An Overview of

Dynamics
Ravi Chandar B
• Engineering Mechanics – tells about the condition of a body
whether it is in rest or motion because of the action of forces.
• Statics – tells about the forces which act on the bodies which
is at rest. Net force acting on the body is zero
• Dynamics – tells about the forces on the body which is in
motion. Net force acting on a body is not zero
• Kinematics – deals with the motion of the body with out any
reference to the forces applied on the bodies. Also deals with
the position, velocity, and acceleration with respect to time.
• Kinetics – deals with the forces acting on the bodies with
respect to their resulting motion.
• Statics equilibrium conditions
 Fx  0
F  0 y

M  0
• Dynamic equilibrium conditions
 F  ma
x x

 F  ma
y y

M  I  G G
• A body is at rest starts by producing a thrust of T = 43,000 N.
mass of the body is 1600 kg and the co-efficient of friction
between the body ant the floor is 0.2. Determine the
acceleration of the body.
1. Known parameters:
Total mass (m), thrust (T) and
coefficient of friction ()
2. To find (unknown):
Acceleration of the body, a
3. Draw diagrams: FBD = MD
(IRD)

F x  max F y  ma y a y  0
T  F  mx N  mg  0
 Geometry diagram

FBD = MD
 FBD = MD

 M 0  I 0 ;
P  r   I 0
100  0.6   25α
2  1   t2  t1 
2
  2.4 rad s
 0  2.4 3  0 
 2.4  3
 7.2 rad s
Impact
• Line of impact
• Coefficient of restitution

VB 2  VA 2
e
VA 1  VB 1
• Conservation of momentum.

m A  v A   m B v B   m A v A   m B v B 
1 1 2 2
 Conservation of momentum along n direction.
m A  v A   m B  v B   m A v 'A   m B v B' 
n n n n

3 3
m A v A     m B v B     m Av 'A cos  A  m B v B' cos  B
5 5

Coefficient of restitution.
Conservation of linear m A  v A   m A v A' 
v B'   v A' 
n n momentum for the disk A
t t

e 4
v   v 
A n B n
along t direction. v A     v A' sin  A
5
v B' cos  B  v A' cos  A
e
3   3  Conservation of linear m B  v B   m B  v B' 
v A     vB   t t
5   5  momentum for the disk B
along t direction. 4
v B     v B' sin  B
5
• Find the velocities of the spheres A and B in the tangential
direction after impact. Consider coefficient of restitution as
0.5.

vA t  2.1213 m s
vB t  6 m s
Projectile

• Basic equations along horizontal direction.

• Basic equations along vertical direction.

Projectile

• Time of flight 2v0 sin 

t
g
2 2
• Maximum height H  0 v sin 
2g
2
• Maximum Range H  0 sin 2
v
g
Instantaneous center
• Point on the rigid body whose velocity is zero at a given
instant.
n  n  1
• Number of instantaneous centers. N
2
• Velocities are opposite in direction

• Velocities are in same direction.

• Velocity equation.
vA  vB  v A B
 v B  ω AB  rA B

• Acceleration equation.

a A  a B  a A B   a A B 
t n

 a B  α AB  rA B  ω AB  v A B
 a B  α AB  rA B  ω AB  ω AB  rA B 
• If there is no slip between the mating parts. Then the velocities
at the point of contact of the two members are always equal.
• Velocity at point D, Zero
• Velocity at point of contact of disc 1 and disc 2 (let the point be
X).
 v x 1   v x 2
v A  vO  v A O
 v O  ω  rA O
 8i  10k   0.120 j
 9.2i m s
 IC
v  r
vO
OI C 

8

10
 0.8 m
vO vA 8 vA
  
OI C AI C 0.8 0.8  0.12
v A  9.2 m s
• Consider a cylinder rolling at a constant speed.
• Contact point has zero.
• Center of wheel has a velocity of VCM
• Top of wheel has a velocity of 2VCM
2VCM

VCM CM
The cylinder is rotating about CM and its CM is moving at constant speed (VCM). Thus its total

kinetic energy is given by :

Rotation only
vt = wR Sliding only
2VCM
VCM
CM CM
VCM CM

K TOT  I CM  M V 1
2
2 1
2
2
CM
Rotation
Sliding only

CM CM
CM
Pulleys
• Derive the equation for length of the rope.
• Differentiating once yields velocity equation.
• Differentiating twice yields acceleration equation.
L1  2 yC  2 y D
L2  y A  yB   yB  yD 
L1  2 L2  L1  2 yC  2 yD  2  y A  yB   y B  yD 
2  y A  2 yB  yC   L1  L2
 2  y A  2 yB  yC   L1  L2

• Differentiate for velocity equation.

d d
dt
 2  y A  2 yB  yC    L1  L2 
dt
v A  2vB  vC  0

• Differentiate for acceleration equation.

d
 vA  2vB  vC   0
dt
a A  2aB  aC  0
Work and Energy Principle
• The principle of work and energy states that the work done by
all of the external forces and couples as a rigid body moves
between positions 1 and 2 is equal to the change in the body’s
potential energy.
 T1   U1 2  T2

 1  1
0   Fd  kx 2   mv 2
 2  2
1 1
(400)(0.5)  (500)(0.5) 2  (10)v 2
2 2
v  5.244 m/s
• A spring is compressed by 0.5 ft when a load of mass 10 lbm is
placed on it. Calculate energy stored in spring. Consider .
g  32 ft s 2