Principles of Dynamics

Dynamics is the branch of mechanics which deals with the study of bodies in motion. It is
generally considered to have been begun by Galileo (1564-1642). Its development was greatly
retarded by the lack of precise methods for measuring time. The experiments which from the
foundation of dynamics required the use of three kinds of units: force, length, and time.

Dynamics was also retarded by the principles of natural philosophy which were set up by
Aristotle and Galileo’s time were regarded as infallible. Galileo’s experimental turn of mind led
him to doubt these dogmas of abstract thought. For example, he did not accept the notion that
heavy weights fall more than light ones. His experiments with dropping weights from the
leaning tower of Pisa exploded this theory but precipitated such bitter arguments that he was
force to leave Pisa.

Galileo’s experiments with blocks sliding down inclined planes led to a relation between the
force and acceleration which Sir Isaac Newton generalized and incorporated into the laws
governing the motion of a particle that are named after him. Newton’s law of motion are the
basis for extending the laws of motion from a particle to a body composed of a system of
particles.

The term particle usually denotes an object of point size. The term body denotes a system of
particles which from an object of appreciable size. In other words, a particle is a body so small
that any differences in the motions of its parts can be neglected. The term particle and body
may apply equally to the same object.

Newton’s Law of Motion for a Particle

Newton’s laws of motion for a particle have been stated in a variety of ways. For our purposes
we shall phrase them as follows.

1) A particle acted upon by a balanced force system has no acceleration.

2) A particle acted upon by an unbalanced force system has no acceleration in line with
and directly proportional to the resultant of the force system.
3) Action and reaction forces between two particles are always equal and oppositely
directed.

Fundamentals Equation of Kinetic for a Particle

If the same particle is now assumed to be in vacuum, the resultant force acting upon it is
its weight W. By experiment, the acceleration produced by W is found to be the value of
the gravitational constant g which acts in line with W. again applying.
 R=ka ( k as the constant of proportionality ) ( eq . a)
and
w=kg (eq .b)

Dividing Eq. (a) by eq. (b) we obtain:

w
R= a
g

Vector and Scalar Quantities

A vector quantity has magnitude and direction, whereas a scalar quantity only has magnitude.

Scalar Vector
Energy, time, speed, mass, length, distance Force, acceleration, displacement, velocity

Scalar quantities can be added using the normal rules of arithmetic but vectors are added in a
different way using a vector diagram in which each vector is represented by a line, whose
length represents the magnitude of the vector and whose direction is shown by the
direction of the line (with an arrow). The vectors are then added “head to tail” and the line
from the start of the first vector to the end of the last vector represents the sum (or resultant)
of the vectors .

Rectilinear Translation

Definition and characteristics of Translation.

Translation-is defined as the motion of a rigid body in which a straight line passing through any
two of its particle always remains parallel to its initial position.

Translation may be either rectilinear or curvilinear, depending upon whether the path describe
by any particle is straight or curved. The motion of a translating body moving in a straight line is
called Rectilinear Translation.

Kinematics of Rectilinear Translation with Constant Velocity

Kinematic characteristics of the translation of a rigid body is the fact that all the particles travel
the same or parallel paths. It follows that all the particles have the same values of
displacement, velocity, and acceleration, and the motion may be completely describe by the
motion of any particle of the body.
The particle usually selected is the one of the center of the gravity of the body. Therefore
Rectilinear Translationis a translating body that may be consider as a particle concentrated at
its center of gravity.

Rectilinear Motion with Constant Acceleration.

One of the most common cases of straight-line motion is that in which the acceleration is
constant. The equation may be derive from the differential equation of Kinematic Equation.

dv
a=
dt

dv =adt

And proceed to the integration process therefore:

v t

∫ dv=a ∫ dt
vo 0

Note that a is a consider as a constant.

Drawing the figure involve in the equation to further understand the relationship of each
equation therefore:

A B

S
The point A is to be measured, there is an initial velocity v o, whereas at some other position B
reached after a time interval t, the velocity will be v.

Therefore:
v t

∫ dv=a ∫ dt
vo 0

[ v ]vv =a [ t ] t0
o

v−v o =at

v=v o + at

Then when:

ds
v=
dt

ds=vdt

And by using variable separable:

s t

∫ ds=∫ vdt
0 o

When v=v o + at

t
s
[ s ] 0=∫ ( v o +at ) dt
0

t
[ s ] = v o t+ 1 a t 2
s
0 [ ]
2 0

1
s=v o t+ at 2
2

Then let us consider the remaining differential equation of kinematics

v s

∫ vdv=a∫ ds
vo 0

The limits are written a before, since it is obvious that at zero displacement the corresponding
velocity is v o, while at a displacement s it is v integrating and evaluating the limits we obtain:
v
v2
[ ]
2 v
s
=a [ s ] 0
o

v 2−v o2
=as
2

v 2=v o2 +2 as

Therefore the three Kinematic Equations of motion with constant acceleration may be
summarized as follow:

v=v o + at

1
s=v o t+ a t 2
2

v 2=v o2 +2 as

Signs It is important to observe that these equation involve only the magnitude of vector
quantities. The direction of the vectors of displacement, velocity, and acceleration is indicated
by the following sign conversion: the initial direction of motion represent the positive direction
for displacement, velocity, and acceleration.

Free falling Bodies, Air resistance is Neglected.

It has been seen that the acceleration of a body is directly proportional to the resultant force
acting upon it. In case of a free falling body, this resultant force is its own weight .the weight .
the weight of a force that results from the attraction between the mass of the body and the
mass of the earth ; it varies inversely proportional as the square of the distance separating the
two center of the mass and is directly proportional to the product of the masses

The initial direction of the motion determines positive directions of displacement, velocity, and
acceleration.
For the most cases over a given earth surface, however, the gravitational acceleration may be
ft m
assumed to be constant. For our latitude, this acceleration is approximately 32.2 2 , 9.81
sec sec 2
cmg
,981 2 , and is represented by the symbol g. this value of g will be used throughout this book
sec
except as otherwise indicated.

A C

D
-S

Sample Problems

1. A ball is dropped down a well and 5 seconds later the sound of the splash is heared. If
the velocity of wound is 330 m/sec., what is the depth of the well?
 S

Solution:

T1 = time for the ball to travel a distance S

T2 = time for the sound to travel a distance S

1) T1 + T2 = 5
2) S = ½ gT1 ²

T1 = √2s/g
3) S = 330T2

T2 = S/330

Substitute in equation 1:

√2S/9.81 + S/330 = 5

0.452√S + S/330 – 5 = 0

S = 149√S – 1650 = 0

Let y = √S

y² = S
 y² + 149y -1650 = 0

−149 ± √(149)2 −4 (1)(−1650)

y=
2(1)

y = 10.35

√S = 10.35

S = 107.2 m

2. A stone is thrown upward from the ground with the velocity of 15 m/sec. One second
later another stone is thrown vertically upward with a velocity of 30 m/sec. How far
above the ground will the stones be at same level?

15
S

30

Solution:

t = time the first stone travelled

t – 1 = time the second stone travelled until the stone are at the same level

S = Vot - ½(g)t²
 S = 15t – ½(9.81)t²

S = 15t – 4.905t² equation 1

S = 30(t – 1) – ½(9.81)(t – 1)² equation 2

Equate (1) and (2):

15t – 4.905t² = 30(t – 1) – 4.905(t² - 2t + 1)

15t – 4.905t² = 30t – 30 - 4.905t² + 9.81t – 4.905

34.905 = 24.81t

t = 1.4 sec.

S = 15(1.4) – 4.905(1.4)²

S = 11.4 m. from theground

3.A ball is thrown vertically upward with an initial velocity of 3 m/s from the window of a tall
building. The ball strikes the sidewalk at the ground level 4 seconds later. Determine the
velocity with which the ball hits the ground and the height of the window above the ground
level.
 h

H
S

Solution:

Vf² = Vo² - 2gh

= (3)² - 2(9.81)h

h = 0.459 m.

Vf = Vo – gt

0 = 3 – 9.81(t)

t = 0.31

t2 = 4 secs. – 0.31 secs.

t2 = 3.69 secs.

H = ½ g(t2)²

H = ½ (9.81)(3.61)

H = 66.79 m

Height of the window = H – h

S = 66.79 – 0.459 = 66.331

V3² = V1² + 2gh

V3 = 0 + 2(9.81)(66.79)

V3 = 36.20 m/s

Further Application of Kinematics of Translation

I. Given: Displacement as a function of time

s=f (t )

II. Given: Velocity as a function of time

v=f (t)

III. Given: Acceleration as a function of time

a=f (t)

IV. Given: Acceleration as a function of position

a=f (s)

V. Given: Acceleration as a function of displacement

a=f (v )

Sample Problems

1. The position of a particle is given by s=s t 2−30 t+ 20. Where t is in sec.

s=f (t )

ds
v=
dt

dv d2 s
a= =
dt dt 2
 ds
v= =10 t−30( velocity as a function time)
dt

m
a=10 (constant )
s2
s=s t 2−30 t+ 20

s=s (6)2−30(6)+20

s=20 m

v=10 t−30

v=10(6)−30

m
v=30
s

m
a=10
s2

2. The velocity of a particle moving along x-axis is given by v=−4 t 2 + 40t−70 , when t = 0, s=0.
Evaluate the position, velocity and acceleration of particle at t=8 sec.

Velocity=−4 t 2=40 t−70 ; at t=8

v=−4 ( 8 )2 +40 ( 8 ) −70

m
v=−6
s

dv
a= =−8 t+ 40
dt

a=−8 ( 8 ) + 40

m
a=−24
s2

ds
v=
dt

vat=as
8 s
2
∫ ( −4 t +40 t−70 ) dt=∫ ds
0 20

8
−48 4 t
[ 3
s
]
+ −70 t = [ s ]20
3 0

−4 (8)3 4 0(8)2
+ −7 ( 8 )=s−20
13 13

s=57.33m

m ft
3.the acceleration of a particle is given by a=18−3 t 2 when t=0,s=-40m, and v=
30 .
sec sec 2
Determine the position and velocity after t=2 sec.

dv
a=f ( t )=
dt

dv
18−3t=
dt
2 v

∫ ( 18−3 t ) dt = ∫ dv
0 −30

2
3 t2
[ 18t−
2 0 ]
=v−(−30)

3 (2)
18 ( 2 )− =v +30
2

m
v=0
se c

d2 s
a=
dt

3 t 2 ds
18 t− = + 30
2 dt
2 s
3t2
∫
0
( 18 t−
2 )
−30 = ∫ ds
−40

s=−68 m
Projectile Motion

A projectile is the name given to an un-powered object which is moving through the air and is
subject to gravity. Usually at higher we assume that all forces other than gravity can be
ignored.

Types of Projectile Motion

• Horizontal
– Motion of a ball rolling freely along a level surface
– Horizontal velocity is ALWAYS constant
• Vertical
– Motion of a freely falling object
– Force due to gravity
– Vertical component of velocity changes with time
• Parabolic
– Path traced by an object accelerating only in the vertical direction while moving
at constant horizontal velocity

Derivation of formulas:

Velocity at any point

V x =v cos ∝

V x =v cos α

dV x
A x=
dt

A x =0( because only gravitational foce acting on it)

Therefore:
dV x
=0
dt

∫ d V x =0 , whenV o cos α approaches V x

Vx

∫ d V x =0
V o cos α

Vx
[ V x ]V =0 o

V x −V o cos α =0

V x −V o cos α =0

V x =V o cos α

Displacement

dx
V x=
dt

Where x = distance

t = time

when t approaches 0 and x approaches 0

t x

∫ V x=∫ dx
0 0

x=V x t

Then substitute

V x =V o cos α
Therefore

x=V o cos α

Horizontal Component of Velocity

A y =−g

dV y
A y= =−g
dt

∫ d V y=∫ (−gdt )
Vy t

∫ d V y =∫ (−gdt )
V o sin α 0

V y =V o sin α−¿ (g isnegative if it is againts the gravity )

Horizontal Displacement

dy
V y=
dt

dy
=V o sin α −¿
dt
y t

∫ dy=∫ ( V o sin α −¿ ) dt
0 0

g t2
y=V o sin α −
2
Highest Point

If Vy = 0

0=V o sin α −¿

V o sin α
t=
g

substitute to

g t2
y=V o sin α t−
2

y=V o sin α ( V sing α )− g2 ( V sing α )

o o

V o2 sin α
h max=
2g

Equation of the Path of the Particle

x=V o cos α t

x
t=
V o cos α

g x2
y=x tan α +
2 V o cos 2 α
SAMPLE PROBLEM:

1. The car shown is just to clear the water filled gap. Find the take off velocity?

Solution:

y=22.2 ft

x=17.32 ft

g t2
y=V o sin α t−
2

32.2 t 2
−22.2=V o sin α t− (eq .1)
2

x=v o cosα t

17.32=v o cos 30 t (eq.2)

Eq1 to eq. 2

−22.2−v 0 sinα ( 20v )− 12 (32.2)( 20v )

o o

32.2 v o2=6440
v o2=200

ft
V o =14.14
sec

2. refer to figure. Find the ß to cause the projectile to hit the point ß exactly in 4 sec..what is the
distance

1
y=v o sinβ t− ( ¿2)
2

−100=96 ¿

sinβ=0.4104167

β=24.4

x=v o cosβ t

x=v o cos ⁡(24.2)(4)

x=350.17 ft
 3. A ball id thrown so that it just clears a 10ft fence 60 ft. away. If it left the hand 3 ft.
above the ground and at an angle of
60° ¿ the horizontal what isthe initial velocity of theball ?

Given x=60ft.

Θ=60° y=3ft.

10 ft.
60°

5 ft.

60 ft.

Solution

x=v o cosθ t

60=v o cos 60 ° t

120
t=
vo

1
y=v o sinθ t− g t 2
2

10−5=v o sin 60 ° ( 120v )−16.1( 120v )²

o o

98.9 v2o=231840

ft
v o=48.4
sec
 MOTION DIAGRAM
It is the representation of the change in velocity, acceleration and displacement.

The motion is usually too complex to analyze mathematically. Instead, a graphical

analysis like that abuot to be describe is used. The method of graphical analysis os
particularly useful when applied to problems involving variation of diplacement,
velocity, or acceleration with time.

ci

from a practical viewpoint, this process of graphical differentiation isquite tedioys

and requires drafting skill of a high order. It is not often used.it has benn described
to emphasize the following relation between these curves:

ds
v= ( slope )s −t
dt

dv
a= ( slope)v−t
dt

They state that the slope of the displacement-time curve is equal to the
corresponding coordinate

1.) A train is to commute between station A and station B with a top speed of 250 kph but
cannot accelerate nor decelerate faster than 4 m/sec². what is the minimum distance
between the two stations in order for the train to be able to reach its top speed?

250(1000)
V=
3600

V =69.44 m/sec

V =at

69.44=4 t

t=17.36 sec .

V t ( 69.44 ) (17.36)
S= =
2 2

S=602.74 m

total distance=2 ( 602.74 )

total distance=1205.48

t -4

4 t a

V
t
t
S
S
2S
S

2) A train starts from rest at station P and stops at station Q which is 10 km from P. The
maximum possible acceleartion of the train is 15 km/hr/min and the maximum deceleration
when the brakes are applied is 10 km/hr/min. if the maximum allowable speed is 60 kph., what
is the least time the train can go from P to Q?
 a 900

600

60 60
V

Accelearation = 15(60) = 900km/hr²

Deceleration = 10(60) = 600 km/hr²

900t1 = 60

60(60)
t1 = = 4 min
90

600t3 = 60

(60)(60)
t3 = = 6 min.
600

60
60 40
S1= (t1) =
2 20
60

S1 = 2 km

S2 – S1 = 60t2
S2 – 2 = 60t2

10 – S2 = (60/2)(t3)

S2 = 10 – 3 = 7 km

S2 – S1 = 7 – 2 = 5 km

5 = 60t2

t2 = 5(60)/60 = 5 min.

total time: 6 + 4 + 5 = 15 mins

3. An automobile is to travel a distance from A to B of 540 m., in exactly 40 seconds. The auto
accelerates and decelerates at 1.8 m/sec²., starting from the rest at A and coming to rest at B.
find the maximum speed.
 1.8 m/s ACCELERATION DIAGRAM

t1 t2 -1.8 m/s

t3
VELOCITY DIAGRAM

V V

t1 t2 t3
VELOCITY DIAGRAM
1° 2°

2° S3 = 540
S2
S1

DISTANCE DIAGRAM

1.8t1 = V eq. 1
1.8t3 = V eq. 2

From eq. (1) and (2)

1.8t1 = 1.8t3

t1 = t3 eq. 3

t1 + t2 + t3 = 40

2t1 + t = 40

t2 = 40 – 2t1 eq. 4
S1 = Vt1/2 eq. 5

S2 = S1 + Vt2

S2 = Vt1/2 + Vt2

S3 = S2 + Vt2/2

But t3 = t1 ; S3 = 540 m

540 = (Vt1/2 + Vt2) + Vt1/2

540 = Vt1 + Vt2

From(4)

540 = Vt1 + V(40 – 2t1)

540 = Vt1 + 40V – 2Vt1

540 = V(40 –t1)

From (1)

540 = 1.8t1 (40 – t1)

300 = 40t –t1²

t1² - 40t1 + 300 = 0

t1 = 10 secs.

t3 = 10 secs.

t2 = 40 – 2(10) = 20 secs.

V = 1.8(10) = 18 m/sec. (max. speed)

RECTILINEAR MOTION

Definition and characteristics of Translation.

Translation-is defined as the motion of a rigid body in which a straight line passing through any
two of its particle always remains parallel to its initial position.

Translation may be either rectilinear or curvilinear, depending upon whether the path describe
by any particle is straight or curved. The motion of a translating body moving in a straight line is
called Rectilinear Translation.

Kinematic characteristics of the translation of a rigid body is the fact that all the particles travel
the same or parallel paths. It follows that all the particles have the same values of
displacement, velocity, and acceleration, and the motion may be completely describe by the
motion of any particle of the body.

The particle usually selected is the one at center of the center of the gravity of the body.
Therefore Rectilinear Translation is a translating body that may be consider as a particle
concentrated at its center of gravity.

Rectilinear Motion with Constant Acceleration.

One of the most common cases of straight-line motion is that in which the acceleration is
constant. The equation may be derive from the differential eqution of Kinematic Equation.

dv
a=
dt

dv =adt

And proceed to the integration process therefore:

v t

∫ dv=a ∫ dt
vo 0

Note that a is a consider as a constant.

Drawing the figure involve in the equation to further understand the relationship of each
equation therefore:
 A B

The point A is to be measured, there is an initial velocity v o, whereas at some other position B
reached after a time interval t, the velocity will be v.

Therefore:
v t

∫ dv=a ∫ dt
vo 0

[ v ]vv =a [ t ] t0
o

v−v o =at

v=v o + at

Then when:

ds
v=
dt

ds=vdt

And by using variable separable:

s t

∫ ds=∫ vdt
0 o
When v=v o + at

t
s
[ s ] 0=∫ ( v o +at ) dt
0

t
[ s ] = v o t+ 1 a t 2
s
0 [ ]
2 0

1
s=v o t+ at 2
2

Then let us consider the remaining differential equation of kinematics

v s

∫ vdv=a∫ ds
vo 0

The limits are written a before, since it is obvious that at zero displacement the corresponding
velocity is v o, while at a displacement s it is v integrating and evaluating the limits we obtain:
v
v2
[ ]
2 v
s
=a [ s ] 0
o

v 2−v o2
=as
2

v 2=v o2 +2 as

Therefore the three Kinematic Equations of motion with constant acceleration may be
summarized as follow:

v=v o + at

1
s=v o t+ a t 2
2

v 2=v o2 +2 as

Signs It is important to observe that these equation involve only the magnitude of vector
quantities. The direction of the vectors of displacement, velocity, and acceleration is indicated
by the following sign conversion: the initial direction of motion represent the positive direction
for displacement, velocity, and acceleration.

SAMPLE PROBLEM:

1. On a certain stretch of track, trains run at 60 mph. How for back of a stopped train
should a warning torpedo be placed to signal an on coming train? Assume that the
brakes are applied at once & retard the train at the uniform rate of 2ft per sec 2.

Given: V o=60 mph

a=-2ft/ sec 2

( 60 ) (5280 )
Vf 2−Vo2 =2 as ; V 0= =88 ft / sec
3600

−882 =-2(2)S

S= 1936ft

2. A stone is thrown vertically upward & returns to earth in 10sec. What its initial velocity
& how high did it go?

Given: t=10sec

Vf −Vo=at
−Vo=−9.81 ( 10 )=98.1 m/s
1 1
S= g t 2= ( 9.81)¿
2 2
¿ 490.5 m
3. A stone is dropped down a well & 5 sec later the sound of the splash is heard. If the
velocity of sound is 1120ft/sec, what is the depth of the well?

Given: t a=5 sec

V s =1120 ft /sec
t 1=time for the stone ¿ dropped
t a−t 1=time for the sound ¿ be heard , for sound
1
for stone d = g t 12
2
1
d= (32.2) t 12 (1)
2
d=Vst
 d=1120(5−t 1 )

CURVILINEAR TRANSLATION

Translation of a rigid body has been defined as the motion in which a straight line passing
through any two points of the body always remain parallel to its initial position. In rectilinear,
we chose the origin of motion of the path so that only the magnitude of displacement vector
could change but no its inclination. In curvilinear motion the displacement vector will change in
both magnitude and inclination.

The figure below shows the curved path traversed by a particle having curvilinear motion. The
displacement of any position is its vector distance from the origin O. for example, the vector
displacements of two positions A and B are represented by Sa ∧S b. It’s evident that the change
in displacement ∆ s is due to combination change in the magnitude and inclination of these
displacement vectors.

B
A ∆s
Ѳx
∆x
Sa Sb

S y
O
X
x

For any position, the displacement s of any point maybe expressed as the vector sum of its X
and Y coordinates as follows:

S = x ±y
 ds dv
Recalling that v= and a = , we obtain by differentiation of equation:
dt dt

v=v x + v y

a=a2 +a y

Velocity in Curvilinear Motion

Let the points A and B in previous figure represents successive portion of a moving particle after
a small elapsed time ∆ t . The change in displacement ∆ s during this interval is the chord
distance between A and B. if the changes in displacement ∆ s is resolved into components
parallel to the reference axes , inspection of the figure shown the geometric relation between
∆ s , ∆ x∧∆ y . Is given by the following vector equation:

∆ s=∆ x ± ∆ y

This create a new vector having a different magnitude but the same direction as the
corresponding displacement. Each of these new vector represent the average velocity in the
respective direction of displacement.

ds dx dy
= ±
dt dt dt

As ∆ t approaches zero,B approaches A and chord ∆ s coincides more completely with the curve
of travel so that, in the limit,∆ s becomes ds which is directed along the path at A. hence the
ds
term represent the instantaneous velocity at A directed tangent to the path at A.
dt
 Y

Show this velocity and its component v x ∧v y. The magnitude of the velocity is given by the
vy
algebraic expression v=√ (v y ¿ ¿2+ v x 2 )¿ its direction with the X axis, by tanѲ .
vx

dy
∧dx
v
Incidentally, if we replace x y by their corresponding value dt
∧v .
we obtain
dt

v x dy dy
tanѲ= = = .
v y dt dx dy
It is evident that is the slope of the velocity is tangent to the path.
dx dx
dt

CURVILINEAR TRANSLATION

1.) The block shown reaches a velocity of 12 m/s in 30 m starting from rest. Compute the
coefficient of kinetic friction between the block and the ground.
 W = 70 kg W
V1 = 0 V2 = 12 m/s

REF P = 24 kg

F
30 m F = µN
N N=W

Solution:

V2² = V1² + 2aS

(12)² = 0 + 2a(30)

a = 2.4 m/sec²

P = wa/g + F

24 = 70(2.4)/9.81 + F

F = 6.87 kg

F = µ(70)

6.87 = µ(70)

µ = 0.1

2) Determine the magnitude of W so that the 400 N body will have the acceleration up the
plane of 1.2 m/s².

400
µ = 0.20
W

30°

400
Solution:
30° T1
N = 400 cos 30° a = 1.2
F
F = µN ma
N
F = 0.20(364.4) = 69.28

T1 = 400 sin 30° + F + ma

T1= 200 + 69.28 + 400(1.2)/9.81 T2

T1 = 318.20 N
a/2
T2 = W – m(a/2)
W
T2 = W – W(1.2)/2(9.81)

T2 = W – 0.06W ma/2

T2 = 0.94W T T

T2 = 2T1

0.94W = 2(318.20)
T2
W = 677 N

3.) A body takes twice as long to side down a plane 30° to the horizontal as it would if the
plane were smooth. What is the coefficient of friction?

Solution:

For rough surface

S = V1t + ½at²

S = 0 + ½(a1)t² W
Wa1/g
Ѳ
S
N = Wcos Ѳ

F = µN N
F
Ѳ
F = µ(Wcos Ѳ)
 W
ƩFx = 0
30° Wa2/g
F + (Wa1)/g = Wsin Ѳ S

a1 = (sin 30° - µcos 30°)g

N
a1 = g(0.5 – 0.866µ)
30°
For smooth surface

S = V1 (t2) + ½(a2)(t2²) ƩFx = 0

T2 = t/2 Wa2/g = Wsin 30°

S = 0 + ½(a2)(t²/4) a2 = 0.5(9.81)

S = a2t²/8 a2 = 4.9 m/s²

a1t²/2 = a2t²/2 a1 = (4.9)/4 = 1.225 m/s²

a2 = 4a1 1.225 = 9.81(0.5 – 0.866µ)

µ = 0.433
i
Dynamics of Rigid Bodies

Dynamics of Rigid Bodies

A rigid body is an idealization of a body that does not deform or change shape. Formally it is defined as a collection of
particles with the property that the distance between particles remains unchanged during the course of motions of the
body. Like the approximation of a rigid body as a particle, this is never strictly true. All bodies deform as they move.
However, the approximation remains acceptable as long as the deformations are negligible relative to the overall motion
of the body.

Kinematics of Rigid Bodies

As rigid bodies are viewed as collections of particles, this may appear an insurmountable task, requiring a description of
the motion of each particle. However, the assumption that the body does not deform is a very strong one, requiring that
the distance between every pair of particles comprising the body remains unchanged

CURVILINEAR TRANSLATION

CURVILINEAR TRANSLATION
Translation of a rigid body has been defined as the motion in which a straight line passing through any two points
of the body always remain parallel to its initial position. In rectilinear, we chose the origin of motion of the path so that
only the magnitude of displacement vector could change but no its inclination. In curvilinear motion the displacement
vector will change in both magnitude and inclination.

The figure below shows the curved path traversed by a particle having curvilinear motion. The displacement of any
position is its vector distance from the origin O. for example, the vector displacements of two positions A and B are
represented by Sa ∧S b. It’s evident that the change in displacement ∆ s is due to combination change in the magnitude
and inclination of these displacement vectors.
 Y

B
A ο‫ݏ‬
ˁ௫
ο‫ݔ‬
ܵ௔ ܵ௕

ܵ y
ܱ
X
‫ݔ‬

For any position, the displacement s of any point maybe expressed as the vector sum of its X and Y coordinates as follows:
S = x ±y
ds dv
Recalling that v= and a = , we obtain by differentiation of equation:
dt dt
v=v x + v y
a=a2 +a y

For any position, the displacement s of any point maybe expressed as the vector sum of its X and Y coordinates as follows:
S = x ±y
ds dv
Recalling that v= and a = , we obtain by differentiation of equation:
dt dt
v=v x + v y
a=a2 +a y
Velocity in Curvilinear Motion
Let the points A and B in previous figure represents successive portion of a moving particle after a small elapsed time ∆ t .
The change in displacement ∆ s during this interval is the chord distance between A and B. if the changes in displacement
∆ s is resolved into components parallel to the reference axes , inspection of the figure shown the geometric relation
between ∆ s , ∆ x∧∆ y . Is given by the following vector equation:
∆ s=∆ x ± ∆ y
This create a new vector having a different magnitude but the same direction as the corresponding displacement. Each of
these new vector represent the average velocity in the respective direction of displacement.
ds dx dy
= ±
dt dt dt
As ∆ t approaches zero,B approaches A and chord ∆ s coincides more completely with the curve of travel so that, in the
ds
limit,∆ s becomes ds which is directed along the path at A. hence the term represent the instantaneous velocity at A
dt
directed tangent to the path at A

‫ݒ‬஺

Y
‫ݒ‬௬

‫ݒ‬௫
A

Show this velocity and its component v x ∧v y. The magnitude of the velocity is given by the algebraic expression
vy
v=√ (v y ¿ ¿2+ v x 2 )¿ its direction with the X axis, by tanѲ .
vx
Incidentally, if we replace v x ∧v y by their
dy
∧dx
corresponding value dt .
we obtain
dt
 v x dy dy
tanѲ= = = .
v y dt dx It is evident that dy is the slop
dx dx
dt
1.) The block shown reaches a velocity of 12 m/s in 30 m starting from rest. Compute the
coeffi cient of kinetic friction between the block and the ground.

W = 70 kg W
V1 = 0 V 2 = 12 m/s

REF P = 24 kg
e of
the velocity is tangent to the path

Solution:
V2² = V1² + 2aS
(12)² = 0 + 2a(30)
a = 2.4 m/sec²
P = wa/g + F
24 = 70(2.4)/9.81 + F
F = 6.87 kg
F = µ(70)
6.87 = µ(70)
µ = 0.1

2) Determine the magnitude of W so that the 400 N body will have the acceleration up the
plane of 1.2 m/s².

30°
 Solution:
30°
N = 400 cos 30°

F = µN
N
F = 0.20(364.4) = 69.28

T1 = 400 sin 30° + F + ma

T1= 200 + 69.28 + 400(1.2)/9.81 T2

T1 = 318.20 N
a/2
T2 = W – m(a/2)
W
T2 = W – W(1.2)/2(9.81)

T2 = W – 0.06W ma/2

T2 = 0.94W T1 T1

T2 = 2T1

0.94W = 2(318.20)
T2
W = 677 N

A body takes twice as long to side down a plane 30° to the horizontal as it would if the plane were smooth. What is the
coefficient of friction?

Solution:

For rough surface

S = V1t + ½at²
W
S = 0 + ½(a1)t²

N = Wcos Ѳ

F = µN
Ѳ
F = µ(Wcos Ѳ)
W
ƩFx = 0

F + (Wa1)/g = Wsin Ѳ

a1 = (sin 30° - µcos 30°)g

a1 = g(0.5 – 0.866µ)
30°

For smooth surface 

S = V1 (t2) + ½(a2)(t2²)
ƩFx = 0
T2 = t/2
 Wa2/g = Wsin 30°
S = 0 + ½(a2)(t²/4)
a2 = 0.5(9.81) 
S = a2t²/8
a2 = 4.9 m/s² 
a1t²/2 = a2t²/2
a1 = (4.9)/4 = 1.225 m/s²

a2 = 4a1
1.225 = 9.81(0.5 – 0.866µ)
µ = 0.433

CURVILINEAR TRANSLATION

Translation of a rigid body has been defined as the motion in which a straight line passing through any two points
of the body always remain parallel to its initial position. In rectilinear, we chose the origin of motion of the path so that
only the magnitude of displacement vector could change but no its inclination. In curvilinear motion the displacement
vector will change in both magnitude and inclination.
The figure below shows the curved path traversed by a particle having curvilinear motion. The displacement of any
position is its vector distance from the origin O. for example, the vector displacements of two positions A and B are
represented by Sa ∧S b. It’s evident that the change in displacement ∆ s is due to combination change in the magnitude
and inclination of these displacement vectors.

B
A ο‫ݏ‬
ˁ௫
ο‫ݔ‬
ܵ௔ ܵ௕

ܵ y
ܱ
X
‫ݔ‬
For any position, the displacement s of any point maybe expressed as the vector sum of its X and Y coordinates as follows:
S = x ±y
ds dv
Recalling that v= and a = , we obtain by differentiation of equation:
dt dt
v=v x + v y
a=a2 +a y

Velocity in Curvilinear Motion

Let the points A and B in previous figure represents successive portion of a moving particle after a small elapsed time ∆ t .
The change in displacement ∆ s during this interval is the chord distance between A and B. if the changes in displacement
∆ s is resolved into components parallel to the reference axes , inspection of the figure shown the geometric relation
between ∆ s , ∆ x∧∆ y . Is given by the following vector equation:
∆ s=∆ x ± ∆ y
This create a new vector having a different magnitude but the same direction as the corresponding displacement. Each of
these new vector represent the average velocity in the respective direction of displacement.
ds dx dy
= ±
dt dt dt
As ∆ t approaches zero,B approaches A and chord ∆ s coincides more completely with the curve of travel so that, in the
ds
limit,∆ s becomes ds which is directed along the path at A. hence the term represent the instantaneous velocity at A
dt
directed tangent to the path at A

‫ݒ‬஺

Y
‫ݒ‬௬

‫ݒ‬௫
A

Show this velocity and its component v x ∧v y. The magnitude of the velocity is given by the algebraic expression
vy
v=√ (v y ¿ ¿2+ v x 2 )¿ its direction with the X axis, by tanѲ .
vx
Incidentally, if we replace v x ∧v y by their
dy
∧dx
corresponding value dt .
we obtain
dt
v dy dy
tanѲ= x = = .
v y dt dx It is evident that dy is the slope of the velocity is tangent to the path
dx dx
dt
 1.) The block shown reaches a velocity of 12 m/s in 30 m starting from rest. Compute the
coefficient of kinetic friction between the block and the ground.

W = 70 kg
V1 = 0 V2 = 12 m/s W

REF P = 24 kg
Solution:
V2² = V1² + 2aS
(12)² = 0 + 2a(30)
a = 2.4 m/sec²
P = wa/g + F
24 = 70(2.4)/9.81 + F
F = 6.87 kg
F = µ(70)
6.87 = µ(70)
µ = 0.1
2) Determine the magnitude of W so that the 400 N body will have the acceleration up the
plane of 1.2 m/s².

30°
 Solution:
30°
N = 400 cos 30°

F = µN
N
F = 0.20(364.4) = 69.28

T1 = 400 sin 30° + F + ma

T1= 200 + 69.28 + 400(1.2)/9.81 T2

T1 = 318.20 N
a/2
T2 = W – m(a/2)
W
T2 = W – W(1.2)/2(9.81)

T2 = W – 0.06W ma/2

T2 = 0.94W T1 T1

T2 = 2T1

0.94W = 2(318.20)
T2
W = 677 N

A body takes twice as long to side down a plane 30° to the horizontal as it would if the plane were smooth. What is the
coefficient of friction?

Solution:

For rough surface

S = V1t + ½at²
W
S = 0 + ½(a1)t²

N = Wcos Ѳ

F = µN
Ѳ
F = µ(Wcos Ѳ)
W
ƩFx = 0

F + (Wa1)/g = Wsin Ѳ

a1 = (sin 30° - µcos 30°)g

a1 = g(0.5 – 0.866µ)
30°

For smooth surface 

S = V1 (t2) + ½(a2)(t2²)
ƩFx = 0
T2 = t/2
Wa2/g = Wsin 30°
S = 0 + ½(a2)(t²/4)
a2 = 0.5(9.81) 
S = a2t²/8
a2 = 4.9 m/s² 
a1t²/2 = a2t²/2
a1 = (4.9)/4 = 1.225 m/s²
a2 = 4a1
1.225 = 9.81(0.5 – 0.866µ)
µ = 0.433
KINEMATICS OF ROTATION
Rotation is defined as that motion of a body in which the particles move in circular paths with their center of fixed straight
line that is called the axis of rotation. The plane of the circles in which the particles move are perpendicular to the axis of
rotation.

A’ B
‫ݏ‬ଵ
‫ݏ‬ଵ
A

ˁ B’
‫ݎ‬ଵ ‫ݎ‬ଶ

If any radius to any point A is permitted to rotate throught Ѳ radians, point A moves through the arc distance s1=r 1 Ѳ .
Since the body is rigid, angle AOB cannot change; hence the radius to any other point B will also rotate through Ѳ radians
and point B will move through the arc distance s2=r 2 Ѳ .

It was shown that in the motion of translation all the particle have identical values of linear displacement, linear velocity
and the linear acceleration. The motion of rotation has a similar characteristics; all the particles have the same values of
angular displacement, angular velocity, and angular acceleration.

Kinematic Differential Equation of Rotation

Consider a pulley free to rotate an axle O under the action of a weight W suspended in the cord wound around the pulley.
Assume that the weight descends s ft., as shown in the figure. This will unwind from the pulley a length of cord equal to s
ft. so that the point B on the rim will rotate to occupy the position at point A. The angular distance Ѳ through which the
pulley rotates is obviously subtended by radii drawn to points A and B. the relationship between the linear displacement
of the weight and angular displacement of the pulley is given by the equation:
S=rѲ
If we differentiate Equation with respect to time
ds dѲ
=r
dt dt
ds
Note that r is the constant radius of the rotation. The term , representing the rate of change of displacement is defined
dt
dѲ
as V, the linear velocity of the weight. The term represents the time rate of the angular displacement and will be
dt
called the angular velocity and be represented by the symbol Ѡ. Thus the angular velocity at any instant is defined by the
equation(1):
dѲ
ω=
dt
The common unit in radians per second but other units is used such as degrees per second and revolution per minute.
Rewriting the equation:
v=rω
And differentiating with respect to time gives:
ds dω
=r
dt dt
dv
The equation in equation represents the time rate of change of the magnitude of the velocity. It is preferable to
dt
denote this acceleration by a t because it not only represents the linear acceleration of the weight but is also tangential
dω
acceleration of a point on the rim of a pulley. The expression represents the time rate of change of angular velocity
dt
and will define as the angular acceleration α, according to the following equation(2):
dω
α=
dt
The common unit in radians per second, but other units may use. Equation is written:
a t=rα t²
Since v=rω, the normal acceleration of any point of the rim of the pulley is given by:
v²
a n= =rω ²
r
The equation (1) and (2) are kinematic differential equation of rotation, a third convenient relation may be found by
eliminatingdt .
ωdω=αdѲ
Summarized differential equations of rotation:
RECTILINEAR MOTION:ROTATION
ds
v=
dt
dѲ
ω=
dt
dv d ² s
a= =
dt dt ²
dω d ² Ѳ
α= =
dt dt ²
vdv=ads
ωdω=αdѲ
These relation differ only in the symbol used, they are mathematical identical. They can be transformed into each other by
relations:
s=rѲ
v=rω
a t=rα
a n=rω ²
Kinetics of Translation

As an example, the flutter of an aircraft wing during the course of a flight is clearly negligible relative to the motion of the
aircraft as a whole.

Preliminaries: Motion Relative to Translating Axes

The positions, velocities and accelerations determined in this way are referred to as absolute. Often it isn’t possible or
convenient to use a fixed set of axes for the observation of motion.

Properties of Rigid Body Motion

Translation, rectilinear and curvilinear: Motion in which every line in the body remains parallel to its original position. The
motion of the body is completely specified by the motion of any point in the body. All points of the body have the same
velocity and same acceleration.

Rotation about a fixed axis: All particles move in circular paths about the axis of rotation. The motion of the body is
completely determined by the angular velocity of the rotation.

General plane motion: Any plane motion that is neither a pure rotation nor a translation falls into this class. However, as
we will see below, a general plane motion can always be reduced to the sum of a translation and a rotation.

We proceed by demonstrating that every motion of a planar rigid body is associated with a single angular velocity and
angular acceleration , describing the angular displacement of an arbitrary line inscribed in the body relative to a fixed
direction.
for an arbitrary line attached to the body. Arguing analogously, the body can be associated with a unique angular
acceleration defined as,
Angular velocity and acceleration of a rigid body

Sample Problems

1. (Rotation about fixed axis)

A cord is wrapped around a wheel which is initially at rest (figure A). If a force is applied to the cord and gives it an
acceleration a = (4t)m/s2, where t is in seconds, determine as a function of time (a) the angular velocity of the wheel, and
(b) the angular position of line OP in radians.

Using this result, the wheel’s angular velocity w can now be determined from = d /dt,* since this equation relates , t and .
Integrating, with the initial condition that = 0 at t = 0, yields

Part (b). Using this result, the angular position q of the radial line OP can be computed from = d/dt, since this equation
relates ,and t. Integrating, with the initial condition = 0 at t = 0, we have
2. (Rotation about fixed axis)

Disk A (figure A) starts from rest and through the use of motor begins to rotate with a constant angular acceleration of A =
2 rad/s2. If no slipping occurs between the disks, determine the angular velocity and angular acceleration of disk B just
after A turns 10 revolutions.

First we will convert the 10 revolutions to radians. Since there are 2 rad to one revolution, then9o

Since A is constant, the angular velocity of A is then

As shown in figure B the speed of the contacting point P on the rim of A is

(+ ) vP = rA = (15.9 rad/s)(0.6 m) = 9.54 m/s

The velocity is always tangent to the path of motion; and since no slipping occurs between the disks, the speed of point P'
on B is the same as the speed of P on A*. The angular velocity of B is therefore

The tangential components of acceleration of both disks are also

equal, since the disks are in contact with one another. Hence, from figure C.
(ap)t = (ap')t
Its is important notice that the normal components of acceleration (a p)nand (ap')n act in opposite directions, since the paths
of motion for both points are different. Furthermore, (a p)n (ap')n since the magnitudes of these components depend on
both the radius and angular velocity of each disk, i.e., (a p)n = rAand

(ap)n = rB. Consequently, apap,.

Work and Energy

Introduction

The term Work and Kinetic Energyare used to define certain mathematical expressions. A precedent for this
was found when we define the moment of inertia of an area equivalent to the mathematical equation ∫ p2 dA .
Fundamental Work-Energy Principle

The mathematical expression defining work kinetic energy as applied to translation are easily obtained by
considering the following equation:

∑ X = Wg a
(a)
{ ads=vdv

Note that the first member if eq.(a) aquates the resultant force acting at any instant to the corresponding
acceleration.the second value of eq. (a) express the instantaneous value of the acceleration in terms of the
instantaneous velocity

Work

Consider a body subjected to the constant forces shown which move the body up the incline.

Selecting the X-axis as positive in the direction of motion, the resultant of the unbalanced force system is:

∑ X=PcosѲ−WsinѲ−F
Whence, multiplying both sides of Eq. (a) by S, we find the resultant work afer moving a displacement S is
expressed by :

Eq. (b) ∑ X . s=¿ ¿

The first expression I n the term(b) is called the accelerating work or Positive Work. The other expression are
known as retarding work or negative work.the algebraic sum of positive and negative work is called resultant
work.

Application of the Work-Energy Method

if a body is subjected to different sets of forces during the different phases of motion, the resultant work summed up for
all this phases may be equated directly to the total change in Kinetic Energy.
General Plan for Applying the Work-Energy Method

1) Determine the direction of the motion. Confirmation is obtained by noting that the resultant work
must be positive to speed up a system, and vice versa.
2) Determine the kinematic relation between the bodies composing the system.
3) Apply the Work-Energy equation to the entire system.
4) If the internal force in a connecting member is desired, apply the work-energy equation to the free
body diagram of that part of the system on which this force then acts as an internal force. If the
internal force then acts as an external force. If the internal force is not constant, however this step will
determine only its average value. The instantaneuos value of a variable force must be found by the
force-inertia method.
Example

ft
What force P will give the system of bodies shown in figure a velocity of 30 after moving 20 ft.from rest
sec

V 2=2 as
302 ( )
a= 20 =22.5 ft /s²
2

Ʃ f x =0
 100(22.5)
t 1−100 ( 0.2 )=
32.2

t 1=89.88 lb

Ʃfz =0

200(22.5)
t 2= 89.88 + 200cos45°(0.2) + 200sin45° -
32.2

t 2=399.34 lb

30(22.5)
P=399.34−50(0.2) =
32.2

P=444.28 lb

Find the velocity of body A in fig. after it has moved 10 ft from rest. Assume the pulleys to be weightless and
frictionless

300 a A
t 1−300=
32.2

t 1=300+9.32 a A eq .1
a B=2 a A

t 1 = 2t 2 eq .2

200
200−t 2= (a )
32.2 B

t 2=200−6.21(a B)

t 2=200−6.21(2 a A )

t 2=200−12.42(2a A )

1&2

2 t 2=300+9.32 a A eq. 4

eq. 4 & 3

2(200-12.42a A ¿ = 300 + 9.32a A

400 – 24.84a A = 300 + 9.32a A

100 = 34.165a A

a A =2.93 ft /s ²

V A ²=2 a S A

V A =√ 2(2.93)(10)

V A = 7.65 ft/s

Example

A body starts from rest in the position shown in the figure. Determine its velocity after it has moved 15ft long
the frictionless surface.
Z o=√ 152 +82

Z o=17 ft

Z f = √0 2+ 82

Z f =8 ft

Z2 =82 + x 2

2 zdz 2 xdx
=
dt dt

Z V B =x V A

W 2
RW =∑ ( V −V o2)
eg

200 300
200 ( 17−8 )= V B2 + V A2
64.4 64.4

1400=3.11V B2 +4.66 V A 2 (eq . 1)

8 V B =( 0)V A

V B =0

Substitute VB to 1,

1400=3.11(0)2 +4.66 V A 2

ft
V A =17.33
s2
Impulse and Momentum

Introduction:

We have seen that the work-energy method eliminates consideration of acceleration in problems relating force
,displacement and velocity. This is particularly convenient when forces act for very small time intervals during
which the force may vary, as in an impact or sudden blow.

We shall also discuss the technique, use, and advantages of the impulse and momentum method applied to the
several motions.

Fundamentals Impulse and Momentum Equation for Translation.

Proceeding as in work energy, let us eliminate the acceleration from the equation for the motion of the motion
of the center of gravity in terms of velocity.

These equation are:

W
R= a
g

dθ
a=
dt

Eliminating a leaves:

W
Rdt = dθ
g

Assuming that the velocity has the value v o when tis zero and the value and the value v at any form of the
impulse-moment equation.
t
W
∫ Rdt = Wg v= g v
0

The symbol indicates vector subtraction of the terms on the right side of the equation. We shall in the show
following articles that each term of this equation represents a vector quantity; hence the necessity for vector
instead of algebraic subtraction.
t
Resultant Linear Impulse . the expression ∫ Rdt is known as the resultant linear impulse. Obviously this
0
expression can be evaluated only if R is constant or can be expression dimensionally shows the unit of the
linear impulse to be lb-sec.
 W
Linear Momentum. The quantity v is the linear momentum of the body at any instant and may be
g
W
symbolized by U. the quantity v may be represented by dU. Subtituting the dimentional equivalent in the
g
expression for the linear momentum gives.

lb∗sec 2
∗ft
W ft
v= =lb−sec
g sec

Linear Impulse

Since the condition of translation means that all the particles have the same displacement, velocity, and
acceleration, there will be no need to use the bar sign to distinguish the motion of the center of gravity of the
body.
t

∫ ∑ x . dt= Wg v − Wg v 0 = Wg ( v−v 0)
0

When the applied forces are constant, this equation becomes

W
∑ x . t= g ( v−v 0)
Ex. 1) A 1500 N block is in contact with a level plane whose coefficient of kinetic friction is 0.10. If the block is
acted upon a horizontal force of 250 N, what time will collapse before reaches a velocity of 14.5 m/sec.,
starting from rest? If the 250 N force is then removed, how much longer will the block continue to move?

a) F = uN
F= 0.10(1500) =150N
W
∑ Fx . t= g (V 2−V 1 )
1500
¿−150)t= (14.5−0)
9.81
t = 22.2sec
W
b) ∑ Fx . t= g (0−14.5)
 t=14 .8 sec.

Ex.2) A horizontal force of 1500 N pushes a 100 N block up an incline whose slope is 3 to 4 horizontal. If k=0.20,
determine the time required to increase the velocity of the block from 3 to 15m/sec.

4
N = 1000( ¿= 800N
5

F = 0.20(800)= 160N

W
∑ Fx . t= g (V 2−V 1 )
3 1000
[ 1500−160−1000( ) t=
5 ]
9.81
(15−3)

1000
740 t = ( 12 )
9.81

t =1.65sec

Ex. 3) The 100kg crate shown is originally at rest on a smooth surface. If the force of 200 N acting at an angle
45° is applied at the crate for 10secs, determine the final velocity of the crate during the time interval.
 t2

Mv 2 x =∫ ∑ Fdt + M 1 V 1 x
t1

10
100 ( v 2 ) =∫ 100 √ 2 dt +100 ( 0 )
0

10
100 √2 0
V 2=
100

100 √2(0)
V 2=
100

V 2=10 √ 2