.  aB  9
 9 s 2   aB  0 s2
 

17/217/2017 Engineering Mechanics – Dynamics 71

 Curvilinear Motion
A particle moving along a curve other than a straight line is said
to be in curvilinear motion.

http://news.yahoo.com/photos/ss/441/im:/070123/ids_photos_wl/r2207709100.jpg

17/227/2017 Engineering Mechanics – Dynamics 72

CURVILINEAR MOTION OF PARTICLES
POSITION VECTOR, VELOCITY, AND
ACCELERATION

r
y  r
v  
v  lim r  dr
 t
P’ t 0 t dt
 
r r  s s s
t
P
ds
x v
dt
Let’s find the instantaneous velocity.
z
73 Engineering Mechanics – Dynamics 1/27/2017
Engineering Mechanics – Dynamics 73
 
v
'
v

 v
y

a
P’ v t

r
 P
r
x

74 Engineering Mechanics – Dynamics 1/27/2017

Engineering Mechanics – Dynamics 74
z
 y
 

a  lim v  dv 
t 0 t dt v
'
v
x
 v
y
 z
a
P’ v t

r Note that the
P acceleration is not

r necessarily along the
x direction of
the velocity.
75 Engineering Mechanics – Dynamics 1/27/2017
Engineering Mechanics – Dynamics 75
z
 DERIVATIVES OF VECTOR
FUNCTIONS
   
 P( u  u )  P( u ) 
dP  lim P  lim  
du u0 u  u u0


    
d( P  Q )  dP  dQ  f dP
du du du du

d( fP ) df P

76 du du
Engineering Mechanics – Dynamics
Engineering Mechanics – Dynamics
1/27/2017 76
      
d( P  Q )  dP  Q  P  dQ
du du du
     
d( P  Q )  dP  Q  P  dQ
du du du

dP  x ˆi  y ˆj 
dP dP
kˆ
zdP

du du du du
77 Engineering Mechanics – Dynamics 1/27/2017
Engineering Mechanics – Dynamics 77
 Rate of Change of a Vector


P  Pˆi Pˆj  Pkˆ
x y z

The rate of change of a vector is the

same with respect to a fixed frame and
with respect to a frame in translation.
78 Engineering Mechanics – Dynamics 1/27/2017
Engineering Mechanics – Dynamics 78
 RECTANGULAR COMPONENTS OF
VELOCITY AND ACCELERATION

 ˆ ˆ ˆ
r  x i y j zk
 ˆ ˆ ˆ
v  xi yj zk
 ˆ ˆ ˆ
1/27/2017
a  xi yj zk
Engineering Mechanics – Dynamics 79
79
 v y ˆj 
a
y

r v xˆi
vz kˆ
y

yˆj v
P x

z xî
x
zk̂
80 Engineering Mechanics – Dynamics 1/27/2017
z Engineering Mechanics – Dynamics 80
 y 
a
a y ˆj

ˆ x
ax i
a z kˆ
z

81 Engineering Mechanics – Dynamics 1/27/2017

Engineering Mechanics – Dynamics 81
 Velocity Components in Projectile Motion

ax  x  0
vx  x  vxo
x  vxot
az  z 0 a y  y g
vz  z  vzo  0 v  y v  gt y yo

z 0 y  v yot  gt
Engineering Mechanics – Dynamics
1
2
2

82
MOTION RELATIVE TO A FRAME IN
TRANSLATION
y’ B


y
 rB / A
rB
x’
A

rA z’
  
r  r r
O x

z B A B /A
Engineering Mechanics – Dynamics 83
   
rB  rA  rB / A
  
rB  rA  rB / A
  
vB  vA  vB / A
  
vB  v A  vB / A
  
aB  a A  a B / A
Engineering Mechanics – Dynamics 84
   
aB  a A  a B / A
  
r r r
B A B/A

Engineering Mechanics – Dynamics 85

 TANGENTIAL AND NORMAL
COMPONENTS
Velocity is tangent to the path of a particle.
Acceleration is not necessarily in the same direction.
It is often convenient to express the acceleration in
terms of components tangent and normal to the path
of the particle.

Engineering Mechanics – Dynamics 86

 Plane Motion of a Particle

êt'
y ê t

eˆn  ˆ 
P’ êt v  ve t
ên
'

P
O x

Engineering Mechanics – Dynamics 87

 eˆ t

êt'
êt


êt êt  2 sin 2

lim  ên lim  eˆn lim  
 0   0   0  
 sin  2 
 ên lim    eˆ n
 0
  2 

deˆt
eˆn 
1/27/2017
d
Mechanics – Dynamics
Engineering Mechanics
Engineering 88
88
 deˆt
eˆn 
d
 ˆ
v  ve t


 dv dv deˆ t
a  eˆ t  v
dt dt dt

Engineering Mechanics – Dynamics 89

  dv deˆ t
a  eˆ t  v
dt dt
êt'
y
s  
eˆt
 P’ s ds
 s   lim 
P  0  d
O x
deˆt deˆt d ds deˆt v v
   eˆn
dt d ds dt d  

 dv ˆe  v 2 eˆ
a
dt t  n
Engineering Mechanics – Dynamics 90
  dv ˆe  v 2 eˆ
a
dt t  n


a  a eˆ  a eˆ
t t n n

dv v2
at  an  
dt

Discuss changing radius of curvature for highway cur

Engineering Mechanics – Dynamics 91

 Motion of a Particle in Space

êt'
y

ên
P’ êt
ên
'

P
O x

The equations are the same.

Engineering Mechanics – Dynamics 92
RADIAL AND TRANSVERSE
COMPONENTS

Plane Motion

ê
y
êr

 P
r


x

Engineering Mechanics – Dynamics 93

 ê êr êr
ê eˆr
eˆ

dêr dê
 eˆ  eˆr
d
d

deˆr deˆr d 
   eˆ
dt d dt
deˆ deˆ d
   eˆr
dt d dt
Engineering Mechanics – Dynamics 94
 
 dr d ˆ
v  ( re r )  reˆr  reˆr
dt dt
 ˆ  ˆ
v  r e r r e  vr eˆr v eˆ

vr  r v  r

Engineering Mechanics – Dynamics 95

 ê
y
êr


r


x

eˆr ˆicos  ˆj sin

deˆr
 ˆisin   ˆjcos  eˆ 
d
dê
 ˆicos  ˆjsin   eˆ r

d Engineering Mechanics – Dynamics 96

  ˆ  ˆ
v  r e r r e 
   ˆ  ˆ   ˆ
a  rer  r e r  r  e   reˆ  r eˆ
 
a  rêr  r ê  r ê  rê  r 2 êr

   2 ˆ
a  ( r  r )e  ( r 2r )eˆ
r 

ar  r  r
  2
a  r 2r

dv r dv
Note ar  a 
dt dt
Engineering Mechanics – Dynamics 97
 Extension to the Motion of a Particle in Space:
Cylindrical Coordinates

r  Reˆ  zkˆ
r
 ˆ
v  Re  Reˆ  zkˆ
R 


a  ( R  R )eˆ  ( R 2R )eˆ  zkˆ

 2
R 

Engineering Mechanics – Dynamics 98

 Curvilinear Motion: Position, Velocity & Acceleration

• Position vector of a particle at time t is defined by a

vector between origin O of a fixed reference frame and
the position occupied by particle.

• Consider particle which occupies position P defined

by r at time t and P’ defined by r at t + t,
 
 r  dr
v  lim
t0 t dt
 instantaneous velocity (vector)
s ds
v  lim 
t0 t dt
 instantaneous speed (scalar)

19/297/2017 V e lo c i ty i s tan gent to path

Engineering ec ha n ics – D
Engineeri ng MMechanics y na m ci s
Dynamics 99
 Curvilinear Motion: Position, Velocity & Acceleration

• Consider velocity v of particle at time t and velocity
vat t + t,
 
v
a  lim
dv

t0 t dt
 instantaneous acceleration (vector)

• In general, acceleration vector is not tangent to

particle path and velocity vector.

11/2070/20 Engineering Mechanics – Dynamics 10

17 0
 Rectangular Components of Velocity & Acceleration
• Position vector of particle P given by its
rectangular components:
   
r  xi  y j  zk

• Velocity vector,
 dx  dy  dz    
v i  j k  xi  y j  zk
dt dt dt
  
 vx i  v y j v zk

• Acceleration vector,
 d 2 x d 2 y  d 2 z    
a i j k  xi yj  zk
dt 2 dt 2 dt 2

  
 a x i  a y j azk
11/2071/20 Engineering Mechanics – Dynamics 10
17 1
 Rectangular Components of Velocity & Acceleration
• Rectangular components are useful when
acceleration components can be integrated
independently, ex: motion of a projectile.
a x  x 0 a y  y g a z  z 0
with initial conditions,
x0  y0  z0  0 vx 0  v y 0  given
Therefore:
vx  vx 0 v y  v y   gt
0

y  v y  t  gt
1 2
x  v x 0 t
0 2
• Motion in horizontal direction is uniform.
• Motion in vertical direction is uniformly accelerated.

• Motion of projectile could be replaced by two

independent rectilinear motions. 10
11/2072/20 Engineering Mechanics – Dynamics
17 2
 Example
A projectile is fired from the edge of a 150-m cliff with an initial
velocity of 180 m/s at an angle of 30° with the horizontal. Find (a) the
range, and (b) maximum height.

y
Remember:

v  v0  at
x  x0  v0 t  12 at2
v 2  v02  2a x  x 0 
x

11/2073/20 Engineering Mechanics – Dynamics 10

17 3
 Example
Car A is traveling at a constant speed of 36 km/h. As A crosses
intersection, B starts from rest 35 m north of intersection and moves
with a constant acceleration of 1.2 m/s2. Determine the speed, velocity
and acceleration of B relative to A 5 seconds after A crosses
intersection.

11/2074/20 Engineering Mechanics – Dynamics 10

17 4
Tangential and Normal Components
• Velocity vector of particle is tangent to path of
particle. In general, acceleration vector is not.
Wish to express acceleration vector in terms of
tangential and normal components.

• et and et are tangential unit vectors for the

particle path at P and P’. When drawn with
respect to the same origin, de  e   e
t t t

et  et  det
det
From geometry: det  d
d
det  den
det
 en
11/2075/20
d
Engineering Mechanics – Dynamics 10
17 5
Tangential and Normal Components

• With the velocity vector expressed as v ve t

the particle acceleration may be written as
dv dv de dv de d ds
a   e t v t  e t v t
dt dt dt dt d ds dt
but
det  ds
en  d  ds v
d dt
After substituting,
dv v2 dv v2
a  et  en at  an 
dt  dt 
• Tangential component of acceleration reflects
change of speed and normal component reflects
change of direction.
• Tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
106
1/27/2017 Engineering Mechanics – Dynamics 10
6
Radial and Transverse Components
• If particle position is given in polar coordinates, we can
express velocity and acceleration with components
parallel and perpendicular to OP.
• Particle position vector: r  rer
d dr der
• Particle velocity vector: v  rer   er  r
dt dt dt
dr d
v  er  r e  rer  re
 
r  re dt dt
r • Similarly, particle acceleration:
der  de  a
d

rer  r e  
 e  er
d d
dt
de de
der der d  d  rer  r r  r e  r e  r 
  e dt dt
dt d dt dt d d
 rer  re  r e  r e  rer
de de d  dt
  er
dt
11/2077/2017
d
dt
d dt
 2
 
a  r  r er  r  2r e
Engineering Mechanics – Dynamics dt
10
7
 Sample Problem

A motorist is traveling on curved section of highway at 60 mph. The motorist

applies brakes causing a constant deceleration.
Knowing that after 8 s the speed has been reduced to 45 mph, determine the
acceleration of the automobile immediately after the brakes are applied.

11/2078/20 Engineering Mechanics – Dynamics 10

17 8
 Sample Problem
SOLUTION:
• Calculate tangential and normal components of
acceleration.
v 66  88ft s ft
at    2.75
t 8s s2
v2 88 ft s2  3.10 ft
an  
 2500 ft s2
60 mph  88ft/s
• Determine acceleration magnitude and direction
45 mph  66 ft/s with respect to tangent to curve.
a  a 2  a 2   2.752  3.102 a  4.14 ft
t n s2

  tan 1 an  tan 1 3.10   48.4

at 2.75

11/2079/20 Engineering Mechanics – Dynamics 10

17 9
 Sample Problem
Determine the minimum radius of curvature of the trajectory
described by the projectile.

v2
Recall: an 

2
 v
an
Minimum r, occurs for small v and large an
v is min and an is max


155.9  2

 2480 m
9.81
an
a
11/1270/2017 Engineering Mechanics – Dynamics 11
0
 Sample Problem

Rotation of the arm about O is defined by  = 0.15t2 where  is in radians and

t in seconds. Collar B slides along the arm such that r = 0.9 - 0.12t2 where r
is in meters.
After the arm has rotated through 30o, determine (a) the total velocity of the
collar, (b) the total acceleration of the collar, and (c) the relative acceleration
of the collar with respect to the arm.

11/1217/2017 Engineering Mechanics – Dynamics 11

1
 Sample Problem
SOLUTION:
• Evaluate time t for  = 30o.
  0.15t 2
 30  0.524 rad t  1.869 s

• Evaluate radial and angular positions, and first

and second derivatives at time t.
r  0.9  0.12 t 2  0.481 m
r 0.24 t  0.449 m s
r 0.24 m s 2

  0.15t 2 0.524rad
 0.30 t  0.561rad s
 0.30 rad s2
11/1272/2 Engineering Mechanics – Dynamics 11
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 Sample Problem
• Calculate velocity and acceleration.
vr  r 0.449 m s
v  r  0.481m0.561rad s  0.270 m s
v  v2  v2
r 
  tan1 v
vr
v  0.524m s   31.0
ar  r r2
 0.240 m s2  0.481m0.561rad s2
 0.391m s2
a  r 2r

 
 0.481m 0.3rad s2 2 0.449 m s0.561rad s
 0.359 m s2
a  a2  a2
r 
  tan1 a
ar
a  0.531m s   42.6
11/1273/2 Engineering Mechanics – Dynamics 11
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 Sample Problem
• Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear
and defined by coordinate r.

a B OA  r 0.240 m s 2

11/1274/2 Engineering Mechanics – Dynamics 11

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UNIT-II

KINETICS OF PARTICLE
Introduction, definitions of matter, body, particle, mass, weight, inertia,
momentum, Newton’s law of motion, relation between force and mass,
motion of a particle in rectangular coordinates, D’Alembert’s principle,
motion of lift, motion of body on an inclined plane, motion of
connected bodies.

Engineering Mechanics – Dynamics 11

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 Newton’s Second Law of Motion
• 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.

F  ma
• If particle is subjected to several forces:

 F  ma
• We must use a Newtonian frame of reference, i.e., one that is not
accelerating or rotating.
• If no force acts on particle, particle will not accelerate, i.e., it will
remain stationary or continue on a straight line at constant velocity.
Engineering Mechanics – Dynamics 11
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6
Linear Momentum of a Particle

 F  ma  m dt
dv

 mv   L
d
dt
d
dt

L  mv Linear momentum
Sum of forces = rate of change of linear momentum F  L
If F  0 linear momentum is constant

Principle of conservation of linear momentum

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7
Equations of Motion  
• Newton’s second law  F  ma

• Convenient to resolve into components:

 
  
 

 Fx i  Fy j  Fz k  m a x i  a y j  a z k 
 Fx  max  Fy  ma y  Fz  maz
 Fx  mx  Fy  my  Fz  mz

• For tangential and normal components:

F t  mat F n  man
v2
F
dv
 F t  m dt n m

Engineering Mechanics – Dynamics 11
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8
Dynamic Equilibrium
• Alternate expression of Newton’s law:

 F  ma  0
ma inertia vector
• If we include inertia vector, the system of
forces acting on particle is equivalent to zero.
The particle is said to be in dynamic
equilibrium.

• Inertia vectors are often called inertia

forces as they measure the resistance that
particles offer to changes in motion.

Engineering Mechanics – Dynamics 11

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9
 Sample Problem 1
SOLUTION:
• Draw a free body diagram
• Apply Newton’s law. Resolve
into rectangular components

An 80-kg block rests on a horizontal plane. Find the

magnitude of the force P required to give the block an
acceleration of 2.5 m/s2 to the right. The coefficient of
kinetic friction between the block and plane is mk =
0.25.

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 Sample Problem 12.2

Psin30
 Fx  ma :
Pcos30 P cos30  0.25N  802.5
 200
W  mg  80  9.81  785N  Fy  0 :
F  k N  0.25N N  Psin30  785  0
Solve for P and N
N  Psin 30  785
P cos30  0.25Psin 30  785  200
P  534.7 N
1/27/2017 Engineering Mechanics – Dynamics N 1052.4 N 1212
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1
 Sample Problem 12.3

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
12
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2
Sample Problem 2
• Kinematic relationship: If A moves xAto
O
the right, B moves down 0.5 xA
x xB  12 x A aB  12 a A
y Draw free body diagrams & apply Newton’s law:
Fx  mAa A T1  100 a A

F y  mB aB mB g  T2  mBaB
300  9.81  T2  300 aB
T2  2940- 300 aB

F y  mC aC T2  2T1  0
2940- 300 aB  2T1  0 2940- 300 aB  200a A  0
2940- 300 aB  2  200aB  0
aB  4.2 m / s2 a A  8.4 m / s2 T1  840 N T2 1680 N
Engineering Mechanics – Dynamics 12
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3
 Sample Problem 3

Block

Wedge

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.
Engineering Mechanics – Dynamics 12
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4
 Draw free body diagrams for block & wedge
N1sinq
N1
N1 N cosq 1

WBsinq
aBn
aBt WB WBcosq

WB sin  mBaBt aA
12
12  0.5  aBt  aBt  16.1 ft / s2 N1 sin  m A a A 0.5N1 
30
aA
32.2 32.2
N1 WB cos  mBaBn N1 cos W A  N 2
But aBn  a A sin Same normal acceleration (to maintain contact)
12  0.5
N1 W B cos  mBaA sin N1 10.39   aA
32.2
a A  5.08 ft / s 2
1/27/2017
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EngineerBinngMechanics
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ft
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/ s 2
12
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5
 N1sinq
N1
N1 N1cosq
WBsinq
aBn
aBt WB WBcosq

aA
aBx  a Bt cos  a Bn sin  12.67 ft / s 2
aB / A  aB  a A
aBy  a Bt sin  a Bn cos  10.25 ft / s 2

aB / A  12.67i 10.25 j  5.08i  30°

 17.75i 10.25 j 20.5
Engineering Mechanics – Dynamics 12
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6
 Sample Problem 4

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 acceleration
of the bob in that position.

Engineering Mechanics – Dynamics 12

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7
 Sample Problem 5
Resolve into tangential and normal components:
 Ft  mat : mg sin 30  mat
at  g sin 30
at  4.9 m s 2

 Fn  man : 2.5mg  mg cos 30  man

an  g2.5  cos 30
an  16.03m s 2

• Solve for velocity in terms of normal acceleration.

mgsin30
an 
v2

v 
an  2 m16.03m s 2 
mgcos30 v  5.66 m s

Engineering Mechanics – Dynamics 12

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8
 Sample Problem 6
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

Determine the rated speed of a the car into vertical and normal
highway curve of radius  = 400 ft components.
banked through an angle  = 18o. The
rated speed of a banked highway curve • Solve for the vehicle speed.
is the speed at which a car should
travel if no lateral friction force is to
be exerted at its wheels.

Engineering Mechanics – Dynamics 12

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9
 Sample Problem 7
• Resolve the equation of motion for
the car into vertical and normal
components.
 Fy  0 : R cos W  0
W
R
cos

 Fn  man : R sin  W an
SOLUTION: g

• The car travels in a horizontal circular W W v2

sin 
path with a normal component of cos g 
acceleration directed toward the center • Solve for the vehicle speed.
of the path.The forces acting on the
car are its weight and a normal v 2  g tan
reaction from the road surface.  
 32.2ft s 2 400ft tan18
v  64.7 ft s  44.1mi h
Engineering Mechanics – Dynamics 13
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 Angular Momentum
From before, linear momentum: L  mv
Now angular momentum is defined as the moment of momentum
H O  r  mv
HO is a vector perpendicular to the plane
containing r and mv
Resolving into radial & transverse components:
H O  mv r  mr2
Derivative of angular momentum with respect to time:
HO  r  mv  r  mv  v  mv  r  ma
 r  F Moment of F about O
  MO
Sum of moments about O = rate of change of angular momentum
Engineering Mechanics – Dynamics 13
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1
Equations of Motion in Radial & Transverse Components

 r
F  ma r  m r r2  
 F  ma  mr 2r

Engineering Mechanics – Dynamics 13

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2
 Central Force
When 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.

O = center of force

Since line of action of the central force passes through O:

M O  HO  0

r  mv  H O  constant 13
Engineering Mechanics – Dynamics 133
3
 Sample Problem 8
SOLUTION:
• Write the radial and transverse
equations of motion for the block.
• Integrate the radial equation to find an
expression for the radial velocity.
• Substitute known information into the
A block B of mass m can slide freely on transverse equation to find an
a frictionless arm OA which rotates in a expression for the force on the block.
horizontal plane at a constant rate 0.
Knowing that B is released at a distance
r0 from O, express as a function of r
a) the component vr of the velocity of B
along OA, and
b) the magnitude of the horizontal force
exerted on B by the arm OA.
Engineering Mechanics – Dynamics 13
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4
 Sample Problem 8
r  r 2
dvr dvr dr dvr
r vr    vr
dt dr dt dr
But vr  r
dv
r 2  v r r r 2 dr  vrdv r
Write radial and transverse equations of dr
vr r
motion:

 Fr  m ar  
0  m r  r 2
 r r  o dr
v dv  r 2

vr2   02 r 2  r02 
0 ro

F  m F  mr  2r 

vr  0 r  r 
a 2 2 12
0

F  2m r  r
2
0
2
0 
2 12

Engineering Mechanics – Dynamics 13

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5
UNIT-III

IMPULSE AND
MOMENTUM,VIRTUAL
WORK
Impulse and momentum: Introduction; Impact, momentum, impulse,
impulsive forces, units, law of conservation of momentum, Newton’s
law of collision of elastic bodies.

Coefficient of restitution, recoil of gun, impulse momentum

equation; Virtual work: Introduction, principle of virtual work,
applications, beams, lifting machines, simple framed structures.

Engineering Mechanics – Dynamics 13

1/27/2017 Engineering Mechanics – Dynamics 6 136
 Impulse = Momentum
Consider Newton’s 2nd
Law and the
definition of
acceleration

Ns
Kg x m/s

Momentum is defined as “Inertia in Motion”

Units of Impulse:
1/27/2017 Engineering Mechanics – Dynamics 13
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Units of Momentum: 7
Impulse – Momentum Theorem
Ft  mv
IMPULSE CHANGE IN MOMENTUM

This theorem reveals

some interesting
relationships such as the
INVERSE relationship
m v
between FOR CE a nd
TIME F
t
Engineering Mechanics – Dynamics 138
Impulse – Momentum Relationships

Engineering Mechanics – Dynamics 139

 Impulse – Momentum Relationships
fT  mV
Constant

Since TIME is directly related

to the VELOCITY when the
force and mass are constant,
the LONGER the cannonball is
in the barrel the greater the
velocity.

Also, you could say that the

force acts over a larger
Mech an ic s ––D 14
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Engineering Mechanics
layncameicms ent, thus there is 140
0
 How about a collision?
Consider 2 objects speeding
toward each other. When they
collide......

Due to Newton’s 3rd Law the

FORCE they exert on each
other are EQUAL and
OPPOSITE.

The TIMES of impact are also

equal.
F1 F2 t1  t2 Therefore, the IMPULSES of the 2
objects colliding are also
(Ft )1  (Ft ) 2 EQUAL

1/27/2017
J1  J 2 Engineering Mechanics – Dynamics 14
141
1
 How about a collision?
If the Impulses are
equal then the
M OMENTUMS are
J1  J 2
also equal!
p1   p2
m1v1  m2v2
m1(v1  vo1 )  m2 (v2  vo 2 )
m1v1  m1vo1  m2v2  m2vo2 p before
  pafter
m1vo1  m2vo2  m1v1  m2v2
Engineering Mechanics – Dynamics 142
 Momentum is conserved!
The Law of Conservation of Momentum: “In the
absence of an external force (gravity, friction), the
total momentum before the collision is equal to
the total momentum after the collision.”

po(truck)  mvo  (500)(5)  2500kg * m / s

po(car)  (400)(2)  800kg * m / s
po(total)  3300kg * m / s
ptruck  500 *3  1500kg * m / s
pcar  400 * 4.5  1800kg * m / s
ptotal  3300kg * m / s

Engineering Mechanics – Dynamics 143

 Types of Collisions
A situation where the objects DO NOT STICK is
one type of collision

Notice that in EACH case, you have TWO objects BEFORE

and AFTER the collision.
Engineering Mechanics – Dynamics 144
A “no stick” type collision

pbefore = pafter
m1vo1  m2vo2  m1v1  m2v2
(1000)(20)  0  (1000)(v1 )  (3000)(10)
10000  1000v1
v1  -10 m/s
Engineering Mechanics – Dynamics 145
 Types of Collisions
Another type of collision is one where the
objects “STICK” together. Notice you have
TWO objects before the collision and ONE
object after the collision.

Engineering Mechanics – Dynamics 146

A “stick” type of collision

pbefore = pafter
m1vo1  m2vo2  mT vT
(1000)(20)  0  (4000)vT
20000  4000vT
vT  5 m/s
Engineering Mechanics – Dynamics 147
The “explosion” type
This type is often referred to
as “backwards inelastic”.
Notice you have ONE object
( we treat this as a SYSTEM)
before the explosion and
TWO objects after the
explosion.

Engineering Mechanics – Dynamics 148

Backwards Inelastic - Explosions
Suppose we have a 4-kg rifle
loaded with a 0.010 kg bullet.
When the rifle is fired the
bullet exits the barrel with a
velocity of 300 m/s. How fast
does the gun RECOIL
backwards?
pbefore = pafter
mT vT  m1v1  m2v2
(4.010)(0)  (0.010)(300)  (4)(v2 )
0  3  4v2
v2  -0.75 m/s
Engineering Mechanics – Dynamics 149
 Collision Summary
Sometimes objects stick together or blow
apart. In this case, momentum is ALWAYS
conserved.
p before
  pafter
m1v01  m2v02  m1v1  m2v2 When 2 objects collide and DON’
m1v01  m2v02  mtotalvtotal When 2 objects collide and stick to
mtotalvo(total)  m1v1  m2v2 When 1 object breaks into 2 objec

Elastic Collision = Kinetic Energy is Conserved

Inelastic Collision = Kinetic Energy is NOT Conserved

Engineering Mechanics – Dynamics 150

 Elastic Collision

KEcar (Before)  1 2 mv 2  0.5(1000)(20) 2  200,000J

KEtruck ( After )  0.5(3000)(10) 2  150,000J
KEcar ( After )  0.5(1000)(10) 2  50,000J

Since KINETIC ENERGY is conserved during the collision

we call this an ELASTIC COLLISION.

Engineering Mechanics – Dynamics 151

 Inelastic Collision

KEcar (Before)  12 mv 2  0.5(1000)(20) 2  200,000J

KEtruck/ car ( After )  0.5(4000)(5) 2  50,000J

Since KINETIC ENERGY was NOT conserved during the

collision we call this an INELASTIC COLLISION.

Engineering Mechanics – Dynamics 152

 ExampGlraaround
enny (m=80 kg) whizzes
the rink with a velocity
of 6 m/s. She suddenly collides
with Ambrose (m=40 kg) who
is at rest directly in her path.
Rather than knock him over,
she picks him up and
continues in motion without
"braking." Determine the
velocity of Granny and
Ambrose.
How many objects do I have before the collision?
2  pb   pa
m1vo1  m2vo 2  mT vT
How many objec1ts do I have after the c(o8li0si)o(n6?)  (40)(0)  120v
T

vT  4 m/s
Engineering Mechanics – Dynamics 153
Collisions in 2 Dimensions
The figure to the left shows a
collision between two pucks
on an air hockey table. Puck A
has a mass of 0.025-kg and is
vA moving along the x-axis with a
vAsin velocity of +5.5 m/s. It makes
a collision with puck B, which
has a mass of 0.050-kg and is
vAcos initially at rest. The collision is
NOT head on. After the
vBcos collision, the two pucks fly
vBsin apart with angles shown in
vB the drawing. Calculate the
speeds of the pucks after the
collision.

Engineering Mechanics – Dynamics 154

Collisions in 2 dimensions
p ox   px
mAvoxA  mBvoxB  mAvxA  mBvxB
(0.025)(5.5)  0  (.025)(vA cos 65)  (.050)(vB cos 37)
vA
vAsin 0.1375  0.0106vA  0.040vB

vAcos p oy   py
0  mAvyA  mBvyB
vBcos v sin
vB
B
0  (0.025)(vA sin 65)  (0.050)(vB sin 37)
0.0300vB  0.0227vA
vB  0.757vA

Engineering Mechanics – Dynamics 155

 Collisions in 2 dimensions
0.1375  0.0106vA  0.040vB
vB  0.757v A
vB  0.757(2.84)  2.15m / s

0.1375  0.0106vA  (0.050)(0.757vA )

0.1375  0.0106vA  0.03785vA
0.1375  0.04845vA
vA  2.84m / s

156 Engineering Mechanics – Dynamics 1/27/2017

Engineering Mechanics – Dynamics 15
6
UNIT-IV

WORK ENERGY
METHOD
Work energy method: Law of conservation of energy,
application of work energy, method to particle motion
and connected system, work energy applied to connected
systems, work energy applied to fixed axis rotation.

Engineering Mechanics – Dynamics 15

1/27/2017 Engineering Mechanics – Dynamics 7 157
Law of Conservation of Energy

• What you put in is

what you get out

• Total energy is
conserved

Engineering Mechanics – Dynamics 15

8
Practical Applications
 Gasoline converts to energy which moves
the car
 A battery converts stored chemical
energy to electrical energy
 Dams convert the kinetic energy of falling
water into electrical energy

Engineering Mechanics – Dynamics 15

9
Can You Think of Other Examples?

Engineering Mechanics – Dynamics 16

0
Conservation of Mechanical Energy

1
mv  mgh  E
m = mass
2
v = velocity

2 g = gravitational acceleration
h = height

Kinetic Potential Total

Energy Energy Energy
ILYA, did you
know that even
though it was a
bumpy ride,
our energy
remained
constant!

Engineering Mechanics – Dynamics 16

1
 Example of Conservation of
Mechanical Energy
1
mv2  mgh  E
2

Constant

Engineering Mechanics – Dynamics 16

2
An Example

Engineering Mechanics – Dynamics 16

3
Another Example

Engineering Mechanics – Dynamics 16

4
Yet Another Example

Engineering Mechanics – Dynamics 16

5
Last Example

Engineering Mechanics – Dynamics 16

6
UNIT-V

MECHANICAL
VIBRATIONS
Definitions and concepts, simple harmonic
motion, free vibrations, simple and compound
pendulum, torsion pendulum, free vibrations
without damping, general cases.

Engineering Mechanics – Dynamics 16

1/27/2017 Engineering Mechanics – Dynamics 7 167
 Simple Harmonic Motion
• Harmonic Motion is any motion that repeats itself.
• Examples of Harmonic Motion.

Engineering Mechanics – Dynamics 168

Engineering Mechanics – Dynamics 169
Engineering Mechanics – Dynamics 170
Engineering Mechanics – Dynamics 171
Engineering Mechanics – Dynamics 172
Period Time for one oscillation

Frequency Number of oscillations in

one second

Displacement Distance from equilibrium

Amplitude Maximum displacement

Engineering Mechanics – Dynamics 173

• Simple harmonic motion is a special type of harmonic
motion.

• Consider a mass on a spring.

• The cart is in equilibrium, because the total force is

zero.
• The acceleration is also
(this doesn’t meazneriots.stationary)
Engineering Mechanics – Dynamics 174
Lets look at the forces

force

dispt = -A

Engineering Mechanics – Dynamics 175

force

dispt = -A/2

Engineering Mechanics – Dynamics 176

Force = 0

dispt = 0

Engineering Mechanics – Dynamics 177

 force

dispt = A/2

Engineering Mechanics – Dynamics 178

 force

dispt = A

Engineering Mechanics – Dynamics 179

 force

dispt = A

• Notice that as the displacement increases, the

restoring force increases.

• Notice that the restoring force is always in the

opposite direction to the displacement
Engineering Mechanics – Dynamics 180
Now we’ll look at the acceleration
acceleration
force

dispt = -A

Engineering Mechanics – Dynamics 181

acceleration
force

dispt = -A/2

Engineering Mechanics – Dynamics 182

 Acceleration =0
Force = 0

dispt = 0

Engineering Mechanics – Dynamics 183

 acceleration
force

dispt = A/2

Engineering Mechanics – Dynamics 184

 acceleration
force

dispt = A

Engineering Mechanics – Dynamics 185

 acceleration

dispt = A

• Notice that as the displacement increases, the

acceleration increases.

• Notice that the acceleration is always in the

opposite direction to the displacement
Engineering Mechanics – Dynamics 186
• The relation between acceleration and
displacement is …..

• Acceleration is proportional to displacement

• Acceleration is in opposite direction to
displacement.

a   constant  y

2
a  y 2 
T
Engineering Mechanics – Dynamics 187
Acceleration/position graph
acceleration

position

Engineering Mechanics – Dynamics 188

 Acceleration/position graph
acceleration

position

y  mx  c
a  mx
a  2 x
Engineering Mechanics – Dynamics 189
 Force/position graph
force

position

a   x
2

F  ma  (m )x
2

Engineering Mechanics – Dynamics 190

 Graphs of SHM
• We have looked at simple harmonic motion as
a function of position.
• Now we’ll look at it as a function of time

Engineering Mechanics – Dynamics 191

 • raphs

Engineering Mechanics – Dynamics 192

 graphical treatment

Engineering Mechanics – Dynamics 19

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•
Engineering Mechanics – Dynamics 194
•

Engineering Mechanics – Dynamics 195

Reference Circle

Engineering Mechanics – Dynamics 196

Reference Circle

Red ball moves in SHM horizontally

Blue ball moves in a circle

Both have same period

Amplitude of SHM equals

radius of circle

Both have same horizontal

displacement

Engineering Mechanics – Dynamics 197

To find the position of a swing at a certain time.
The period is 4.0s
The amplitude is 2.0m
Where is the swing 2.0s after release?

Engineering Mechanics – Dynamics 198

The period is 4.0s
The amplitude is 2.0m
Where is the swing 1.0s after release?

Engineering Mechanics – Dynamics 199

Where is the swing 0.5s after release?

Convert time to angle (1period = 360o)

0.5
 3600  450
4.0

0.50s  450 x
450
x
cos 45  0
2.0m
2
Engineering Mechanics – Dynamics 200
Where is the swing 2.5s after release?

Convert time to angle (1period = 360o)

2.5
 3600  2250
4.0
2.0m
2.50s  2250 450

x
x
cos 45  0
2
Engineering Mechanics – Dynamics 201
How long does it take to go 1.4m from the start?

(1) Calculate angle

0.59
cos 
2

(2) Convert angle to time
(1period = 360o) 1.41m 0.59m
600
60
60 
0
of a period
360 2.0m
600  16  4.0s
Engineering Mechanics – Dynamics 202
• The top of the sky tower is oscillating with an
amplitude of 2.0 m and a period of 14 s.

• How long is it more than 0.80m from equilibrium each

cycle?

• What is the horizontal acceleration when the

displacement is maximum?

Engineering Mechanics – Dynamics 203

 Equations 1
y  Asin    t

y  Asin t
v  Acost
a  A sint
2

Engineering Mechanics – Dynamics 204

 Equations 2

y  Acost
v  A sint

a  A cost
2

Engineering Mechanics – Dynamics 205

 Equations 3

y  Acos  t
v  Asint

a  A cost
2

Engineering Mechanics – Dynamics 206

y  Asin t ymax  A

v  Acost vmax  A
a  A sint
2 amax   A 2

a   Asin t   y
2 2

a   y 2
Engineering Mechanics – Dynamics 207
Anisha is on a swing. Kate pulls her back 2.0m and lets her go. Her
period is 4.0s.
(a) Calculate her maximum speed. (where is it?)

(b) Calculate her maximum acceleration. (where is it?)

Engineering Mechanics – Dynamics 208

Anisha is on a swing. Kate pulls her back 2.0m and lets her go. Her
period is 4.0s.

(a) Calculate her speed 0.50s after being released

(b) Calculate her acceleration 0.50s after being released

Engineering Mechanics – Dynamics 209

• Nik is bungee jumping. In one oscillation he
travels 12 m and it takes 8.0s.

• Tahi starts videoing him as he passes

through the mid position moving UP.

(a) Calculate his velocity 1.0s after the video

starts
(b) Calculate his acceleration 2.0s after the video
starts.
Engineering Mechanics – Dynamics 210
 Mass on a Spring
• As the mass increases, the period… increases

• As the spring stiffness increases the period …

increases

Engineering Mechanics – Dynamics 211

 Effect of mass:
F
a
m
• As the mass increases, the acceleration…
decreases (assuming constant force)
• As the acceleration decreases the period …
increases

A larger mass means a longer period.

Engineering Mechanics – Dynamics 212
 Effect of spring stiffness:
F
a F  kx
m
• As the stiffness increases, the restoring force…
increases (assuming same displacement)

• As the restoring force increases the acceleration …

increases
• As the acceleration increases the period … decreases

A stiffer spring means a shorter period.

Engineering Mechanics – Dynamics 213
 Summary
• mass ↑ acceln↓ period ↑

• stiffness ↑ force ↑ acceln ↑ period

↓
eq uation
m
T  2
k
Engineering Mechanics – Dynamics 214
Extension …..derivation of the equation:
consider a mass on a spring.
F
a F  -kx
m
kx a
k
a x (i.e. a  x)
m m
k
a x a  2 x
m
k 2
 2  ( ) 2
m T
k 2 m
 T  2
m T k
Engineering Mechanics – Dynamics 215
 energy of motion

Engineering Mechanics – Dynamics 21

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 Simple Pendulum
• This is where all the mass is concentrated in
one point.

Engineering Mechanics – Dynamics 217

What provides the restoring force?

the restoring force is

the Tension plus
Gravity

Engineering Mechanics – Dynamics 218

Why is the motion SHM?

As the displacement increases,

the restoring force. increases.

the restoring force is always

towards equilibrium

Engineering Mechanics – Dynamics 219

Engineering Mechanics – Dynamics 220
• This next bit is very important

Engineering Mechanics – Dynamics 221

Why does length affect period?

For the same amplitude, if the pendulum is shorter,

the angle of the string to the vertical is greater.
The restoring force is greater.
The acceleration is greater
So the period is shorter
Engineering Mechanics – Dynamics 222
period of a pendulum

l
T  2
g

How is length measured?

Engineering Mechanics – Dynamics 223
 As the pendulum expands
down,

The mercury expands up

This keeps the center of

mass in the same place

Same length same period.

Engineering Mechanics – Dynamics 224

Energy of SHM

Engineering Mechanics – Dynamics 225

 energy of motion

Engineering Mechanics – Dynamics 22

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a sprung system

Engineering Mechanics – Dynamics 22

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dampers

Engineering Mechanics – Dynamics 22

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energy dissipation
hydraulic oil high pressure
nitrogen gas

plunger dividing
piston
Engineering Mechanics – Dynamics 22
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bridge dampers

Engineering Mechanics – Dynamics 23

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Resonance
 Any elastic system has a natural period of
oscillation.

 If bursts of energy (pushes) are supplied

at the natural period, the amplitude will
increase.

 This is called resonance

Engineering Mechanics – Dynamics 23

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Engineering Mechanics – Dynamics 23
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Examples of resonance

Engineering Mechanics – Dynamics 23

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 The glass has a natural frequency of
vibration.
 If you tap the glass, it vibrates at the
natural frequency causing sound.
 If you put energy in at the natural
frequency, the amplitude increases.
This is resonance.
 If the amplitude gets high enough, the
glass can break.

Engineering Mechanics – Dynamics 23

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Bay of Fundy

Engineering Mechanics – Dynamics 23

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 Bay of Fundy
The period of the tide is 12 hours.
The time for a wave to move up the bay and
back is 12 hours

Engineering Mechanics – Dynamics 23

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 What is vibration?
 Vibrations are oscillations of a system about
an equilbrium position.

Engineering Mechanics – Dynamics 23

7
Vibration…

It is also an
everyday
phenomenon we
meet on
everyday life

Engineering Mechanics – Dynamics 23

8
 Vibration …
Useful Vibration Harmful vibration
Compressor
Noise
Testing

Destruction

Wear
Ultrasonic
cleaning

Fatigue

Engineering Mechanics – Dynamics 23

9
Vibration parameters
All mechanical systems
can be modeled by
containing three basic
components:
spring, damper, mass

When these components are subjected to constant force, they

react with a constant
displacement, velocity and acceleration
Engineering Mechanics – Dynamics 24
0
 Free vibration
 When a system is initially disturbed by a displacement,
velocity or acceleration, the system begins to vibrate with a
constant amplitude and frequency depend on its stiffness and
mass.
 This frequency is called as natural frequency, and the form
of the vibration is called as mode shapes

Equilibrium pos.

Engineering Mechanics – Dynamics 24

1
Forced Vibration
If an external force applied to a
system, the system will follow the
force with the same frequency.
However, when the force frequency
is increased to the system’s natural
’ frequency, amplitudes will
dangerously increase in this region.
This phenomenon called as
“Resonance”

Engineering Mechanics – Dynamics 24

2
 Watch these …
Bridge collapse:
http://www.youtube.com/watch?v=j-zczJXSxnw
Hellicopter resonance:
http://www.youtube.com/watch?v=0FeXjhUEXlc
Resonance vibration test:
http://www.youtube.com/watch?v=LV_UuzEznHs
Flutter (Aeordynamically induced vibration) :
http://www.youtube.com/watch?v=OhwLojNerMU

Engineering Mechanics – Dynamics 24

3
 Modelling of vibrating systems
Lumped (Rigid) Modelling Numerical Modelling

Element-based
methods
(FEM, BEM)

Statistical and Energy-based

methods
(SEA, EFA, etc.)

Engineering Mechanics – Dynamics 24

4
 Degree of Freedom (DOF)
•Mathematical modeling of a physical system requires the
selection of a set of variables that describes the behavior of the
system.

•The number of degrees of freedom for a system is the number

of kinematically independent variables necessary to completely
describe the motion of every particle in the
system
DOF=1 DOF=2
Single degree of freedom Multi degree of freedom
(SDOF) (MDOF)

Engineering Mechanics – Dynamics 24

5
Equivalent model of systems
Example Example
1: 2:

SDOF MDOF
DOF=1 DOF=2

Engineering Mechanics – Dynamics 24

6
Equivalent model of systems
MDOF
Example
3: DOF= 3 if body 1 has no
SDOF DOF=2 rotation
DOF= b4odiyf1body 1 has
rotation

Engineering Mechanics – Dynamics 24

7
SDOF systems
 Helical springs
Shear
stress:
Stiffness
coefficient:
F: Force, D: Diameter, G: Shear modulus of the rod,
N: Number of turns, r : Radius
 Springs in combinations:

Parallel combination Series combination

Engineering Mechanics – Dynamics 24

8
Elastic elements as springs

Engineering Mechanics – Dynamics 24

9
Moment of Inertia

Engineering Mechanics – Dynamics 25

0
What are the equivalent stiffnesses?

Engineering Mechanics – Dynamics 25

1