DYNAMICS
Dr. Mostafa Sefidgar
Week 02
PART I: PARTICLES
Chapter 2: Kinematics of Particles
Particle: A body whose dimensions can be
neglected compared to its path then it can
be treated like a point at its center of mass.
Kinematics should be studied first in order
to relate the motion to forces.
PART I: PARTICLES
Chapter 2: Kinematics of Particles
• Constrained Motion: If a particle is
confined to a specified path (due to
physical guides for example) then it is
constrained motion.
• Unconstrained Motion: If the particle is
free from any guides the motion is
unconstrained.
2.2 Rectilinear Motion
Motion along a straight line.
s+s
s- s s+
0 t t+t
∆𝑠
𝑣𝑎𝑣 =
∆𝑡
∆𝑠 𝑑𝑠
𝑣 = lim = = 𝑠ሶ
∆𝑡→0 ∆𝑡 𝑑𝑡
∆𝑣
𝑎𝑎𝑣 =
∆𝑡
∆𝑣 𝑑𝑣
𝑎 = lim = = 𝑣ሶ
∆𝑡→0 ∆𝑡 𝑑𝑡
𝑑𝑠
𝑣= = 𝑠ሶ
𝑑𝑡
2.2 Rectilinear Motion
𝑑𝑣
𝑎= = 𝑣ሶ
𝑑𝑡
Substituting definition of velocity into
acceleration relation yields
𝑑𝑣 𝑑 𝑑𝑠 𝑑2 𝑠
𝑎= = = 2 = 𝑠ሷ
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
Using definition of velocity and acceleration and
solving for dt from both yields:
𝑑𝑠 𝑑𝑣
𝑑𝑡 = =
𝑣 𝑎
𝑣𝑑𝑣 = 𝑎𝑑𝑠
This equation is implicit in time.
2.2 Rectilinear Motion
𝑑𝑠
𝑣= = 𝑠ሶ
𝑑𝑡
𝑑𝑣 𝑑2 𝑠
𝑎= = 𝑣ሶ = 2 = 𝑠ሷ
𝑑𝑡 𝑑𝑡
𝑣𝑑𝑣 = 𝑎𝑑𝑠
• These differential equations are valid for any problem. Under
certain conditions they may be integrated to obtain analytic
expressions but as we will see later this is not true for all
conditions.
• Please be careful about the directions therefore the signs for s, v
and a!
2.2 Rectilinear Motion
a. Constant Acceleration (a=const)
𝑑𝑣 = 𝑎𝑑𝑡
𝑣 𝑡 𝑡
න 𝑑𝑣 = න 𝑎𝑑𝑡 = 𝑎 න 𝑑𝑡
𝑣0 0 0
𝑣 𝑡 = 𝑣0 + 𝑎𝑡
𝑑𝑠 = 𝑣𝑑𝑡
𝑠 𝑡 𝒗
න 𝑑𝑠 = න 𝑣𝑑𝑡 = න 𝑣0 + 𝑎𝑡 𝑑𝑡
𝑠0 0 𝒗𝟎
1 2
𝑠 𝑡 = 𝑠0 + 𝑣𝑡 + 𝑎𝑡
2
One may easily start integration from t0 rather than t = 0.
2.2 Rectilinear Motion
b. Acceleration is a Function of Time a(t)
𝑑𝑣 = 𝑎𝑑𝑡
𝑣 𝑡
න 𝑑𝑣 = න 𝑎 𝑡 𝑑𝑡
𝑣0 0
𝑡
𝑣 𝑡 = 𝑣0 + න 𝑎 𝑡 𝑑𝑡
𝑠0 𝑡 𝑡 𝑡
𝑑𝑠 = 𝑣𝑑𝑡 න 𝑑𝑠 = න 𝑣 𝑡 𝑑𝑡 = න 𝑣0 + න 𝑎 𝑡 𝑑𝑡 𝑑𝑡
𝑠0 0 0 0
𝑡 𝑡
𝑠 𝑡 = 𝑠0 + න 𝑣0 + න 𝑎 𝑡 𝑑𝑡 𝑑𝑡
0 0
2.2 Rectilinear Motion
c. Acceleration is a Function of Velocity a(v)
𝑑𝑣
𝑑𝑡 =
𝑡
𝑎 𝑣𝑡
𝑑𝑣
න 𝑑𝑡 = න
𝑎 𝑣
0 𝒗 0
𝑑𝑣
𝑡= න
𝑎 𝑣
𝒗𝟎
This yields v(t), using
𝑠 𝑡
𝑑𝑠 = 𝑣𝑑𝑡, න 𝑑𝑠 = න 𝑣 𝑡 𝑑𝑡
𝑠0 0
𝑡
𝑠 𝑡 = 𝑠0 + න 𝑣 𝑡 𝑑𝑡
0
2.2 Rectilinear Motion
c. Acceleration is a Function of Velocity a(v)
Alternative method:
𝑣𝑑𝑣 = 𝑎 𝑣 𝑑𝑠
𝑣𝑑𝑣
= 𝑑𝑠
𝑎 𝑣
𝑣 𝑠
𝑣
න 𝑑𝑣 = න 𝑑𝑠
𝑎 𝑣
𝑣0 𝑠0
𝑣
𝑣
𝑠 𝑣 = 𝑠0 + න 𝑑𝑣
𝑎 𝑣
𝑣0
2.2 Rectilinear Motion
d. Acceleration is a Function of Displacement a(s)
𝑣𝑑𝑣
𝑣
= 𝑎 𝑠 𝑠𝑑𝑠
න 𝑣𝑑𝑣 = න 𝑎 𝑠 𝑑𝑠
𝑣0 𝑠0 𝑠
𝑣 2 = 𝑣0 2 + 2 න 𝑎 𝑠 𝑑𝑠
𝑠0
𝑠
𝑣 𝑠 = 𝑣0 2 + 2 න 𝑎 𝑠 𝑑𝑠
𝑠0
𝑑𝑠 𝑑𝑠
𝑑𝑡 = =
𝑣 𝑠 𝑠
𝑣0 2 + 2 𝑠𝑑 𝑠 𝑎 𝑠
0
𝑡 𝑠
𝑑𝑠
න 𝑑𝑡 = 𝑡 = න
𝑠
0 𝑠0 𝑣0 2 + 2 𝑠𝑑 𝑠 𝑎 𝑠
0
2.2 Rectilinear Motion
A particle, confined to move along a straight line has an acceleration
a(s) = s2 - 1 where acceleration, a, is in m/s2 and displacement, s, is
in m. Initially it was at s0 = 1 m with a speed v0 = -2 m/s. Determine
the speed of the particle, v(s), as a function of displacement of the
particle s.
Check whether your answer satisfies v(s =1) = v0?
𝑣𝑑𝑣 = 𝑎 𝑠 𝑑𝑠
𝑣𝑑𝑣 = 𝑠 2 − 1 𝑑𝑠
𝑣 𝑠
න 𝑣𝑑𝑣 = න 𝑠 2 − 1 𝑑𝑠
𝑣0 =−2 𝑠0 =1
𝑣 𝑠
𝑣 2 𝑠3
อ = −𝑠 อ
2 3
𝑣0 𝑠0
2 2
𝑠3 𝑠0 3
𝑣 = 𝑣0 +2 −𝑠− + 𝑠0
3 3
2.2 Rectilinear Motion
A particle, confined to move along a straight line has an acceleration
a(s) = s2 - 1 where acceleration, a, is in m/s2 and displacement, s, is
in m. Initially it was at s0 = 1 m with a speed v0 = -2 m/s. Determine
the speed of the particle, v(s), as a function of displacement of the
particle s.
Check whether your answer satisfies v(s =1) = v0?
𝑠 3 𝑠 3
0
𝑣 = ± 𝑣0 2 + 2 −𝑠− + 𝑠0
3 3
13 13
𝑣 𝑠=1 =± −2 2 + 2 − 1 − + 1 = ±2
3 3
so
𝑠 3 𝑠 3
0
𝑣 𝑠 = − 𝑣0 2 + 2 −𝑠− + 𝑠0
3 3
2.2 Rectilinear Motion
A particle, confined to move along a straight line has an acceleration
a(v) = 1/v2 where acceleration, a, is in m/s2 and speed, v, is in m/s.
At time, t = 0 it was moving with an initial speed, v0 = 1 m/s.
Determine the speed of the particle, v(t), as a function of time t.
Check whether your answer satisfies v(t =0) = v0?
𝑑𝑣
𝑎 𝑣 =
𝑑𝑡
𝑑𝑣 𝑑𝑣
𝑑𝑡 = =
𝑎 𝑣 1Τ𝑣 2
𝑑𝑡 = 𝑣 2 𝑑𝑣
𝑡 𝑣
න 𝑑𝑡 = න 𝑣 2 𝑑𝑣
𝑡0 =0 𝑣0 =1
𝑣
3
𝑡 𝑣 𝑣3 1
𝑡ቚ = อ = −
𝑡0 =0 3 3 3
𝑣0 =1
3 3
𝑣 𝑡 = 3𝑡 + 1, 𝑣 𝑡 = 0 = 𝑣0 = 1=1
2.2 Rectilinear Motion
A particle, confined to move along a straight line has an acceleration
a(v) = 1/v2 where acceleration, a, is in m/s2 and speed, v, is in m/s.
At time, t = 0 it was at s0 = 0 m and moving with an initial speed, v0 =
1 m/s. Determine the speed of the particle, v(s), as a function of
position s.
Check whether your answer satisfies v(s =0) = v0?
𝑣𝑑𝑣 = 𝑎 𝑣 𝑑𝑠
𝑣
2
𝑑𝑣 = 𝑣 3 𝑑𝑣 = 𝑑𝑠
1Τ𝑣
𝑣 𝑠
න 𝑣 3 𝑑𝑣 = න 𝑑𝑠
𝑣0 =𝟏 𝑠0 =1
𝑣
𝑣 4 𝑠
อ = 𝑠ቚ
4 𝑠0
𝑣0
𝑣 4 = 𝑣0 4 + 4𝑠
2.2 Rectilinear Motion
A particle, confined to move along a straight line has an acceleration
a(v) = 1/v2 where acceleration, a, is in m/s2 and speed, v, is in m/s.
At time, t = 0 it was at s0 = 0 m and moving with an initial speed, v0 =
1 m/s. Determine the speed of the particle, v(s), as a function of
position s.
Check whether your answer satisfies v(s =0) = v0?
𝑣 4 = 𝑣0 4 + 4𝑠
4
𝑣 = ± 𝑣0 4 + 4𝑠
4
𝑣 𝑠 = 0 = ± 14 = ±1
so
4
𝑣 𝑠 = 𝑣0 4 + 4𝑠
2.2 Rectilinear Motion
• The spring-mounted slider moves in the horizontal guide with negligible friction and has a
velocity v0 in the s-direction as it crosses the midposition where s = 0 and t = 0. The two
springs together exert a retarding force to the motion of the slider, which gives it an
acceleration proportional to the displacement but oppositely directed and equal to a = −k2s,
where k is constant. Determine the expressions for the displacement s and velocity v as
functions of the time t.
2.3 Plane Curvilinear Motion
Motion along a curved path in a single plane.
∆𝑟Ԧ
𝑣Ԧ𝑎𝑣 =
∆𝑡
∆𝑟Ԧ 𝑑 𝑟Ԧ
𝑣Ԧ = lim = = 𝑟Ԧሶ
∆𝑡→0 ∆𝑡 𝑑𝑡
Velocity is always tangent to the path of the particle!
𝑑 𝑟Ԧ 𝑑 𝑟Ԧ
≠
𝑑𝑡 𝑑𝑡
2.3 Plane Curvilinear Motion
Motion along a curved path in a single plane.
∆𝑣Ԧ
𝑎Ԧ 𝑎𝑣 =
∆𝑡
∆𝑣Ԧ 𝑑 𝑣Ԧ
𝑎Ԧ = lim = = 𝑣Ԧሶ = 𝑟Ԧሷ
∆𝑡→0 ∆𝑡 𝑑𝑡
As we will see later in detail acceleration vector has two
sources:
• due to magnitude change of velocity vector,
• due to direction change of velocity vector.
2.3 Plane Curvilinear Motion
Three different coordinate systems to analyze plane
curvilinear motion are:
• Rectangular (Cartesian) coordinates
• Normal-tangential (path) coordinates
• Polar coordinates
