DIFFERENTIAL EQUATIONS KINEMATICS

*
given / have
any
Kinematic variables as functions * mass is not mentioned *
or
given
of time , langular) velocity, or
Langular) displacement * *
velocity/acceleration is at one instance

·
in time/space (single moment) *
TRANSLATION (S ,
v, a) ROTATION [0 ,
0 .
a)
CARTESIAN COORDINATES (I J K)
jy( ja()dt
,

S(t) )d+ s(to)

.
= + +
Q(t) = +
QCo
F rx
+
ry5 rzk +

=
=

* v() ds(t)=

dt
=
fa(t)d + v(to)
+
w(t) =
dQ(t)
dt
=
(a(t)d + + w(to)
Y vyE = +
Vy5 vzk +
*

di dan
2

d2s(t) a(t) dw(t) d2Q(t) a d+ d+ 2

a(t) dv(t) = =
=
=
=

dt d+
2
dt dt
2 a =
axi +
ay5 azk + *

↑ SPECIAL CASE a
Projectile Motion

I S known
: =known Q: known ,
= known
*
Something is airborne *
F ,

(0) 0
ay ay g
=

given/derived given derived

=
a(s) <
-

E
=

Vx Vo COSQ . Vy VoSinQg g(t)

= -
=

- N

Scsids S(Q)do
X Xo + Vo(t)cosQo y yot Vo(t)SinQo zg(t)2
= = -

=
"2(v(t))2 ~(o)) :
2 (c(t)2 co(t0)2) -

F S(+ b)
A
NORMAL/TANGENTIAL COORD ( .
+, n , ep)

t known
= t known =
Et tangent to the
: path in direction of motion
M

a(v) =

given/derived & (c) =

given/derived en : to
et/pointing in direction of twun
-

G Ep : the cross
w(t)
j"yardv = +- to J'k(w)dw-t-to
of product (enx += ep)
T VIto) W(
to)((t) & SPECIAL CASE < Circular motion
=
-

jta()dv S(t) S(to) =

-

w(d)((w)dw
w =
Q(+) Q(to)
-
*
given instantaneous radius of curvature & * ,

VIto) T 9 wet
= a =
12+ 102en +

fxe + v2/pen
= +

KINETICS FORCE MODELS

known
*
trajectory *
Ff Ffs
given l asked about forces #
ENsIstafrction
* =

= a a 2 +
ann
=
+ +
*
velocity/angular velocity is
given
at two
=
dV/d+ + 2+ Vwet
+

instances in time/space # Fg Fi
= =
MilINII (Kinetic friction)
* want/have info acceleration /forces
on
Farag = -(v2 POLAR COORDINATES (r , oi)
I
Er : in direction of radial line

Equations of motion (N2L) 5 Step Process + S En

↑ weni Ex:1 and pointing positive Q direction in

YOURSELF !!
P(t) DR -
8

P(t + A +)
BELIEVE IN
in vertical component
·
AS :

Et
2
Free body diagram n(t)
-
( + + At
i rep = Y Ver Va
= +

2 Frame of reference/Coordinate System

dr/d + er ra
- mg
+

8
= +
3 Vector expressions for forces > Ex) =

a = a 2n + Q
Vector expression for acceleration
,
↑
# TA[sinQE cosQJ]
= +

* need to Kinematics for Tis TB[-SinQE cosQJ]

=
(d2 /d+ - rw2)en (2d a+ w ra)
2 + +

May * =

use +

S Form &F = ma and break into components ↑ SPECIAL CASE Circular motion
*
May need to solve a DE * TEX) [F = m w + T + TB =
ma : Vo a
=
rwe 9 =
- rw2 ra

TB[-sinQE cosQ5] ma
mgj TA(sinQE cos@5]
-
+
+ + + =

&: TaSinQ-TysinQ ma :

5 TACoSQ +
TBCOSQ 0
- mg
: + =

TA = 2TB
-
want/have info about velocities/forces at two instances in time space or Section 15
.
IF there are forces
...
acting
over distances/displacementss. ·
work done on an
object as it moves between two
·
Principle of Work-nergy
E +
Four-Step Procedure
positions equals the change its Kinetic
energy
in
Don't Panic
(Prince of Work- Energy
1 Draw FBD
time rate of
change of work
·

2 Introduce frame of reference coordinate system (Power)

·
Displacement vector d
Draw
Section 15 3 15 4
,

Identify forces doing work and calculate

.

3
.

If work done force independent of the path

by
·
a is
4
Apply Principle of Work and Energy force is called Conservative
the
IF non-conservative forces are ..
present
(conserves
...

Work-Energy Approach
(i e
energy in
the
turns PE into KE)
system
Wiz= F dr SFeds VKEz-VkE : "zmv2-12mu ? = : weight .

If all forces work are conservative

doing then
.

IF conservative forces
,

... the sum of the Kinetic + potential

... present are
energies
constant
Wiz =

-mg(yz
-

y)= weight
remains

"mv+ 12ks
+ "2ks=Izmv +
.
+

mgy mgyz
Viz -1/2k(s2
= -
S? ) =
springs Section 16 I .

the impulse exterted between

object
·

When there is NO non-conservative forces present

on an

USE Conservation of
Energy Approach
two points in time
equals the change in its

Potential
>
-

of conservative forces (v) linear momentum

energy ~

VW PE (Princ of Impulse + Linear momentum)

m gy gravitational VVke VetVez
=
.

=
,
·

A force that acts over a small interval

VS =/2ks2 V V VS 1/2ks2 of time but exterts a linear impulse

mgy
= + +
elasticFE sig
= .

(impulsive Force
* Can use CoE Approach w/non-conservative forces as well ...

Section G 2 .

Vi Vie Viz Va Vkez

+
,
+
N
= + ·

For
system of particles if there
a external force,
is no

(OR if the external forces

work thats done by anything acting then
the
system
on be can

that ISNT a weight neglected total linear momentum conserved is

(cons. of linear momentum)

or a
spring
Particles
together following impact
·

IF... forces
acting (impulsive force/ average force...
move
are over time
USE Principle of Impulse and Linear Momentum PerfectlyPlastic
KineticEnergysconser
+
z
·
are

SEEdt ~
=
mvz-mr ,

forces tangential to
the direction of motion

E Far =
,
muz-mu
D

IF
... Given info about the impact (e
g
.

perfectly elastic/ plastic

USE Conservation of Linear Momentum Givenlasked about 2)
MAVA + MiVi MAVA' MBVB = +

- -
Before impact After impact

Coefficient of Restitution

↳ Ofe =
Send Vi VA-Vis
plastic elastic
IF... want I have info about work done and
Asked about
something related to time ...

power

Power P %/dt (work)

= =

Pave Vez-VkEi
At
:

Farky
Average velocity
KINEMATICS KINETICS
* mass NOT * Given mass
is
given
* Given /Asked about ...
* Given/Asked about forces or moments

velocity/acceleration/angular velocity/acceleration * Given info about

geometry
Have / Want info about... moment of interial acceleration
angular
* * Given

1
Want Have info
linear/angular velocity * NOTE # * about acceleration forces and I
-

Both points involved

moments
V + Ol
analysis MUST
or
angular acceleration
Velocity Analysis
in

be on or related to
Special Case ! G7
W
B Gab "BIA the same
body !! *
,

Rolling slipping
A+ who
:

~ R
/
=
Fis-Fa
VA-CRE A ⑧
* If link AB can extend/retract or there is
I -
M

J
↑ PA R =

pin at B that slot AB... H

C I
in
a moves
0J
>
in a on
M

I V OI =
+

Relative Motion Velocity Analysis -

&
c
=
W225
B :
a + Gab FBIA Wirel +

* If

Or the
a
point on a
rigid body has O
velocity known
velocity directions for 2 points is

for the same riid body

g↓
Instantaneous Center of Zero
Velocity Analysis 0 .

22 =
= WBic XBIC
M
q
(mmgR mRz + IG
Ke 5
* NOTE !
If wis
may
need to conduct a
unknown and needed
velocity analysis
(esp acceleration)
.
F5s ·

& I
constant acceleration
S =

D = 1/2 aft
112aGtz
2
*
displacement *

t
2
=

w
Want / have info about
linear/angular acceleration velocity
* 9 V= act *

EF mG =

as
Acceleration Analysis
=

#+ N +
Ff) mac =
V =
2DOG

= Da +Abbia WBBIA NJ FsE macE

mg(sinQE-cosQJ] + + =

&:
* if link can extend/retract or there is a pin
mgsinQ Ffs + =
mac
L
Ffs =

mac-mgsinQ
at B that moves in a slot on AB.. 5:
- mgcosQ 0 N
+ =
mR2 IG disk /2 mRZ
IGring
aadisk =
=

Relative Motion Acceleration Analysis N

mgcosQ
=
daining =
going
2
Zgsing
3
Va Va disk = 4/3
DysinQ
DysinQ
:

&Mc Ig & =
.

ring ,

Ob da XaB = + Y
Bia-WBYiatOBrel ZWABY VBrel +

FfsR Ra
-

=
109) ac
=

FjsR [G( ag/r) EXAMPLE

-

=
-

(Modified) Five Step Procedure

Step 1 : Draw FBDD
Differentation Formulas
Step Introduce frame of reference
2:
d/dx(a) G =
%dx(oS(X) = -

Sin(x)
Step 3: Form vector expressions for all forces in FBD : &
(dx(x) / =
/dxtan(x) Sec(x) =

Step 3 : Form Scalar expressions for moments about O or G dbx(x1) nxn- =

&
/dx(n(x) "X =

Step 4 Form vector expression for acceleration

:
/dxsin(x) cos(x) % =
d/dxe = eY
S : Form N2L and break out into scalar
Step equations of motion Integration Formulas

sh S
: Form
angular motion equation of motion
1dx X
Step 5 =
(os(x)dx Sin(x)
?
=

* Io : If + moz a dx = aX Sec (x)dx tan(x) =

-cos(x)
xndx (yn 1(n + 1) +

* OR EMo
=
:
IG X
Sin()dx =
* want or have information about (tz -
) Fav MVgz-mVG
+ ,
=
,

linear langular velocities and /or * impulse moment

forces/moments acting between *
Average moment
two instances in time or space Principle of Angular Impulse and Momentum

-> Forces/moments acting over displacements *

Madt =
Ha-Ho: IgW2-law
,

(tz +, ) Mav = Haz Ha

·
Principle of Work and
Energy - -

Modified 4 Step Procedure *

rigid body not
rotating about its center of mass

S'Modt
⑧
② FBD
=
How-Ho ,

*
② introduce a frame of reference (+2 -
+, ) Mav =
Hoz-Ho ,

③ identify forces and moments doing work and * Ho [aw + (x0xm)

= · K
calculate work done SPECIAL CASE !! fixed axis rotation
* forces acting at a point wl no displacement about 0 Ho=IoW (If+ mdz) =

do no work !!

# Apply principle of work and energy * Given/Have info about an impact

* Nonconservative forces/moments *
Perfectly plastic elastic
Work >
-
-

Energy Approach or
given e
upz Q2
Vi =

SF dip SMSQ
P,
G
+ =
VKEz-VkE ,
CASE I both rigid bodies are "free"
&,
: linear momentum
VIE /2 mug + 1/2 Igw2 is conserved
Work done by conservative forces MAYA MBVi Ma'VA' + =
+
Mis'Vi'
Vie - mg (YG2 Ye ) [weight]
= -

.
all velocities are for the rigid
Vic 2 k (S2-S 2) [spring]
:
. body centers of mass

Work done by conservative moments Coefficient of restitution

IVBASalastic
Vis -12k + (Q-Q 2) [torsional spring]
=
,

OL C -
=

plastic
* Conservative forces/moments only about
Angular momentum any fixed point
Conservation of Energy Approach O, is conserved
Vi +
Ve ,
=
Vz + Vez HA , 0
+
HB 0 .
Ha o' Hi o
=
,
+
,

Potential Energy Forcesmoments momentum for each

rigd body
of Conservative about
Angular
V= mgya [gravitational] the point of impact , p , is conserved
VS : / KS2 [elastic] HA p HA p ,
=
,

VTS = 12k + Q2 [torsional elastic] His , p

=
His p' ,

Hybrid Approach
other
Vz + VKEz CASEZ body is constrained
V. + Vie ,
+ U, 2 = one
rigid
* work done by nonconservative momentum about the forced point
angular
forces/moments O, is conserved
Ha ,
0 + HB 0 ,
=
Ha O' + His o
, ,

* Forces/moments acting over time *

may also use the coefficient of
# impulsive force restitution equation *
*
Average force
Principle of Linear Impulse and Momentum
-
2

SimamSeries that act in the direction

of the change in linear momentum