MECHANICAL ENGINEERING

DEPT.

STATICS AND DYNAMICS: MEC-STD-221

LECTURE 5: Inertia and Change of motion

▪ Application of Newton’s Laws of Motion

▪ D’Alembert’s Principle
▪ Tractive Effort
▪ The Simple Hoist
Module offered by MEC Dept.
 DYNAMICS
▪ Dynamics is the study of the causes of motion and changes in
motion.
▪ The study of forces and why objects are in motion.

▪ Dynamics includes the study of the effect of torques on motion.

 Introduction to Dynamics
Definitions

Statics?
▪ Study of stationary systems (σ 𝐹 = 𝑚𝑎 = 0)
▪ The branch of mechanics concerned with forces in equilibrium

Dynamics?
▪ Study of motion of the systems under the action of forces (σ 𝐹 = 𝑚𝑎 ≠ 0)
▪ Relates the kinematical characteristics of the system, its inertia (mass, moment of
inertia) and the forces acting on the system
▪ The branch of mechanics concerned with the forces that cause motions of bodies

Kinematics?
▪ Study of the pure motion of systems not taking into account the forces that act
on them and their inertia

▪ The branch of mechanics concerned with motion without reference to force or

mass
 Introduction to Dynamics
Definitions

▪ Mass?
 The characteristic that relates the force on the body to the resulting
acceleration
 How does mass relate to weight?

▪ Inertia?
 The tendency of a body to preserve its state of rest or uniform motion
unless acted upon by an external force
 The resistance of a body to changes in its momentum
 Mass can be considered a measure of a body's inertia
 Introduction to Dynamics
Definitions
▪ What are the different types of motion?

▪ Rectilinear (straight-line) motion or

▪ Rotation
 with constant speed (no acceleration)
 with acceleration (variable speed)
▪ Vibratory motion

▪ General planar motion= rotation + translation

 Introduction to Dynamics
Newton’s Laws of Motion

The foundation of dynamical systems study,

1. Every body continues in a state of rest or uniform straight

line motion unless it is compelled to change that state by
forces impressed upon it.

2. The change of motion is proportional to the impressed force

and it is in the direction of the straight line in which the
force is impressed (F=ma).

3. To every action there is an opposite and equal reaction;

the mutual actions of two bodies upon each other are
always equal and have opposite directions.
Introduction to Dynamics
Force and Acceleration
 Introduction to Dynamics
Equations of motion

▪ When you apply these equations you might want to obtain

information about the object’s motion or to determine the
values of unknown forces and couples acting on it, or both.
▪ This typically involves three steps:

1. Draw the free-body diagram → isolate the object and identify

the external forces and couples acting on it
2. Apply the equations of motion
3. Determine the kinematic relationship; if necessary supplement the
equations of motion with relationship between the angular and the
linear acceleration
 Introduction to Dynamics

Equations of motion

▪ Velocity and acceleration are rates of change

▪ If at some time t, a body is at position s (relative to some
starting point), then the velocity v is the rate of change of
displacement (distance with respect to an initial point) and
the acceleration a is the rate of change of velocity
ti +1
ds
v=
dt
→ v(ti+1 ) = v(ti ) +  a(t) dt
ti

dv d 2s
a= = 2
dt dt
 Introduction to Dynamics
Uniform acceleration

▪ If acceleration, a, is constant (does not vary in time) over a

time period, t, and the velocity changes from v0 to v and
position changes through the displacement s, then these
relations take the elementary form:
t

v = v0 +  a(t ) dt = v0 + at
0
t t t
1 2
s = s0 
+ v(t) dt = s0 + v0t +   a(t) dt = s0 + v0t + at
0 00 2

▪ NOTE: these are special formulae only valid for constant

acceleration resulting in uniform motion along a straight line
 Equations of planar motion

Linear motion Rotational motion

Displacement, s Angular displacement, θ
Velocity, v = ds/dt Angular velocity, ω = dθ/dt
Acceleration, a = dv/dt Angular acceleration, α = dω/dt

Under constant acceleration:

vi +1 = vi + at i+1 = i + t
1
= s
si+1 i i + v t + at 2
1
i +1 = i + i t + t2
2 2
2
vi+1 = vi2 + 2as i2+1 = i2 + 2

Kinematic equations
Definitions of forces

▪ Active force
 Causes or tends to cause change in motion
▪ Reactive force
 Called into play by the action of an active force
 It cannot of itself cause change in motion (reaction of support, some
friction forces, inertia force, bearing reaction)
▪ Force of inertia
 Consider the accelerating force as being balanced by an equal and
opposite force of magnitude ma. This force is known as the inertia
force and always acts to balance the resultant force on the body
E R E = ma + R
ma
F = E − R = ma
D’Alemberts Principle

▪ Recall Newton’s second law, F=ma where F is sum of external forces

acting on the body, m is mass of the body and ma is inertia force
▪ Newton’s second law can be written in the form
F – ma = 0
▪ The equation F – ma = 0 states that vector sum of all forces, external
and inertial, is zero (This is just the form of the force summation
equation of statics and methods of analysis for statics problems
apply to it.

a motion

ma
m kg F
F-ma = 0
D’Alemberts Principle
▪ D’Alembert’s principle simply states that laws of static equilibrium
apply to a dynamical system if the inertia forces, as well as the
actual external forces, are considered as forces acting on the system
▪ Considerable care must be used in setting up the equations of
motion using D’Alembert’s principle. Inertia forces should not be
confused with the external forces comprising the total force F that is
applied on the body.
▪ External forces include contact forces and gravitational or other field
forces applied to the body

a motion

ma D’Alembert’s principle

m kg F
F-ma = 0
 Tractive effort

▪ Tractive effort E required to propel a vehicle can be

taken as the pull in a cable or tow rope.
▪ For engine driven vehicles, the engine torque is
transmitted to the driving axles, hence the tractive
effort is given by the driving force at the road
surface
 Driving torque on a vehicle

Angular velocity of driving wheels:

Gear reduction, n:

We can also express the driving torque in

terms of engine torque:
Driving torque Td :

Where F=E is the effort driving the

vehicle
example
 Tractive effort
▪ Tractive effort E required to propel a vehicle can be taken as the pull
in a cable or tow rope.
▪ For vehicle in accelerating motion along straight horizontal track:

a E = ma+R
(inertia force)
ma
m kg E

ma = E-R
R

(Resistance = rolling + air resistance)

 Tractive effort
▪ For vehicle moving at constant speed:

E=R
motion

(Resistance = rolling + air resistance)

 Tractive effort
▪ For vehicle accelerating up an incline:
 Tractive effort
Example
On test, a motor car just reaches 130 km/h on the level still air.
Experiments show that the total resistance to motion due to wind and
road drag is given in newtons by R=132+0.6v+0.1v 2 , where v is road
speed in km/h. Find the tractive effort required. If the car has an all-up
mass of 1200 kg and tractive effort is assumed constant what would be
the acceleration of the car at 50 km/h?
 Tractive effort
Solution
 Tractive effort
Example
A car of mass 1.1t is driven at constant speed up an incline of 10°. The
rolling resistance is 170N and the air resistance is 100N. Find the
tractive effort. What is the effort when the car has uniform
acceleration of 0.6m/𝑠 2
 Tractive effort
Example
A car of mass 1.1t is driven at constant speed up an incline of 10°. The
rolling resistance is 170N and the air resistance is 100N. Find the
tractive effort. What is the effort when the car has uniform
acceleration of 0.6m/𝑠 2
 Tractive effort

Solution

At uniform speed:
Tractive effort E = mgsin 𝜃 + R
E = 1100x9.81xsin 10 + (100+170) = 2140 N

At uniform acceleration of 0.6m/𝑠 2 :

Tractive effort E = mgsin 𝜃 + R + ma
E = 1100x9.81xsin 10 + (100+170) + 1100 x 0.6 = 2800 N
 Tractive effort
Example
Coal wagons are lowered 30m from rest down an incline of 1 in 10 with
uniform acceleration, by means of a cable attached to a rope brake.
The total mass of the wagons is 48t and the resistance to motion is
130N/t. At the end of the incline the wagons are travelling at 3m/s.
Calculate the pull in the cable.
 Tractive effort
Solution
 Tractive effort
Solution

For static equilibrium:

 Connected bodies
▪ Consider mass m2 being pulled along a level plane by a cord passing
over a light frictionless pulley and attached to the freely hanging
mass m1 (See figure).

Equilibrium of mass 1:
m1g = T +m1a -------(1)

Equilibrium of mass 2:
T = m2a ---------------(2)

Substitute eqn(2) into (1): Neglect friction

m1g = m2a +m1a
W1 = (m2+m1)a
Corresponding to:
→ F = ma
 Connected bodies - The Simple Hoist
▪ Consider a simple hoist where a mass m1 and lighter mass m2 are
hanging either side of a frictionless pulley system and connected by
a light cord.
Equilibrium of mass 1:

Equilibrium of mass 2
 Connected bodies - The Simple Hoist
▪ Consider a simple hoist where a mass m1 and lighter mass m2 are
hanging either side of a frictionless pulley system and connected by
a light cord.
Equilibrium of mass 1:

Equilibrium of mass 2
 Connected bodies - The Simple Hoist
(1)

(2)

Substitute (2) into (1):

m1 g = m2 g + m2 𝑎 + m1 𝑎
m1 g − m2 g = m2 𝑎 + m1 𝑎
W1 − W2 = (m2 + m1 )𝑎

Which corresponds to:

⟹ F = Ma where
F = W1 − W2 , M = m2 + m1
 Connected bodies

Example
A car of mass 1t hauls a trailer of mass 0.5t with common
acceleration of 0.15 m/ 𝑠 2 . Calculate the pull in the
horizontal tow rope and the tractive effort required.
 Connected bodies

Solution

Total mass of trailer and car, M = m2 + m1

Tractive effort required to accelerate both car and trailer:

E = Ma=(m2 + m1 )a = (1000+500) x 0.15 = 225N
 Connected bodies

Example

A 100t locomotive pulls a train of ten 32t coaches on the

level. The tractive effort at 72 km/h is 44 kN and the track
resistance is 70N/t of total mass. Find the acceleration
produced and the draw-bar pull on the leading coach under
these conditions
 Connected bodies

Example

A 100t locomotive pulls a train of ten 32t coaches on the

level. The tractive effort at 72 km/h is 44 kN and the track
resistance is 70N/t of total mass. Find the acceleration
produced and the draw-bar pull on the leading coach under
these conditions
 Connected bodies

Solution
 Connected bodies

Solution
 Driving torque on a vehicle

Example
A truck of total mass 20t is driven along a level track against a track
resistance of 200 N/t. The engine develops an engine torque of 240
Nm at a maximum speed of 2000 rev/min. The gear reduction from
the engine to driving axle is 9:1 and the wheel diameter is 800mm.
Find the maximum linear speed of the vehicle in km/h and the time
taken to reach this speed on the level
 Driving torque on a vehicle

Solution
 Driving torque on a vehicle

Solution
 END OF LECTURE 5!!!
LECTURE 5: Inertia and Change in Motion
LECTURE 6: Motion in a Circle
LECTURE 7: Stability and Overturning
LECTURE 8: Balancing
LECTURE 9: Dynamics of Rotation
LECTURE 10: Impulse and Momentum
LECTURE 11: Work and Energy

Kinematic equations
 Kinematic equations - Linear Motion

EQUATIONS OF LINEAR MOTION WITH CONSTANT ACCELERATION

u m/s v m/s

m m
Time = 0 sec Time = t sec

Displacement s metres covered in time t seconds

a = constant acceleration (m/s2) 1.

u = initial velocity (m/s) 2. Note:
v = final velocity (m/s) To convert km/h to m/s:
s = displacement (m) 3. multiply by 1000 and
t = time taken (s) divide by 3600.
4.
 Introduction to circular motion

▪ The equations of angular motion are:

Introduction to circular motion