COURSE OUTLINE

I. Introduction to dynamics
II. Rectilinear motion
III. Curvilinear motion and projectile
IV. Kinetics of particles: Newtons Law
V. Kinetics of particles: energy and
momentum
VI. Systems of particles
VII. Kinematics of rigid bodies
references
- Engineering mechanics: dynamics, Meriam,
J.L. 5th ed, 2003 Prentice Hall
- Engineering mechanics: dynamics, Hibbeler,
R.C., 8th ed, 1999, Prentice hall
- Engineerinng mechanics: study pack,
Bedford, Anthony., 3rd ed, 2000, Prentice Hall
- Engineering mechanics (statics and
dynamics) Kumar, D.S. 5th ed, 2016 Kataria &
Sons Publishing
 Lesson No. 1
Introduction to dynamics
Lesson objectives: at the end of the lesson,
the student would be able to
1. Differentiate statics from dynamics of
objects.
2. Understand the effects of altitude of an
object to the gravitational force of the
earth.
3. Know the three laws of Newton.
Classification of Engineering
Mechanics
 History and Modern
Applications
Dynamics is a relatively recent subject as
compared with statics. The beginning of a
rational undertakings of dynamics is
credited to Galileo who made careful
observations concerning bodies in free
fall, motion on an inclined plane and
motion of the pendulum.
Galileo was continually under severe
criticism for refusing to accept the
establish beliefs of Aristotle which says
heavy bodies fall more rapidly than ight
bodies.
Newton was able to make an accurate
formation of the laws of motion to place
dynamics on a sound basis. He was the
first to correctly formulate the law of
universal gravitation. other famous
scientist includes Euler, DAlembert,
Lagrange, Laplace, Poinsot, Coriolis, and
Einstein made a contribution in the field of
dynamics.
Rigid-body dynamics studies the
movement of systems of interconnected
bodies under the action of external
forces. The assumption that the bodies
are rigid, which means that they do not
deform under the action of applied
forces, simplifies the analysis by reducing
the parameters that describe the
configuration of the system to the
translation and rotation of reference
frames attached to each body.
The dynamics of a rigid body system is
described by the laws of kinematics and
by the application of Newton's second
law (kinetics) or their derivative
from Lagrangian mechanics. The solution
of these equations of motion provides a
description of the position, the motion
and the acceleration of the individual
components of the system and overall the
system itself, as a function of time.
What is dynamics?
- Is the branch of mechanics which deals with the
motion of bodies under the action of forces. It is
usually follows the study of statics, which deals with
the effect of forces on bodies at rest.
What are the parts of dynamics?
- Kinematics which is the study of motion without
reference to the forces which cause motion
- Kinetics which relates the action of forces on bodies
to their resulting motion.

Name some of its applications:

1. Robotic devices
2. Automatic control systems
3. Rockets, missiles and spacecrafts
4. Ground and air transportation vehicles
5. Electron ballistics of electrical devices
6. Machineries like turbines, pump, hoist, etc
Basic concepts:
Space- the geometric region occupied by bodies.
Time- measure of succession of events and is
considered an absolute quantity in Newtonian
mechanics
Mass- quantitative measure of the inertia or resistance
to change in motion of a body.
Force-vector action of one body on another.
Particle-body of negligible dimension
Rigid body-a body whose change in shape are
negligible compared with overall dimensions of the
body or with the changes in position of the body as
a whole. It has finite size but does not deform.
 Newtons Law:
1. A particle remains at rest or continues to move
with uniform velocity (in a straight line with
constant speed) if there is no unbalanced force
acting on it.
2. The acceleration of a particle is proportional to the
resultant force acting on it and is in the direction of
this force.
3. The forces of action and reaction between
interacting bodies are equal in magnitude,
opposite in direction and collinear.
A particle in isolation means that the
particle does not interact with any
other particle. Constant velocity
means that the particle moves
along a straight line with constant
speed. In particular, it can be at
rest. It turns out that the motion (e.g.
velocity and acceleration) we
observe depends on the reference
frame we use.
In the second law, F = ma
Where F = the resultant force (Newton)
m = mass of particle (Kg)
a = resulting acceleration (m/s2)

Conversion of units:
1 Newton = 1 Kg-m/s2
1 lb = 1 slug-ft/s2
1 ft = 0.348 m
1 slug = 14.5 kg
1 lb = 4.448 N
Newtons Law of gravitation
F = G m1 m2 /r2
Where F = the mutual force of attraction between
two particles
G = a universal constant called constant of
gravitation (6.673x10-11 m3/kg-s2)
m1 and m2 = the mass of two particles
r = the distance between the centers of the
particles
Effect of altitude
The force of gravitational attraction of the earth on a
body depends on the position of the body relative
to the earth. If the earth were a perfect
homogeneous sphere, a body with a mass of 1 kg
would be attracted to the earth by a force of
9.825N on the surface of the earth, 9.822N at an
altitude of 1km, 9.523N at an altitude of 100km,
7.340N at an altitude of 1000km etc. thus the
variation in gravitational attraction at high altitude
rockets and spacecraft becomes a major
consideration.
Every object which falls in a vacuum at a
given height near the surface of the earth
will have the same acceleration g,
regardless of its mass.
 g = Gme / R2
Where me = mass of the earth (5.976x1024kg)
R = radius of the earth (6.371x106m)
g = acceleration due to gravity
The variation of g with the altitude is easily
determined using
g = go R2 / (R + h)2
Where go = absolute acceleration due to gravity at
sea level
h = the altitude
r = radius of the earth
The value of g, (gravitational acceleration)
is variable depending on the latitude of
the earth. This is due to the fact that the
earth is not a perfect sphere, it is a
rotating oblate spheroid. The standard
value is considered at 450 latitude which is
equivalent to 9.806 m/s2 or 32.174 ft/s2 at
sea level.
 Example No. 1
1. A space shuttle payload module has a mass of
50kg and rests on the surface of the earth at
latitude 45o north.
a. Determine the surface level weight of the module
in both Newtons and pounds and its mass in slugs
b. Suppose the module is taken to an altitude of
400km above the surface of the earth and release
there with no velocity relative to the center of the
earth. Determine the weight under these
conditions in both newtons and in pounds
2. Determine the weight in newtons of a car
which has a mass of 1500kg. Convert he
given mass of the car in slugs and
calculate the corresponding weight in
pounds.
3. The two 100 mm diameter spheres
constructed of different metals are
located in deep space. Determine the
gravitational force f which the copper
exerts on the titanium sphere if d = 4m.
The density of copper is 8910kg/m3 while
the titanium is 3080kg/m3
 Lesson No. 2
Rectilinear and Curvilinear
Motion
Lesson Objectives: at then end of the
lesson, the student would be able to
1. Understand the concept and
relationship between the position,
velocity and acceleration of an object.
2. Solve problems involving Newtons 2nd
law of motion
What is kinematics?

-branch of dynamics which describes the motion of

bodies without reference to the forces which either
cause the motion or are generated as a result of
the motion. It is known as the geometry of motion.
Introductory question:
How long does it take you to go home? This
depends on how far you are from home
(displacement), how fast (velocity) you
can travel, and how often you must start
and stop (acceleration).
Definition of terms:
Displacement the change in position of a
particle or a body with respect to a
certain fixed reference point. It is the
shortest distance between two points.
Distance the total path covered by the
particle along the path
Velocity the rate of change of position of
a particle with respected to time at a
certain direction.
Speed the rte of change of position of a
particle irrespective of direction.
Acceleration the rate change of velocity
of a particle with respect to time. It can
either be positive or negative (retardation
or deceleration) acceleration.
When the body moves with constant
velocity, that is the acceleration is zero,
the body is said to be in uniform motion
and when it moves with constant
acceleration, it is called uniformly
accelerated motion.
Rectilinear motion
Consider a particle P moving along a straight line. The
position of P at any instant of time t can be
specified by its distance s measured from some
reference point O on the line. At time t + t the
particle has moved to P and its coordinate
becomes s + s. The change in the position
coordinate during the interval t is called the
displacement s of the particle. The displacement
would be negative if the particle moved in the
negative s-direction
Velocity and acceleration
The instantaneous velocity is denoted by
v = ds/dt = Ds
While the instantaneous acceleration is denoted by
a = dv/dt = d2s/dt2 = D2s
Velocity and acceleration are vector quantities
Another equation involving velocity and acceleration
with respect to displacement is
v dv = a ds
At constant acceleration,
The velocity as a function of time, integrate the
velocity from vo to v and the acceleration from 0 to
t.
dv = a dt
dv = a dt
v = vo + at
The position as a function of time, integrate v =ds/dt =
vo + at from 0 to t and s from so to s
ds = v dt
ds = ( vo + at) dt
s = s0 + v0t + 1/2at2
Velocity as a function of position, integrate v from vo
to v and acceleration from s0 to s
v dv = a ds
v dv = a ds
v2 = vo2 + 2a(s s0)
Summary of equations:
v = vo + at (velocity equation)
v2 = vo2 + 2a(s so) (velocity equation)
s = so + vot + at2 (position equation)
 Example No. 2
1. A woman swims the length of a 7S-m pool
and back again (one lap) in 60 s with a
constant speed. (a) What is her
displacement at the end of one lap? (b)
What is her average velocity for one lap?
(c) What is her average speed for one
lap? (website)
2. A particles velocity is shown in the figure.
At t = 0, the displacement is x = 0. sketch
the acceleration vs time graph
corresponding to this velocity vs time
graph. (website)
3. A car travels from one station to another
along a straight road. The first half of the
distance is covered with velocity 40km/hr
and the second half is covered with
velocity 80km/hr. determine the average
speed of the car. (kumar p. 492)
4. A train crosses a tunnel in 30 seconds. The
speed of the train at entry to and at exit
from the tunnel are 36km/hr and 54km/hr.
if the acceleration remains constant, then
make calculations for the length of the
tunnel. (kumar p.492)
5. A toy car accelerates from rest at a
constant rate of 2m/s2 from some time.
Then it retards at a constant rate of 5m/s2
and comes to rest. If the car remains in
motion for 7seconds, determine the
maximum speed attained and the total
distance travelled by the car. (kumar p.
492)
6. Two cars A and B move at 54km/hr in the
same direction and the car B is 300 m
ahead of car A. if the car A is
accelerated at 6m/s2 while car B
continues to move with the same velocity,
calculate the time taken by car A to
overtake car B. (kumar p. 492)
7. A particle moves along a straight line and
its motion is represented by the equation
s = 16t + 4t2 2t3
where s is in meters and t is in seconds.
Determine
a. displacement, velocity and acceleration
3 seconds after the start
b. Displacement and acceleration when
velocity is zero.
c. Displacement and velocity when
acceleration is zero. (kumar p. 507)
8. If the equation of the truck during the
interval of time from t = 2sec to t = 6 sec is
s = 6 + 1/3 t3 meters what will be the
velocity and acceleration of the truck
during that interval of time? (bedford, 3rd
ed, pp23-24)
9. Engineers testing a vehicle that will
dropped by parachute estimate that the
vertical velocity of the vehicle when it
reaches the ground will be 6m/s. if they
drop the vehicle from the test rig, from
what height should they drop it to match
the impact velocity of the parachute
drop? (bedford 3rd ed, pp26-28)
10. A car moves in a straight line such that
for a short time its velocity is defined by v
= 0.8t2 + 0.4t) m/s, where t is in seconds.
Determine its position and acceleration
when t = 5 sec. when t = 0, s = 0. (hibbeler,
6th ed, p7)
11. The position of a particle which is confined to
move along a straight line is given by s = 2t3 -24t + 6
meters. (meriam, 5th ed, p27)
a. Determine the time required for the particle to
reach a velocity of 72m/s from its initial condition
at t = 0.
b. The acceleration of the particle when v = 30m/s
c. The net displacement of the particle during the
interval from t =1sed to 4sec
12. Suppose that the acceleration of the
train during the interval of time from t = 2
sec to t = 5 sec is a = 2t m/s2, and at t =
2sec its velocity is v = 180 km/hr. what is
the trains velocity at t = 5 sec and what
is its displacement change in position
from t = 2sec to t = 5sec?(bedford, 3rd ed,
pp30-31)
13. An object is moving along the path with
its position s = 3t3 + 5t2 + t + 2 meters. Find
the instantaneous velocity and
acceleration at t = 4sec.
 Assignment No. 1
1.Two 120mm diameter spheres
constructed of different metals are
located in deep space. Determine the
gravitational force F which the
aluminum exerts on the steel sphere if
the distance between them is 4m
Density of aluminum = 2690kg/m3
Density of steel = 7830kg/m3
2. The milling machine is programmed so
that the head is given as a function of
time by s = 0.1sin2t meters. The argument
in time is in radians. Determine the
velocity of the head as a function of time
and the acceleration of the head at t =
3sec.
3. An object moves along a path with its
position s = t2 -6t + 8 meters.
a. When will its velocity becomes 30m/s?
b. When it is at rest?
4. A particle moves along the x axis in such
a way that its x coordinate is given by x =
3 + 20t t2. x is in meters; t is in seconds.
Find:
(a) Its velocity at t = 4 s.
(b) Its position at t = 4 s.
(c) Its acceleration at t = 4 s.
5. A motorist is driving his car at 60km/hr when he
observes that a traffic light 250m ahead turns red.
The traffic light is timed to remain red for 20 sec
before it turns green, the motorist wishes to pass the
traffic lights without stopping to wait for it to turn
green. Make calculations a) the required uniform
acceleration of the car and b) the speed of the car
as it passes the traffic light.
 Lesson no. 2
Free Fall, Curvilinear and
Projectile Motion
Lesson Objectives: at the end of the lesson the
student would be able to
1. Understand the effects of freely falling
bodies.
2. Understand how curve path affects the
velocity and acceleration of objects
3. Know the theory behind the projectile
motion
When a body falls freely, then its velocity
increases as it approaches the earth. The
increase in the velocity of the falling body
is due to gravitational acceleration g
whose value is normally taken to be
9.81m/s2. when motion is considered
under gravity, the acceleration, a in the
equations of motion for rectilinear motion
is replaced by g and we obtain
v = vo + gt
h = vot + gt2
v2 = vo2 + 2gh
The distance travelled in the nth second is
sn = vo + g/2 (2n 1)

1. When the body falls from height h, then

vo = 0 and therefore
v = gt ; h = 1/2gt2 ; v2 = 2gh
and
sn = g/2 (2n 1)
2. When bodies are thrown vertically
upward, then g becomes a retarding
parameter. The velocity of the body then
decreases gradually till it becomes zero.
For a body thrown in vertically upward
direction, the equations of motion are
v = vo gt
h = vot - gt2
v2 = vo2 2gh
and
sn = vo g/2 (2n 1)
3. At the point of maximum height attained
by the body thrown vertically upwards,
the velocity v of the body becomes zero.
Then from the expression
v = vo gt and v2 = vo2 2gh, we have time
taken in attaining the maximum height
t = vo/g therefore the maximum height at
that time is
hmax = vo2/2g
4. After attaining the maximum height, the
body starts falling down. Then from the
relation
v2 = vo2 + 2gh, the velocity of the body
reaching the ground will be
v 2 = 2gh since vo will become zero. The
velocity with which the body reaches the
ground is the same with which it is thrown
upwards.
5. From the relation v = vo gt, the time
taken by the body to fall from position of
maximum height to ground is
t = v/g = vo/g
Therefore the total time by the body to fall
back to ground is
t = 2vo/g
 Example no. 3
1. A body is allowed to fall from the top of a
tower. It falls through half the height in 3
seconds. What will be the total time to
reach the ground? (kumar p. 514)
2. A stone takes 6 seconds to reach the
ground after it is dropped from a tower. If
the stone is stopped after 2 seconds of its
fall and then released again, how much
more time it will take to reach the
ground? (kumar p. 514)
3. Water drips from a tap at uniform rate
onto the pail which is 1.6 meter below.
The first drop strikes the floor at the instant
the fourth drop is on the verge of falling
from the tap. What would be the location
of the different drops when the first drop
hits the pail? (kumar p. 515)
4. A basketball drops from rest 1 meter
above the floor and rebounds at height
of 0.6meters. Assuming the ball is not
moving horizontally, A. calculate its
velocity just before it hit the floor on the
way down and B. just after it left the floor
on the way up. (internet)
5. A boy throws his mother's crystal vase
vertically upwards with an initial velocity
of 26.2 m/s. Determine the height to
which the vase will rise above its initial
height. (internet)
6. A ball of mass 1.8kg was thrown vertically
upwards and a height of 4 meters above
the ground. Its kinetic energy was equal
to its potential energy. How much total
time does the ball take to get back to the
point from where it was thrown? (kumar p.
515)
7. During a test a rocket is traveling upward
at 75m/s, and when it is 40 meters from
the ground, the engine fails. Determine
the maximum height reached by the
rocket and its speed just before it reaches
the ground. (Hibbeler p. 12)
Curvilinear motion:
The motion of a particle along a curved
path other than straight line is known as
curvilinear motion.
Examples of curvilinear motion:
1. An automobile negotiating a turn on the
road
2. Projectile motion of bullet
3. Motion of bob of a pendulum
4. Motion of satellite
Curvilinear motion occurs when the particle
moves along a curved path. Since this
path is often described in three
dimensions, vector analysis will be used to
formulate the particles position, velocity
and acceleration.
Position:
Consider a particle located at point P on
space curve defined by the path function
s. The position of the particle, measured
from a fixed point O, will be designated
by the position vector r = r(t)
This vector is a function of time since in
general, both its magnitude and direction
change as the particle moves along the
curve.
Displacement.
Suppose that during a small time interval t,
the particle moves a distance s along
the curve to a new position P, defined by
r = r + r. The displacement r represents
the change in the particles position and
is determined by vector subtraction r = r
-r
Velocity
During the time t, the average velocity of the
particle is defined as
v = dr/dt
Since dr will be tangent to the curve at P, the
direction of v is also called tangent to the
curve. The magnitude of v, which is called the
speed may be obtained by noting that the
magnitude of the displacement r is the
length of the straight line segment from P to P
therefore
v = ds/dt
Acceleration.
If the particle has a velocity v at time t and
a velocity v=v + v at t + t. Then the
acceleration is
a = dv/dt
And
a = d2r/dt2
Rectangular components of motion
Position
r = xi + yi + zk
The magnitude of the position is
r = x2 + y2 + z2
And the direction is
ur = r/r (unit vector)
= x/r i + y/r j + z/r k
The coordinate angles
= cos-1 (x/r)
= cos-1 (y/r)
= cos-1 (z/r)
Velocity
The first derivative of r yields the velocity of
the particle
v = dr/dt
= d(xi)/dt + d(yj)/dt + d(zk)/dt
The derivative d(xi)/dt = xdi/dt + idx/dt
The first term is zero since x,y,z reference
frame is fixed therefore the direction of i
does not change in time.
The magnitude of the velocity is
v = vx2 + vy2 + vz2
Acceleration
The acceleration is defined as the first
derivative of the velocity or second
derivative of the position
a = dv/dt
= a x i + a y j + az k
The magnitude is
a = ax2 + ay2 + az2
For a curvilinear motion in space,
r = xi + yj + zk
v = vxi + vyj + vzk
a = axi + ayj + azk
 Example no. 4
1. The motion of a particle is defined by the
relations: x = t2 + 3t and y = t3 8t + 3
where x and y are in meters and t is in
seconds.
Write an equation defining the motion of a
particle in vector form.
Calculate the velocity and acceleration of
the particle at t = 2 sec. (kumar p. 523)
2. A particle moves in x-y plane and its
coordinates are defined by
x = -3sint y = 2 3cost
a. State the equation of path along which
the particle moves
b. Write expressions for position, velocity
and acceleration vector for the particle
at an instant when it starts to move. (
kumar p. 525)
3. At any instant, the position of the kite in the
figure is defined by the coordinates x = 30t
and y = 9t2 where x and y are in ft.
a. Determine the equation which describes the
path and the distance of the kite from the
boy when t = 5 sec.
b. The magnitude and direction of the velocity
when t = 5 sec.
c. Magnitude and direction of the acceleration
when t = 5 sec. (Hibbeler p32)
4. The motion of the bead B sliding down
along a spiral path is shown in the figure is
defined by the position vector r =
0.5sin(2t) i + 0.4cos(2t) j 0.1t k meters.
Determine the location of the bead when
t = 2 sec and the magnitude of the
velocity and acceleration. (hibbeler p33)
 Example No. 4
1. Starting from rest, a motor boat travels
along a circular path of radius of
curvature = 50meters at a speed of v =
0.8t2 m/s. find the magnitude of boats
velocity and acceleration at t = 5sec.
2. A skier travels with a constant speed of
6m/s along the parabolic path y = 1/20
x2 as shown. Determine his velocity and
acceleration at the instant he arrives at
A. (hibbeler p48)
3. A race car C travels around the
horizontal circular track that has a radius
of 300ft. If the car increases its speed at a
constant rate of 7ft/s2 starting from rest
determine the time needed for it to reach
an acceleration of 10ft/s2. what is its
speed at this instant? (hibbeler p49)
4. To anticipate the dip and hump in the
road, the driver of a car applies brakes to
produce a uniform deceleration. The
speed is 100km/hr at the bottom A of the
dip and 50km/hr at the top C of the
hump, which is 120 meters along the road
from A. if the passengers experience a
total acceleration of 3m/s2 at A and if the
radius of curvature of the hump at C is 150
meters, calculate (merriam p. 59)
a. The radius of curvature at A.
b. The acceleration at the inflection point B
c. The total acceleration at C.
Projectile motion
If the object is thrown thru the air, the object
accelerates downward with acceleration due to
gravity. In terms of a fixed cartesian coordinate
system with y axis upward, the acceleration is given
by ax = 0, ay = -g and az = 0.
A projectile refers to any object which is
thrown into the space and whose
subsequent motion is subjected to only
gravitational forces.
Terms related to projectiles:
1. Velocity of projection - is the velocity V
with which the body is projected into the
space. The angle which this velocity
makes with the horizontal is known as the
angle of projection.
2. Range the horizontal distance between
the point of projection and the point
where the projectile hits the ground.
3. Time of flight the time interval during
which the projectile remains in motion.
4. Maximum height the maximum vertical
distance of projectile from the point of
projection.
Consider the motion of an object which is
projected from point O with velocity V
inclined at an angle . After attaining the
maximum height H, it descends and finally
hits the ground at point B.
The following observations may be made:
1. The velocity at any point on the trajectory
consist of two components; velocity in the
x direction Vx and velocity at the y
direction Vy.
Vx = V cos Vy = Vsin
2. The object does not experience any
acceleration in the x direction, the
horizontal component does not change
during this flight. Apparently horizontal
component of velocity at any point on
the trajectory is the same as the initial
horizontal velocity component.
3. The vertical motion of the body is
influence by gravitational effect. The
vertical component of velocity starts
decreasing from its initial value and
attains zero at its top most point of
trajectory.
If P(x,y) is the position of the object after a
time t, then the horizontal and vertical
distances are
x = (Vcos) t
y = (Vsin) t + gt2
At maximum height,, v2 = vo2 + 2gh
where v0 = vsin and v = 0 at maximum
height
Therefore h = vy 2 sin2/2g
The time of flight from position O to point B is
y = vy t + 1/2gt2
since y = 0 at point B then
t = 2V sin/g
The time to reach the maximum height, v =
v0 + gt, but v = 0
Therefore, t = vy/g = Vsin/g
The horizontal range. During the time of
flight, the body moves in horizontal
direction with uniform velocity Vcos,
therefore the range
RANGE = horizontal velocity x time of flight

The maximum range will be V2/g when

=450
 Example No. 5
1. A projectile is fired with a velocity of
300m/s at an angle of 300 with horizontal.
What is the velocity and direction after 10
seconds. (kumar p. 555)
2. A ball was projected with a velocity of
100m/s at an angle of 60o from the cliff 10
meters high. Find (internet)
a. The height it will reach in 1.2 sec.
b. The horizontal distance it covers in 1.2 sec
c. Its velocity after 1.2 sec
d. The time it will take the ball to return to the
same level as the origin
e. The horizontal distance or range it covered
when it is at the same level at the origin
f. Time it will take the ball to drop to the
ground
g. Horizontal distance it covered when it drops
to the ground.
3. A bomber moving at 500m/s is on a level
flight. It drops a bomb at an altitude of
6500meters. How long does it takes for the
bomb to strike the ground. How far does
the bomb travel horizontally.
4. A cannon ball was fired with a velocity of
70m/s at an angle of 450 with the
horizontal. A tank was advancing towards
the cannon at 3m/s at the same time.
what must be the initial distance from the
cannon and the tank o that the cannon
ball will hit the tank? (internet)
5. An airline mechanic throws the tool box
and is caught by his assistant 3 sec later
on the side of the plane 15 meters away
and 5 meters above the ground. What is
the speed of the tool box and the angle
with respect to the horizontal at which it
was thrown? (internet)
 Assignment no. 2
1. During a test flight in which a helicopter starts
from rest at t = 0 at the origin of the
coordinate system, accelerometer mounted
of the board of the craft indicate that its
components of acceleration from t = 0 to t =
10 sec are closely approximated as
ax = 0.6t m/s2
ay = 2 - 0.3t m/s2
az = 0
Determine the helicopters velocity and position
as a function of time
2. The velocity of a particle is given by v =
(16t2 i + 4t3 j + (5t + 5)k m/s, if the particle
is at the origin when t = 0, determine the
magnitude of the particles acceleration
when t = 3 sec. what is the coordinate
position of the particle at this instant?
What is its position vector and its
magnitude?
3. A hunter aims a rifle at a monkey sitting at
the top of a 100 ft tall tree which is 200ft
away from the hunter. If the monkey
drops from the tree at the instant it sees
the flash of a rifle being fired. Will the
bullet hit the monkey? The nuzzle velocity
is 500 ft/s.
4. A roofer tosses a small tool toward a
coworker on the ground. What is the
minimum horizontal velocity so that the
tool clear point B? Locate the point of
impart of the tool.
5. Calculate the minimum possible
magnitude u of the nozzle velocity which
a projectile must have been fired from
point A to reach point B on the same
horizontal plane 12km away.
 Lesson No. 3
Force Mass and Acceleration
Lesson objectives: at the end of the lesson
the student would be able to
1. Understand the relationship between
force, mass and acceleration
2. Obtain the resultant force using free
body diagrams
3. Apply Newtons 2nd law of motion in
determining the force of the system
Definition of terms:
1. Force a push or a pull exerted on a
body which may change its shape and its
motion. The concept of force was
originally defined by Sir Isaac Newton in
his three laws of motion. He
explained gravity as an attractive force
between bodies that possessed mass
Force is a vector. The SI unit for force is
the newton (N). One newton of force is
equal to 1 kg * m/s2.
2. Weight the gravitational pull exerted by the
center of the earth on a body. W = mg
3. Center of gravity the point where the
weight of a body is considered to be
concentrated
4. Tension a force when applied it tends to
change the shape of the body by increasing
its length. The tension force is directed along
the length of the wire and pulls equally on
the objects on the opposite ends of the wire.
5. Compression a force when applied to the
body tends to change its shape by
decreasing its length.
6. Friction it is a force that opposes the
motion of a body. There are two types:
sliding and static friction
7. Applied force it is a force that is applied
to the body by a person or another body.
8. Gravity force - The force of gravity is the
force with which the earth, moon, or other
massively large object attracts another
object towards itself. By definition, this is
the weight of the object. The g in manila is
9.78m/s2
9. Normal force - The normal force is the
support force exerted upon an object
that is in contact with another stable
object. For example, if a book is resting
upon a surface, then the surface is
exerting an upward force upon the book
in order to support the weight of the
book. On occasions, a normal force is
exerted horizontally between two objects
that are in contact with each other. For
instance, if a person leans against a wall,
the wall pushes horizontally on the person.
10. Air resistance force - The air resistance is
a special type of frictional force that acts
upon objects as they travel through the
air. The force of air resistance is often
observed to oppose the motion of an
object. This force will frequently be
neglected due to its negligible magnitude
(and due to the fact that it is
mathematically difficult to predict its
value)
Equilibrium it is the state at which a body
remains at rest or in uniform motion.
The state of the body has an equal forces
acting on it. Therefore the resultant is zero.
Newtons three laws of motion:
1. A particle originally at rest, or moving in
a straight line with a constant velocity
will remain at this state provided the
particle is not subjected to an
unbalanced force.
2. A particle acted upon by an
unbalanced force experiences an
acceleration that has the same direction
3. As the force and a magnitude that is
proportional to the force.
The mutual forces of action and reaction
between two particles are equal,
opposite and collinear.

F = ma
Where m = mass of an object
a = acceleration
= dv/dt
Equations of motion
If the forces can be resolved directly from the
free body diagram, apply the equations of
motion in their scalar component form.
Cartesian vector analysis is applied for a
geometrical bodies.
For frictional force used F = N
For spring use the equation of elastic spring from
Hookes Law F = ks where k is the springs
stiffness and s is the stretch or compression s =
l lo where l is the deformed length.
In kinematics
If the acceleration is a function of time, use
a = dv/dt and v = ds/dt.
If the acceleration is a function of
displacement integrate ads = vdv to
obtain the velocity as a function of
position
If acceleration is constant use
v = vo + at
s = so + vot + at2
v2 = vo2 + 2a(s so)
Motion of a lift:
Consider a person of mass m inside the lift,
the weight mg of the person acts
vertically downward while the reaction R
or tension T acts vertically upward.
When the lift moves upward the force will
be T mg.
When the lift moves downward, the force
will be mg- T
 Example No. 6
1. An unbalanced force of 50N acts on an
object weighing 100N. What is the
acceleration produced? (internet)
2. An object of mass15kg is acted upon by
two forces that are in opposite direction.
One is 540N and the other is 900N. What
is the acceleration produced? What will
be the direction of the acceleration?
(internet)
3. A 12 gm bullet acquires a speed of
400m/s in traversing a barrel 100cm long.
Find the acceleration and the
acceleration force. (internet)
4. An elevator has a mass of 2000kg. Find
the tension on the supporting cable if
a. The elevator is descending with an
acceleration of 3m/s2
b. The elevator is ascending with an
acceleration of 3m/s2
c. The elevator is moving upward with
constant velocity.
5. Two bodies having masses 40gm and
60gm are attached to the ends of string
of negligible mass and suspended from a
light frictionless pulley. Find the
acceleration of the system and the
tension on the string. (internet)
6. An elevator of weight 25kN is moving
vertically downward with a constant
acceleration. Determine the limits of the
cable tension. Starting from rest, the
elevator starts to travel a distance of 30m
during an interval of 8 sec. what will be
the cable tension at this time? (kumar p.
685)
7. The 125kg concrete block A is released
from rest in the position shown and pulls
the 200kg log up the 300ramp. If the
coefficient of kinetic friction between the
log and the ramp is 0.5, determine the
velocity of the block as it hits the ground
at B. (merriam p. 125)
8. A 1000 gram block on a smooth table is
connected to a 500grams piece of load
by a light cord that passes over a small
pulley at the end of the table.
a. What is he acceleration of the system
b. What is the distance that the 500 gram
load will travel in 2 sec?
c. What is the tension in the cord?
d. If the coefficient of static friction is 0.2.
repeat a to c.
9. The 100 kg block A is released from rest. If
the mass of the pulleys and the cord is
negligible. Determine the speed of the
20kg block B in 2 sec. (hibbeler p. 98)
10. A 100 kg crate is originally at rest on a
smooth horizontal surface. If a force of
200N, acting at an angle of 450 is applied
to the crate for 10 sec, determine the final
velocity of the crate and the normal
force which the surface exerts on the
crate during the time interval.
11. A car of mass 1000 kg travels east at
30m/s and collides with a 3000kg truck
traveling west at 20m/s. if the collision is
completely inelastic, how fast are the car
and the truck going, and in what
direction after the collision? (internet)
If the collision is elastic what happens.
12. A 1.5kg ball drops vertically onto the
floor, hitting the floor with a speed of
25m/s. it is in contact with the floor for
0.02sec and then rebounds to a height of
11 meters. What is the magnitude of the
force of the floor on the ball? (internet)
13. A girl on a sled with a combined mass of
50kg slides down a frictionless hill from rest.
When she gets to the bottom of the hill,
she is traveling at 4m/s. how high is the
hill? (internet)
 Assignment No. 3
1. The 400kg mine car is hoisted up the
incline. The force in the cable is F = 3200t2
N. the car has an initial velocity of 2m/s at
t = 0 sec. find the velocity and distance it
travelled when t = 2 sec.
2. find the acceleration of the 5kg block in the
figure.
3. Two blocks of mass 5 kg and 9 kg are
connected by a string of negligible mass
that passes over a frictionless pulley. The
inclines are frictionless. Find (a) the
magnitude of the acceleration of each
block and (b) the tension in the string.
Take g = 10 ms-2.
4. Freight A car with a total mass of 80Mg is
moving along a horizontal track in a
switching yard at 3km/hr. freight car B
with a total mass of 60Mg and is moving
at 5km/hr overtakes car A and is coupled
to it. Determine the common velocity of
the two cars as they move together after
being coupled.
 Lesson No. 4
Work, Energy and Momentum
At the end of the lesson, the student would
be able
1. Understand the phenomenon of collision
of bodies
2. To know the relationship between work
and energy
3. Understand the conservation of energy
4. Apply theory of momentum to elastic
and inelastic bodies
Collision means contact between two
bodies for a short duration. During
collision, the bodies produce impulsive
forces on each other, and this impulsive
force is much larger than any other finite
force that may be acting. The
phenomenon of collision between two
bodies which occurs in a very short
interval of time and during which the
bodies exert relatively large forces on
each other is called impact.
Types of impact
The line joining the centers of colliding
bodies and passing thru the point of
contact is called line of impact.. This line
passes thru the point at which collision
takes place between the bodies.
When two bodies collide with one another,
the resulting impact may be
1. Central and eccentric impact
2. Direct and oblique impact.
The impact is called central when the mass
centers of the colliding bodies are located on
the line of impact.
When the mass centers of the colliding bodies
are not located on the line of impact, the
impact is referred to as eccentric impact.
The impact is said to be direct if before impact,
the bodies are moving along the line of
impact.
The impact is said to be indirect or oblique if the
motion of one or both of the colliding bodies,
before impact, is not directed along the line
of impact.
The impact is elastic If the body rebounds
after impact. Greater the elasticity of the
body, greater will be the rebound. The
impact is inelastic if the body does not
rebound at all.
Momentum is the product of mass and the
velocity of a body and represents the
energy of motion stored in a moving
body.
F = ma/g
A force is measured in gravitational units
expressed as kilograms force kgf. A kgf is
defined as that force which when applied
to a body of 1 kg mass produces an
acceleration equal to 9.81 m/s2.
 F = ma
= m dV/dt
= m (V V0)/t = m(v u)/t
Where V = final velocity
V0 = initial velocity
mV = momentum of the body at the end
of time t
mV0 = momentum of the body at the
start of time.
Ft = m(V V0)
where Ft = impulse of force which is
equivalent to the change in momentum.
The unit of momentum and impulse is kg
m/s or Ns
The concept of impulse is useful in solving
problems when a large force acts for a
very short time e.g. sudden blow of
hammer striking a nail.
The law of conservation of momentum
states that
total momentum of any group of objects
always remains the same if no external
force acts on it.
Consider two bodies of masses m1 and m2,
their velocity before collision is u1 and u2
and after collision v1 and v2. therefore
according to law of conservation of
momentum
m1u 1 + m 2u2 = m 1v 1 + m 2v 2
Newtons law of collision for elastic bodies:
when two moving bodies collide with
each other, their velocity of separation
bears constant ratio to their velocity of
approach.
v2 v1 = e (u1 u2)
Where e = constant of proportionality and is
called coefficient of restitution.
e = velocity of separation / velocity of
approach
if e = 0, the bodies are inelastic
if e = 1, the bodies are perfectly elastic
Loss of kinetic energy during impact
Consider two bodies 1 and 2 which
experience direct impact. Let m1 u1 and
v1 and m2 u2 and v2 the mass, initial and
final velocity of body 1 and 2.
Kinetic energy before impact :
m 1u12 + m 2u2 2
After impact
m 1v 12 = m 2v 22
Therefore loss of kinetic energy during
impact= KE before KE after
Loss of energy E = 1/2(m1 + m2) [m1m2(u1
u2))2 m1m2(v1- v2)2]
In relation with coefficient of restitution
E = m1m2/ 2(m1 + m2) [u1- u2)2 (1 e2)
If the objects are inelastic,
E =
If the objects are elastic
E =
 Example No. 7
1. Given two equal masses at elastic impact
find the final velocity after impact with
coefficient of restitution . (kumar p. 648) if
the initial velocities are 4m/s and 2m/s
respectively with perfectly elastic object.
Find the final velocity after impact.
2. Show that when a body strikes an
immovable body of very large mass, it
rebounds with the same velocity with
which it strikes. The impact is perfectly
elastic. ( kumar p.648)
3. A sphere of 1.5kg mass moves to the right
with a velocity of 12 m/s and strikes the
vertical face of a block which is at rest
and is of 3kg mass. The block is supported
on rollers and is attached to a spring of
4500N/m spring constant. Determine the
maximum shortening in the length of the
spring due to impact. Neglect friction
and the coefficient of restitution between
the block and the sphere is 0.8. (kumar p.
650)
4. A ball of mass 2kg moving with a velocity
of 3 m/s impinges directly on a ball of
mass of 4kg at rest. After impact, the 2 kg
mass ball comes to rest. Determine the
velocity of 4 kg ball after striking and the
coefficient of restitution between the
balls. ( kumar p. 651)
5. The ram of a pile driver has a mass of
800kg and is released from rest 2m above
the top of the 2400kg pile. If the ram
rebounds to a height of 0.1m after impact
with the pile. Calculate (mirriam p. 217)
a. The velocity of the pile immediately after
impact
b. The coefficient of restitution
c. Percentage loss of energy due to impact.
6. A two 10kg weights slide on the smooth
horizontal bar. The velocity of bar A going
to the right is 10m/s while bar B goind to
the left is 5 m/s. Determine the velocity
after they collide a. if they are coated
with valcro and stick together and b if the
coefficient of restitution is 0.8 ( bedford p.
225)
7. A body of 10kg mass moving towards the
right with a speed of 8m/s strikes with
another body of mass 20kg mass moving
towards the left with 25m/s. e = 0.65
determine (kumar p. 656)
a. Final velocity of the two bodies
b. Loss in kinetic energy due to impact
c. Impulse acting on either body during the
impact
8. A 1200kg helicopter starts from rest at t = 0.
the component of the total force on the
helicopter from t = 0 to t = 10 sec are given
by (bedford p.210)
Fx = 720t N
Fy = 2000 300t N
fz = 10t N
Determine the helicopters velocity at t = 10sec.
At t = 20 sec, the helicopters velocity is 36i + 10j
m/s. what is the average of the total force
acting on the craft from t = 10 sec to t = 20
sec.
9. A ball impinges directly on another ball of
the same mass at rest. Due to impact, the
first ball comes to rest and half of the
initial kinetic energy gets lost. Calculate
the elasticity of the ball. ( kumar 652)
Work is said to be done when the point of
application of force moves in the
direction of the force. The amount of work
done equals the product of force and the
resulting displacement in the direction of
the force.
Most of the time, the force and the
displacement are not collinear. Work
done by the force is then expressed as
the product of the component of force in
the direction of motion and the distance
moved.
Note that:
1. The work done is a scalar quantity; it has
a magnitude and sense but no direction
2. Work done by a force is zero if either the
displacement is zero or the force acts
normal to the displacement
3. Work done is taken to be positive if the
point of application of force moves in the
direction of the force. Work done is
considered negative when the direction
of force is opposite to that of
displacement
The unit of work is joule which is defined as
the work done by constant force of one
newton acting on a body and moving
thru a distance of one meter in its
direction.
Power = work done per unit time = joule/sec
1 watt = 1 joule/sec = 1Nm/s
Energy is defined as the capacity to
produce a change from existing
conditions like capacity to exert force
through a distance and do work.
Potential energy is the energy possessed by
a body due to its position or elevation.
PE = mgh
Kinetic energy is the energy possessed by
the body by virtue of its motion
KE mv2
The principle of work and energy is defined
by
E = mv2 - mu2
This is the work done on an object as it
moves between two positions which is
equal to the change in kinetic energy.
Also noted that the average power
transferred to or from an object during an
interval of time is
P = E/ t2 t1
Conservation of energy
W1-2 = PE1 PE2 = KE2 KE1
KE1 + PE1 = KE2 + PE2
The function PE + KE is the sum of potential
energy and kinetic energy of an object is
called mechanical energy
 Example No. 8
1. The 180kg container starts from rest at
position s = 0. the hydraulic cylinder exert
a horizontal force on the container that is
given as a function of of position by F =
700s N. the coefficient of kinetic friction
between the container and the floor is
0.2. what is the velocity of the container
when it reaches the position s = 1m?
(bedford p. 155)
2. A vehicle accelerates a glider of 125kg
mass from rest to a speed of 50km/hr.
make calculates for the work done on the
glider by the vehicle. What change would
occur in the kinetic energy of the glider if
subsequently its velocity reduces to
20km/hr on the application of the brakes?
(kumar p. 703)
3. A boy having a mass of 40kg stands on
the back of a 15 kg toboggan which is
originally at rest. If he walks to the front B
and stops, determine the distance the
tobogan moves. Neglect friction.
(hibbeler p. 196)
 Assignment no. 4
1. Freight A car with a total mass of 80Mg is
moving along a horizontal track in a
switching yard at 3km/hr. freight car B
with a total mass of 60Mg and is moving
at 5km/hr overtakes car A and is coupled
to it. Determine the common velocity of
the two cars as they move together after
being coupled.
2. An aircraft arresting system is used to stop
airplanes whose braking system fail. The
system stops a 47.5Mg airplane moving at
80m/s in 9.15 sec.
a. What impulse is applied to the airplane
during the 9.15 sec?
b. What is the average deceleration to
which the passengers are subjected?
3. A bag A, having a weight of 6kg is
released from rest at a position of 00. after
falling of 900 it hits a box B. if the
coefficient of restitution between the box
and the bag is 0.5. determine the velocity
of the box and the bag just after impact
and the loss of energy during collision.
 Lesson no. 5
Kinetic of Rigid Bodies
At the end of the lesson, the student would
be able to
1. Familiar with the laws of rotary motion
2. Solve for the moment of momentum,
torque and angular momentum
Rotary motion is the motion of a rigid body
in which the particles move in circular
paths. The particles continue repeating
the same path and have a fixed center of
rotation. The shafts, pulleys and flywheels
undergo circular motion when they rotate
about their geometric axis.
Angular displacement the displacement
of a body in rotation is called angular
displacement and it is measured in terms
of the angle through which the body
moves from initial state. It is measured in
radians, degrees or revolution.
1 revolution = 2 radians = 360 degrees
Angular velocity the rate of change of
angular displacement of a body with
respect to time. If the body traverses
angular distance d over a time interval
dt, then the average angular velocity is
= d/dt
The unit of angular velocity is radians per
seconds (rad/sec). Sometimes it is
expressed in revolutions per minute (rpm).
If the body turns N rev/min, then
No. of rev per sec = N/60
In one revolution, the angular displacement
of the body is 360 degrees or 2 radians.
Angle traversed by the body in one second
= 2 x N/60 = 2N/60
But the angle traversed by the body in one
second is a measure of the angular
velocity then
= 2N/60 rad/sec
Angular acceleration the rate of change of
angular velocity of a body with respect to
time.
= d2/dt2 in rad/sec2
the relationship between circular motion and
linear motion
s = r
Take the derivative with respect to time.
ds/dt = d(r)/dt = r d/dt
Therefore the linear velocity is r times the
angular velocity
v = r
 if the velocity is differentiated with respect to
time it will become linear acceleration
dv/dt = d(r)/dt
a = ra
the tangential acceleration
at = r
the normal acceleration
an = v2/r = 2r
The tangential acceleration is due to change in
magnitude of the velocity and the normal
acceleration is due to the change in the
direction of the body.
Equations of circular motion
 Example No. 9
1. A flywheel rotates freely on a frictionless
bearings at 300rpm. How many revolution
will it make in 12 seconds after the start?
Determine the angular speed if this wheel
turns 500 revolution in 15 sec. (kumar p.
589)
2. The speed of a flywheel changes from 10
rad/sec to 50 rad/sec in 8 seconds.
Determine the angular acceleration of
the wheel. How many revolutions the
wheel would turn to attain a speed of
600rev/min? (kumar p590)
3. Two disk are connected with each other.
Disk A starts from rest and rotates with a
constant angular acceleration of 2
rad/sec2. if no slipping occurs between
the disks, determine the angular velocity
and angular acceleration of disk B just
after disk A turns 10 revolution. (hibbeler p.
264)
4. A 6 m long slender bar is made to rotate
thru its one end in the horizontal plane
about a vertical axis. The bar accelerates
uniformly from 1000 rev/min to 2000
rev/min in 5 sec period. Determine
a. The linear velocity of the midpoint of the
bar at the beginning and at the end of
time interval
b. Normal and tangential acceleration of
the midpoint of the bar 3 seconds after
the start of the acceleration. (kumar p.
591)
5. A flywheel 0.6m in diameter accelerates
uniformly from rest to 360rpm in 12
seconds. Determine the velocity and
acceleration of a point on the rim of the
flywheel 0.5 seconds after it has started
from rest. (kumar p. 592)
Torque it is the turning moment of a force
on a body on which it acts. It is the
product of force and the perpendicular
distance between the line of action and
the point of rotation.
 T=Fxr
where T = torque in Nm
F = force in N
r = distance from the pivot in m
When the body is pivoted at point O rotates
thru a small angle , the point A shifts to
point B.
The work done by the tangential force F in
rotating the body from point A to point B
is
W = T
In one revolution = 2 , the body turns N
revolution per minute which when
converted to per seconds
2N/60
Therefore the work done will be
W = 2NT/60 in Nm/sec
Which is equivalent to the power of the
system in watts.
It may be recall that the momentum of a
body moving in a straight path is mv.
With reference to the figure, a rigid body of
mass m rotates about point O with
constant angular velocity
The moment of an elementary mass is
= dm x V where V = r
= dm x r
The moment of momentum of an
elementary mass is therefore
= dm x r x r
= dm x r2
= (dm x r2) x
If we let I = inertia = dm x r2
The moment of momentum = I (angular
momentum)
Moment of inertia and radius of gyration
For circular lamina of radius r and mass m
I = mr2
For a solid sphere of radius r and mass m
I = 2/5 mr2
For uniform bar of mass m and length L
(midpoint)
I = 1/12 mL2
For uniform bar of mass m and length L (end
point)
I = 1/3 mL2
For conical shell of mass m, radius r and
height h
I = mr2 + mh2 (at the tip)
I = mr2 + 1/6 mh2 (at the base)
I = mr2 (at the center of the base)
I = mr2 + 1/18 mh2 (at the center of
gravity)
The moment of inertia in terms of radius of
gyration, k
k = I/m
for circular lamina k = 0.707r
The kinetic energy of a rotating body
KE = I2
The work done is equivalent to the change
in kinetic energy
W = KE2 KE1
= T
= I(22 12)
The total kinetic energy of the body
KET = KE in translation + KE in rotation
= mv2 + mk2 (v/r)2
= mv2 + I2
 Example No. 10
1. A uniform homogeneous cylinder of 130
mm radius has a mass of 0.15kg. It rolls
without slipping along a level horizontal
surface with a translational velocity of
18cm/s. determine its total kinetic energy.
(kumar p. 737)
2. An angular acceleration of = 0.4t2 + 0.6
rad/s2 is imparted to disc motor. If initally
the disc has an angular velocity of 5rad/s
calculate the velocity and acceleration
of block B at the time instant t = 1.5 sec.
(kumar p. 737)
3. Consider a composite system consisting
of a rod AB and sphere BC fixed rigidly to
the rod at B. determine the angular
acceleration of the system at the instant
when it is released from the horizontal
position. (kumar p. 739)
 Assignment no. 5
1. A shaft supported between two bearings
carries a wheel of 1.5m in diameter. A
constant monent is applied at the rim of
the wheel and it attains a speed of 120
rpm in 10min from rest. Find
a. The peripheral velocity of the wheel
b. Angular acceleration
Number of revolution made by the wheel
2. The rotor of an electric motor accelerates
uniformly to its rated speed of 3600 rpm
from rest in 15 sec. subsequently, the
power is turned off and the rotor
decelerates to stop. If a total time of 75
seconds elapses from start to stop,
determine the revolutions turned during
acceleration and deceleration.
3. A 3kg sphere of radius 1.5m is rotating
from 20rad/sec to 30rad/s find the
change in kinetic energy.
4. A 3kg cone of base diameter 4m and
height of 5m is rotating from rest to
20rad/sec. find the change in kinetic
enerrgy.