Dynamics of Rigid Bodies

Module 1: Kinematics of a Particle

Prepared by:

ENGR. ROCKY M. SIORES

Faculty, Department of Civil Engineering
College of Engineering, Architecture and Technology
Palawan State University

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 Module 1
KINEMATICS OF A PARTICLE

Overview
This module is designed to guide you to dynamics of rigid bodies and provide
motivation by demonstrating how these techniques can be used in the engineering
modeling process. The subject of dynamics will be presented in two parts: kinematics,
which treats only the geometric aspects of the motion, and kinetics, which is the analysis
of the forces causing the motion. To develop these principles, the dynamics of a particle
will be discussed first, followed by topics in rigid-body dynamics in two and then three
dimensions.
Learning Outcomes
At the end of this module, you should be able to:
1. Introduce the concepts of position, displacement, velocity, and acceleration.
2. Study particle motion along a straight line and represent this motion graphically.
3. Investigate particle motion along a curved path using different coordinate
systems.
4. Examine the principles of relative motion of two particles using
translating axes.

1.1 INTRODUCTION
Dynamics deals with the accelerated motion of a body. The subject of dynamics
will be presented in two parts: kinematics, which treats only the geometric aspects of the
motion, and kinetics, which is the analysis of the forces causing the motion. To develop
these principles, the dynamics of a particle will be discussed first, followed by topics in
rigid-body dynamics in two and then three dimensions.
A particle has a mass but negligible size and shape. Thus our applications will be limited
to those objects that have dimensions that are of no consequence in the analysis of
motion. In most problems, one is interested in bodies of finite size, such as rockets,
projectiles or vehicles. Such objects may be considered as particles provide motion of the
body is characterized by motion of its mass center and any rotation of the body is
neglected. A particle can move along either a straight line or a curved path.
The kinematics of this motion is characterized by specifying, at any given instant, the
particle’s position, velocity and acceleration.

Reasons to Study Kinematics of a Particle

The goal of any study of kinematics is to develop sophisticated mental models
that serve to describe (and ultimately, explain) the motion of real-world objects.
In this lesson, we will investigate the words used to describe the motion of objects. That
is, we will focus on the language of kinematics. The hope is to gain a comfortable
foundation with the language that is used throughout the study of mechanics. We will
study such terms as scalars, vectors, distance, displacement, speed, velocity and
acceleration. These words are used with regularity to describe the motion of objects.
Your goal should be to become very familiar with their meaning.

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Steps in Problem Solving. Dynamics is considered to be more involved than statics
since both the forces applied to a body and its motion must be taken into account. Also,
many applications require using calculus, rather than just algebra and trigonometry. In
any case, the most effective way of learning the principles of dynamics is to solve
problems. To be successful at this, it is necessary to present the work in a logical and
orderly manner as suggested by the following sequence of steps:
1. Read the problem carefully and try to correlate the actual physical situation with
the theory you have studied.
2. Draw any necessary diagrams and tabulate the problem data.
3. Establish a coordinate system and apply the relevant principles, generally in
mathematical form.
4. Solve the necessary equations algebraically as far as practical; then, use a
consistent set of units and complete the solution numerically. Report the answer
with no more significant figures than the accuracy of the given data.
5. Study the answer using technical judgment and common sense to determine
whether or not it seems reasonable.
6. Once the solution has been completed, review the problem. Try to think of other
ways of obtaining the same solution.
In applying this general procedure, do the work as neatly as possible. Being neat
generally stimulates clear and orderly thinking, and vice versa.

1.2 RECTILINEAR KINEMATICS: CONTINUOUS MOTION

We will begin our study of dynamics by discussing the kinematics of a particle

that moves along a rectilinear or straight line path. Recall that a particle has a mass but
negligible size and shape. Therefore we must limit application to those objects that have
dimensions that are of no consequence in the analysis of the motion. In most problems,

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we will be interested in bodies of finite size, such as rockets, projectiles, or vehicles.
Each of these objects can be considered as a particle, as long as the motion is
characterized by the motion of its mass center and any rotation of the body is neglected.
Rectilinear Kinematics. The kinematics of a particle is characterized by specifying, at
any given instant, the particle's position, velocity, and acceleration.

Position. The straight-line path of a particle will be defined using a single coordinate axis
s, Fig. 1-1a. The origin 0 on the path is a fixed point, and from this point the position
coordinate s is used to specify the location of the particle at any given instant. The
magnitude of s is the distance from 0 to the particle, usually measured in meters (m) or
feet (ft), and the sense of direction is defined by the algebraic sign on s. Although the
choice is arbitrary, in this case s is positive since the coordinate axis is positive to the
right of the origin. Likewise, it is negative if the particle is located to the left of O.
Realize that position is a vector quantity since it has both magnitude and direction. Here,
however, it is being represented by the algebraic scalar s since the direction always
remains along the coordinate axis.

Position (a) Fig.1-1a

Displacement. The displacement of the particle is defined as the change in its position.
For example, if the particle moves from one point to another, Fig. 1-1b, the displacement
is
Δs = s’ - s

Displacement (b) Fig.1-1b

In this case Δs is positive since the particle's final position is to the right of its initial
position. Likewise, if the final position were to the left of its initial position, Δs would be
negative.
The displacement of a particle is also a vector quantity, and it should be distinguished
from the distance the particle travels. Specifically, the distance traveled is a positive
scalar that represents the total length of path over which the particle travels.

Velocity. If the particle moves through a displacement Δs during the time interval Δt, the
average velocity of the particle during this time interval is
Δ𝑠
𝑉𝑎𝑣𝑒 =
Δ𝑡
If we take smaller and smaller values of Δt, the magnitude of Δs becomes smaller and
smaller. Consequently, the instantaneous velocity is
a vector defined as v = lim Δt→0 (Δs/ Δt), or

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The acceleration ( a ):
It is defined as the time rate of change of the particle`s velocity, i. e,

a=a=dv/dt
dv/dt

In some cases, as we will see later, it will be necessary to substitute the acceleration in
the following mathematical form:

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1.3 IMPORTANT POINTS AND PROCEDURE

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1.4 SAMPLE PROBLEMS
1.

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2.

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1.5 TYPES OF APPLICATION
1. Differentiation problems:

Given: The relation between the position and the time ( x , t ).

Required: The velocity v and the acceleration f at any instant.
Method of solution: By differentiating ( x , t ) we obtain (v , t ), then differentiating ( v ,
t), we obtain ( a , t ). Try to solve the problem (1) below and apply the principle stated
above.

Problem ( 1 ):
A particle is moving along a straight line such that its position is given by :
x = t3 – 6t2+ 9t m, where t is in seconds. Determine the distance traveled during
the first 2 seconds.

2. Integration problems:
In the integration problems, the acceleration is given and the required is the position ( x ,
t ), then we must execute two integration steps. To determine the constants of integration,
additional data must be given. Almost the initial conditions x0 , v0 are given. According
to the given data of the problem, the integration problems are classified into four cases :
a–Given:(a,t)and the initial conditions x0 ,v0.

Required: ( x , t )

Method of solution: substitute a = dv / dt in the relation ( a , t ) , the first integration step

results in(v,t),then substitute v=dx/dt in the relation(v,t) and integrate
again , the relation ( x , t ) will be obtained. Try to solve the problem (2) below and apply
the principle stated above.

Problem ( 2 ) :
A particle moves along a straight line such that its acceleration is given by:
a=2t–6m/s2,where t is in seconds. If the motion is started from the origin with a
velocity of 5 m / sec., determine the distance it travels during the first 6 seconds.

b-Given: (a,x)+ v0 ,x0

Required: (x,t)
Method of solution : substitute a = vdv / dx in the relation ( a , x ), the first integration
stepwillresultin (v,x),then substitute v=dx/dt in the relation(v,x)and integrate again , the
relation ( x , t ) will be obtained. Try to solve the problem (3) below and apply the
principle stated above.

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Problem ( 3 ) :
A car starts from rest and moves along a straight line with an acceleration of
a = 3x-1/3 m/s2, where x is in meters. Determine the velocity and the position of
the car after 6 seconds.

c: Given : ( a , v ) + v0 , x0 Required : ( x , t )

Solution : substitute a = dv/dt or a = vdv/dx according to the required relations and

integrate twice to obtain ( x , t ). Try to solve the problem (4) below and apply the
principle stated above.

Problem ( 4 ) :
A particle is moving along a straight line such that it starts from the origin with a velocity
of4m/sec. If it begins to decelerate at the rate of a=-2v m/s2,where v is in m/s, determine
the distance it travels before it stops.

d–Given:a=constant + v0 ,x0

Required: (v,t) ,(x,t) or/and ( x,t)

Solution : substitute directly in the following relations of constant acceleration motion :

Try to solve the problem (5) below and apply the principle stated above.

Problem ( 5 ) :

A car has an initial velocity of 25 m/s and moves with a constant deceleration of 3
m/s2. Determine the velocity of the car after 4 seconds. What will be the
displacement of the car during this time interval .

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1.6 EXERCISE SETS

Problem 1.
A stone is thrown vertically upward and returns to earth in 10 seconds. What was the
initial velocity and how high did it go?

Problem 2.
A ball is dropped from a tower 80 ft. high at the same instant that a second ball is thrown
upward from the ground with an initial velocity of 40ft/sec. When and where do they
pass, and with what relative velocity?

Problem 3.
A stone dropped from a captive balloon at an elevation of 1000ft. two seconds later
another stone is projected vertically upward from the ground with velocity of 248 ft/sec.
If g=32.2ft/sec2, when and where will the stones pass each other?

Problem 4.
The motion of a particle is given by the equation s=2t4 – (t3/6) +2t2 where s is in feet and
t in seconds. Compute the values of v and a when t=2seconds.

Problem 5.
The velocity of a particle moving along the x-axis is defined by v=x3 – 4x2 + 6x where v
is in feet per second and x is in feet. Compute the value of the acceleration when x = 2ft.

Problem 6.
A particle moves in a straight line according to the law s = t3 - 40t where s is in ft and t in
seconds. (a) When t=5secs, compute the velocity. (b) Find the average velocity during the
4th seconds. (c) When the particle again comes to rest, what is its acceleration?

Problem 7.
An automobile starting from rest speeds up to 40ft/sec with a constant acceleration of
4ft/sec2, runs at this speed for a time and finally comes to rest with a deceleration of
5ft/sec2. If the total traveled distance is 1000ft, find the total time required.

REFERENCES
1. Hibbeler, R. C. (2010). Engineering Mechanics - DYNAMICS (12th ed.). The
McGraw-Hill Companies, Inc.
2. Pytel, A.(2010). Engineering Mechanics(4th ed.). The Prentice Hall

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