ME 1033 MECHANICS

(Statics & Dynamics)

DYNAMICS
Lecture # 1
Introduction
2D Kinematics of a Particle
Lecturer:

Saman Chandrasiri

Department of Mechanical Engineering

Learning Outcomes

After completing this part (Dynamics) of the module,

the students should be able to

• determine the geometry of motion of rigid bodies

and to calculate the forces on rigid bodies in motion

• perform simple experiments in mechanics

• understand the basic concepts of dynamics

• model systems and solve basic problems in

dynamics.
Course outline

Fundamentals of dynamics
Kinematics of particles (rectilinear and curvilinear
motion, relative motion, general motion in 2D) and rigid
bodies (relative motion between two points in a rigid
body, velocities in 2D link mechanisms, instantaneous
centre of rotation method, introduction to acceleration)

Kinetics of particles and rigid bodies (force, torque,

work, energy and power, linear momentum, angular
momentum)

Mechanical vibrations
Free vibrations (undamped and damped) of single
degree of freedom systems.
Recommended Texts
“Engineering Mechanics: Dynamics”, 7th Edition, J.L. Meriam. L.G. Kraige, John
Wiley & Sons, Inc.

“Machines and Mechanisms”: Applied Kinematic Analysis, 4th Edition, David H.

Myszka, Prentice Hall.

“Vector Mechanics for Engineers” –DYNAMICS, 9th Edition, Ferdinand P. Beer

and E. Russell Johnston Jr., McGraw-Hill Book Company.

“Engineering Mechanics”-DYNAMICS, 12th Edition, R.C. Hibbeler, Prentice Hall.

Module Assessment

The Dynamics section accounts for 50% of the total marks.

Out of this, 40% is for the written exam, and 10% is for the continuous assessments.

Final exam carries 80% of the total marks

(combining both Statics and Dynamics sections).
Introduction

Dynamics

A branch of mechanics, which deals with the motion

of bodies .

(The study of dynamics in engineering usually follows the study of

Statics, which is concerned with the equilibrium of bodies at rest or
moving with constant velocity).
Dynamics has two distinct parts;
Kinematics
the study of motion without reference to the forces which cause
the motion and treats only the geometric aspects of motion.

Kinetics
the analysis of the forces which cause the motion.

Students of engineering will find that a thorough comprehension

of dynamics will provide one of their most useful and powerful
tools for analysis in engineering.
Brief history
Historically, dynamics is a relatively recent subject compared to
statics. The beginning of a rational understanding of dynamics
is credited to Galileo (1564-1642), who made careful
observations concerning bodies in free fall, motion on an
inclined plane, and motion of the pendulum.

He was largely responsible for bringing a scientific approach to

the investigation of physical problems. Further significant
developments in dynamics awaited the invention of the
pendulum clock by Huygens in 1657.
Newton (1642-1727), guided by Galileo’s work, was able to
make an accurate formulation of the laws of motion and, hence,
to place dynamics on a sound basis. Newton’s famous work was
published in the first edition of his Principia, which is generally
recognized as one of the greatest of all recorded contributions
to knowledge.

In addition to stating the laws governing the motion of a particle,

Newton was the first to correctly formulate the law of universal
gravitation.

After Newton, important contributions to mechanics were made

by Euler, D’Alembert, Lagrange, Laplace, Poinsot, Coriolis,
Einstein, and others.
Modern applications

Only since machines and structures have operated with

high speeds and appreciable accelerations, has it been
necessary to make calculations based on the principles
of dynamics rather than on principles of statics.

The rapid technological developments of the present

day require increasing application of the principles of
mechanics, particularly dynamics.
These principles are basic to

• the analysis and design of moving structures

• fixed structures subject to shock loads
• robotic devices
• automatic control systems
• rockets, missiles, and spacecraft
• ground and air transportation vehicles
• electron ballistics of electrical devices,

and to machinery of all types such as

turbines, pumps,
internal combustion (reciprocating and rotary) engines,
hoists, machine tools, etc.
Static Structures
Cylindrical pressure vessel with
hemispherical ends
Cylindrical pressure vessel with
hemispherical ends
Dynamic Structures
Fuselage of an aircraft
Landing gear mechanism of an aircraft
Landing gear strut
Aircraft wing structures
Aircraft structure design
Gas Turbine shafts
Gas Turbine shafts
 Turbine discs and Compressor discs and blades
blades
Guide vanes

Heat resistant
tail cone
Titanium fan

bearings

Rolls Royce RB211 Turbo-Fan Gas Turbine Engine

Dynamic forces on suspension units of an automobile
Transfer of dynamic forces through the body structure of an
automobile
Marine vesels
Marine vessel carrying an off-shore oil rig
Suspension units, link mechanisms
Gear Drives
4 bar chain Link Mechanisms
4 bar chain (3D spherical)
Steering Mechanism
10 bar steering
mechanism
14 bar steering
mechanism
Convertible hood
mechanism
Mechanisms in a backhoe
Backhoe loader mechanism
Mechanism in a Backhoe loader
 Outlet
Inlet valve
valve
cover
Spark plug
Inlet port
Outlet port
Cylinder head

Piston
Cooling passage

Crank

Crank case Main

bearing

Sump
Oil bath
4 Stroke Engine
 Kinematics of a Particle

A particle has a mass but negligible size and

shape.

In most problems in dynamics, one is interested in

bodies of finite size, such as aircraft, projectiles,
or vehicles.
Such objects may be considered as particles,
provided motion of the body is characterized by
motion of its mass centre and any rotation of
the body is neglected.
Rectilinear motion
A particle moving along a straight line is
said to be in rectilinear motion

x ∆x

O P P’

t t +∆t
 x ∆x

O P P’
t t +∆t
Consider the position P occupied by the particle at time t
and the corresponding coordinate x as shown.

The position P’ occupied by the particle after an increment

of time ∆t.
Average velocity of the particle over the time interval ∆t ;
x
v =
t
Instantaneous velocity of the particle at time t ;

 x  dx
v = lim   = = x

t →0
 t  dt

Similarly, if ∆v is the increment of velocity over the time

interval ∆t.
Instantaneous acceleration of the particle at time t ;

 v  dv
a = lim   =
t → 0  t
  dt
2
d x dv
= 2
= v = x
dt dx
Curvilinear motion
A particle is said to be in curvilinear motion when it
moves along a curve other than a straight line.

v
P’

P
O

Vector r is the position vector of the particle.

velocity vector

 r  dr
v = lim   =
t →0 t
  dt

speed of the particle

ds
v =
dt
Similarly, instantaneous acceleration

dv
a =
dt
2D Motion of a particle
(Rectangular Cartesian Coordinates)

dy dv y dv y
vy = = y ay = = y = v y
dt dt dy
y
vy dx
ay vx = = x
dt
dv x
vx ax = = x
P ax dt
dv x
= vx
dx
x
O
2D Motion of a particle
(Plan-Polar Coordinates)

P (r, θ)
t=t

θ
O
Configuration of the particle
2D Motion of a particle
(Plan-Polar Coordinates)

P’ (r + δr , θ + δθ)
t = t + δt

P (r, θ)
t=t

θ
O
2D Motion of a particle
(Plan-Polar Coordinates)

v r = r
v = r

P
t=t

θ
O

Velocity components
 Velocity components

v  =   r v r = r
Transverse component radial component

Right hand rule (notation) for rotary

vectors

 
2D Motion of a particle
Acceleration components

r + r
( )
r +  r

r P’ t = t + δt
r
P t=t

θ
O
2D Motion of a particle
(Plan-Polar Coordinates)

a = r + 2 r
a r = r − r
  2
Coriolis’
component P Centripetal
comp. of
acceleration
θ
O

Acceleration components
Acceleration components

(
a =  r + 2   r )

(
a r = r +     r )
2D Motion of a particle using Plan-Polar
Coordinates

Coriolis’ component
of acceleration 2  r

Centripetal comp. − r  2

of acceleration
(
=     r )
Coriolli’s compt. Effects
Coriolli’s compt. Effects
Schematic representation of inertial circles of air masses in the
absence of other forces, calculated for a wind speed of
approximately 50 to 70 m/s
 Δer e
θ
e θ’ er’
Δeθ
eθ
er
er Δθ
r P
θ
x
O

Unit vectors
er (radial), e (transverse)
 der de
= e = − er
d d
i .e . er = e e = − er

Velocity;

v = (re r ) = re r + re r

d
dt
( )
(r )e r + r e
Acceleration;

dv
dt
=
d
dt
(
re r + re )
(  ) ( )
= r − r er + r + 2r e
2
Example1
The searchlight shown in Figure 1 casts a spot
of light along the face of a wall that is located
100m from the searchlight.

Determine the magnitude of the velocity and

acceleration at which the spot appears to
travel across the wall at the instant θ = 450.

The searchlight is rotating at a constant rate of

4rad/s.
 wall

100 m
r
θ

 = 4rad / s searchlight

Figure 1
Solution

v r = r
a r = r − r 2
v
a
P
v = r
a = r + 2 r
h = 100m

θ
Solution Since there are no velocity and
acceleration components normal
a r = r − r 2 to the wall;
v r = r
θ r cos  = r sin
v, a
θ r = r tan
P
v = r sin + r cos 
v = r = 800 m / s
a = r + 2 r

(r − r )cos  = ( r+ 2 r ) sin

2
,  = 0
r = 2 r . tan + r 2
( ) ( )
a = r − r 2 sin + r + 2 r cos  ,  = 0
a = 6400 m / s 2
Solution (analytical)
Alternatively,
r cos  = h = 100m , r = h (sec ) ,
(
r = h sec . tan  . )


r = h.
 
sec . sec 2
 . + tan  . sec . tan  .  


 + (sec . tan  ) 


 = 4 rad / s = cont .   = 0

at  = 45 0 , , r = 100. sec450 = 141.42m
r = 565.68 m / s
r = 6,788.2 m / s 2
v r = r = 565.68 m / s ,
v = r = 141.42  4 m / s = 565.68 m / s


v = v r + v = 800 m / s
2 2

( )
a r = r − r 2 = 6,788.2 − 141.42  4 2 m / s 2
= 4,525.5 m / s 2
a = r + 2 r = 0 + 2  4  565.68 = 4,525.44 m / s 2
a = a r + a = 6400 m / s
2 2 2
Example 2
The motion of cutting tool B is controlled by
the robot arm OAB as shown in Figure 2.
At the instant shown, the arm rotates
anticlockwise at uniform angular speed
ω=15rev/min and the length of portion AB
decreases at the uniform rate of 200mm/s.
If the length of OB at this instant is 500mm,
determine the velocity and acceleration of B.
 B

ω =15rev/min 500mm

O 600

Figure 2
 B
ϕ Velocity of B

A
v r = r = 0.2m / s ,

  2 
v = r =  0.5   15  m / s = 0.7854 m / s
 60 
v r = 0.2 m / s
v B = v r + v = 0.8105 m / s
2 2

 r 
 = tan   = 75.7 0
−1

 r 
 B

A Acceleration of B

aB = 1.3844 m/s2

At 26.980 to AB
Example- 3
A racing car Q is moving at a constant speed of
150 km/hr along a circular track of radius 300 m and
centre O, as shown in Figure-3. The car is being
filmed from a camera mounted on a tripod at the
fixed point P as shown. At the instant depicted in the
figure, θ = 30deg. For this instant, determine the
angular velocity and angular acceleration of the
camera so that the image of Q remains centrally
positioned in the viewfinder.
 V =150 km/hr

Racing car Q
O 300 m

Camera
θ = 300

P
Figure-3