1

MEK 453
CHAPTER
Dynamics of Machinery

1 Lecture Notes:
College of Engineering
Instructor:
Hafizan B. Hashim
School of Mechanical Engineering T1-L14-16A
Universiti Teknologi MARA, Tel: 019-6492305
40450 Shah Alam, Selangor O : 03-55438427

Introduction & Review

 MEK453-Dynamics of
Date COURSE OUTLINE 2
Machinery 7

1. COURSE OUTLINE
• Code : MEK453
• Course : Dynamics of Machinery
• Level : Bachelor Degree
• Credit Unit :3
• Contact Hours
Lecture : 2 hrs/week
Tutorial : 1 hr/week
Practical: 1 hrs/week

• Part [ 1 / 2 / 3 / 4 / 5 / 6 / 7 / 8 ] :2
• Course Status [Core/Non-Core] : Core
• Pre-requisite : No
 MEK453-Dynamics of
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Course Outcomes:
CO1: Describe basic concepts and fundamental principles in
dynamics of rigid bodies. [PO1, PLO1, SS1]{C2}
CO2: Analyze problems related to kinematics and kinetics
of rigid bodies. [PO2, PLO2, SS1]{C4}
CO3: Perform dynamics experimentation and simulation,
and interpret results obtained.
[PO4, PLO3, SS1]{P3}

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 MEK453-Dynamics of
Date Course information 4
Machinery 7
• Course Description:
This course covers both kinematics and kinetics of rigid bodies in planar
and spatial motion. Both scalar and/or vector approaches will be properly
emphasized for solutions of 2-D problems. The principles of dynamics
will be applied in machine design involving many mechanical elements
such as gears, pulleys, springs, wheels, etc.
 MEK453-Dynamics of
Date Course Contents 5
Machinery 7

A. KINEMATICS B. KINETICS

❑ Particles ❑ Particles
▪ Rectilinear motion ▪ Newton’s 2nd law
▪ Curvilinear motion ▪ Work and Energy
▪ Relative motion ▪ Impulse and Momentum
▪ Dependent motion

❑ Rigid bodies ❑ Rigid bodies

o Rectilinear motion o Planar kinetics
o Rotational motion • Force and acceleration
o General plane motion • Work and Energy
o Spatial motion •Impulse and Momentum
o Angular momentum and Equations
of motion

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 MEK453-Dynamics of
Date Course Information 6
Machinery 7
• Teaching Methodology: Lecture, tutorial, laboratory
• Lectures are given to cover the basic principles of each topic. Reading
materials and relevant examples will be provided. Expected SLT: 2 hours
per week.
• Individual and group assignment on related topics will be assigned on a
regular basis.
• Laboratory will be conducted during the first half of the semester.
• Quiz will be given upon completion of Vectors.
• Test 1 and Test 2 will be conducted separately to cover specific chapters.
 MEK453-Dynamics of
Date Course Information 7
Machinery 7
❑ Assessment (F2F):
▪ Continuous assessment : 100%
– Laboratory-1 (group) : 10%
– Laboratory-2 (group) : 10%
– Laboratory- (group) : 10%
– Assignment 1 : 15%
– Assignment 2 : 15%
– Test 1 : 20%
– Test 2 : 20%
TOTAL : 100%
 MEK453-Dynamics of
Date Course Information 8
Machinery 7
❑ Assessment (cont.):
• Structure of Questions :
▪ There will be two questions in each Test.
▪ Each question consists of two parts, namely, a) and b).
▪ Each part will assess according to the course outcome (CO) as
follows:
✓ Part a) covers CO1 (C2) : 5 marks [Explain/describe, etc]
✓ Part b) covers CO2 (C4) : 15 marks [Solve/determine, etc]
▪ FBD, schematics, illustrative diagrams, etc. will also be assessed
through these questions.
 MEK453-Dynamics of
Date Problem Solving Tips 9
Machinery 7
1. Read and understand the problem & connect actual physical situation
with theories
2. Draw any necessary diagram (e.g. free-body) & identify problem data
3. Select a coordinate system (reference frame) & establish relevant
principles (mathematical form)
4. Solve necessary equations algebraically and use a consistent set of
units & complete the solution
5. Verify the answers using technical judgment & common sense
6. Review the problem to strengthen your insight
7. Use EPSM.
 MEK453-Dynamics of
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Machinery 7

Engineering Problem Solving Method

1. Problem Statement: write your problem statement using own sentences to describe what the problem is.
Often it contains summary of the problem.
2. Determine/Find: Identify exactly what to be analysed, found, and solved.
3. Data & Diagrams: Draw schematic or illustrative diagrams showing all required dimensions, Write all
given data with proper symbols and units.
4. Assumptions: Write down all appropriate assumption(s) to make the problem solvable.
5. Fundamental principles: Understand the physical system/model involved and Establish relevant
theories or principles.
6. Solution: Draw FBD that isolate a system (of interest) from any contact/constraint indicating all
external forces acting on each body; and/or kinetics diagrams; and Solve the problem accordingly.
7. Verification: Check your solution for errors in arithmetic and consistency of units; Always exercise
judgment and common sense such as experience and physical intuition to assess whether results are
“reasonable” and “logical”

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 MEK453-Dynamics of
Date Course Information 11
Machinery 7
• Recommended Textbook
– Meriam, James L., and Kraige, L. Glenn, Engineering Mechanics: Dynamics, 6th Ed., John Wiley
and Sons, Inc., 2007.
• References
– Ferdinand P. Beer and E. Russell Johnston Jr., Vector Mechanics for Engineers: Dynamics, 8th
International Edition, McGraw-Hill, Boston, 2007.
– R.C.Hibbeler. Engineering Mechanics:Dynamics, Twelfth Edition, Prentice Hall, Singapore, 2010.
– Tongue B. H., Dynamics: Analysis and Design of Systems in Motion, John Wiley and Sons, Inc.,
2006.
– Marcelo R.M. Crespo Da Silva. Intermediate Dynamics: complemented with simulations and
animations. USA: McGraw-Hill. 2004.
• Access: http://i-learn.uitm.edu.my/v3/
– Course info
– Announcement/Updates/Lecture materials/Assignments/etc.
• Software: FreeCAD
 Date Syllabus Content MEK453-Dynamics of Machinery 12
7

1. Chapter 1: Introduction 4. Chapter 4: Kinetics of Rigid Bodies

1.1 Introduction to vector dynamics 4.1 Force and acceleration
1.2 Vector algebra and vector Calculus 4.2 Principle of work and energy
4.3 Principle of impulse and momentum
2. Chapter 2: Kinematics of Rigid Bodies
2.1 2D Kinematics of rigid bodies in plane 5. Chapter 5: Kinematics and Kinetics of
motion Rigid Bodies
2.2 Translation 5.1 3D Kinematics of Rigid Bodies
2.3 Rotation about a fixed axis 5.2 3D Kinetics of Rigid Bodies
2.4 General plane motion 5.2.1 Angular momentum
5.2.2 Kinetic energy
3. Chapter 3: Moments and Product of Inertia 5.3 Equations of Motion of Rigid Bodies
3.1 Introduction
3.2 Moment of inertia and radius of gyration 6. Chapter 6: Mechanical Vibrations
3.3 Moment of inertia with respect to 6.1 Introduction
rectangular coordinates 6.2 Free vibrations
3.4 Parallel axis theorem 6.2.Forced vibrations
3.5 Moment of inertia by integration
3.6 Product of inertia
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Applications of Dynamics

• Modern machines and structures operated with high speed

(acceleration)
• Ground & air transportation vehicles
• Moving structures
• Fixed structures subjected to shock load
• Robotic devices
• Automatic control system
• Rockets, missiles, spacecraft
• Machineries
• Human movement

MEC 420 – DYNAMICS 13

Date End MEC420 - DYNAMICS 14
7

Thank You…..
College of Engineering, School of Mechanical Engineering, UiTM MEK453

2. Introduction to Vector Dynamics

Engineering Mechanics

Rigid Bodies Deformable Bodies Fluids

Statics: concerns the equilibrium of bodies under the action of forces at rest
(effects of forces on bodies at rest): Govern by Newton’s 1st Law; F = F𝑅 = 0
Dynamics: concerns … in motion

Kinematics: study of motion of bodies without reference to forces

which cause the motion (r, v, a and t)
Kinetics: relates action of forces on bodies to their resulting motion ;
Governed by Newton’s 2nd Law : F = ma

Expressed in coordinate system

Dynamics – Science that describes and predicts the conditions of rest or motion of
bodies under the action of forces
MEK 453 15
College of Engineering, School of Mechanical Engineering, UiTM

Kinematics: study of motion of bodies without reference to forces which cause

the motion – position (p), displacement (s), velocity (v), acceleration (a) and
time (t) i.e. p, s, v, a are shown in scalar for simplification.

t=0 t t + dt

v v+ dv
s
p1
s + ds
O
p2

𝑑𝑣 𝑑2 𝑠 𝑑𝑣
v = ds / dt 𝑎= = 2=𝑣
𝑑𝑡 𝑑𝑡 𝑑𝑠

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Kinetics: study of motion of bodies with reference to forces which cause the
motion – relates total or resultant forces (F) to acceleration (a) with mass (m)
and time (t).

F1 a
m
Ff
s
N
O p1
t=0 t

 F = ma

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 College of Engineering, School of Mechanical Engineering, UiTM

Course Contents:
A. KINEMATICS B. KINETICS
❑ Particles ❑ Particles
▪ Rectilinear motion ▪ Newton’s 2nd law
▪ Curvilinear motion ▪ Work and Energy
▪ Relative motion ▪ Impulse and Momentum
▪ Dependent motion
❑ Rigid bodies
❑ Rigid bodies o Planar kinetics
o Rectilinear motion • Force and acceleration
o Rotational motion • Work and Energy
o General plane motion •Impulse and Momentum
o Spatial motion o Three-dimensional kinetics
❑Mass moment and Product of Inertia
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Basic Terminology
• Rigid body : a body whose dimensions are significant and its shape is
unchanged (i.e. the relative movement between points is negligible)
• Particle: a body of negligible dimension
• Statics: Study of a rigid-body at rest (static equilibrium)
• Dynamics: Study of a rigid-body in motion (i.e. in dynamic equilibrium)
• Length: applied to the linear dimension of a straight or curved line
• Area: the two dimensional size of shape or surface
• Volume: the three dimensional size of the space occupied by substance
• Force: the vector action of one body on another whether by contact or
no contact (at a distance) such as force of gravity and magnetic force.
• Mass: the amount of matter in a body or quantitative measure of
inertia (or resistance) to change in motion of a body
• Weight: the force with which a body is attracted toward the centre of
the Earth
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Units of Measurement
• Four fundamental quantities in mechanics
– Mass , Length, Time, Force
• Two different systems of units we dealing with during the course
– International System of Units or Metric Units (SI)
• Mass in kilogram (kg)
• Length in metre (m)
• Time in second (s)
• Force in Newton (N)
– U.S. Customary or British System of Units (FPS)
• Mass in pound-mass (lbm) or in slugs
• Length in feet (ft)
• Time in second (s)
• Force or weight in pound (lb or lbf)

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Type of Coordinate Systems

Analysis of the motion in 3-D space:

performed using:
1. Rectangular coordinates, x-y-z
2. Cylindrical (radial and transverse)
coordinates, r--z
3. Spherical coordinates, R--
4. Normal and Tangential coordinates
(path variables), n-t

• The motion of particle P can be

described by specifying its coordinates.
• These coordinates can be measured
from fixed reference axes or Global
reference axes (absolute-motion
analysis) or from moving reference
axes or Local reference axes (relative-
motion analysis)

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Possible Coordinate Systems

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Fundamental Concepts - Revisited

Four fundamental concepts

1. Space – to define the position (location) of a point (P)

– The coordinate of a point P relative to a reference point.
2. Time – to indicate the time of an event
– Measured by the interval between repeated events
– SI unit of time (T) : second (s)
3. Mass – to characterise and compare bodies
– E.g. Response to earth’s gravitational attraction and resistance to translation motion (inertia)
– 2 bodies of the same mass will attracted by the earth in the same manner
– 2 bodies of the same mass will give the same resistance to a change in translation motion
– SI unit of mass (M) : kilogram (kg)
4. Force – represent the vector action of one body on another
– Characterised by its point of application, magnitude, and direction (hence has the line of action)
– Represented by a vector
– Can be exerted by actual contact of at distance
– SI unit of force : Newton (N)

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Fundamental Concepts - Revisited

Six fundamental principles
1. Parallelogram law of vector addition
– Two vectors may be replaced by a single vector called the resultant vector: V = P + Q = Q + P
2. Principle of transmissibility
– A force acting at a given point on the rigid body may be transmitted to a different point along the
same line of action without changing the condition of equilibrium of a rigid body. External effect
is the same.
3. Newton’s first law (Static equilibrium condition F=0, or linear momentum is constant L
= mv = constant)
– If the resultant force on a particle is zero, the particle’s velocity is constant (move in straight line)
OR the particle will remain at rest.
4. Newton’s second law (Dynamic equilibrium condition F – ma = 0, or accelerated motion
F=ma)
– When the sum of the forces acting on a particle is ≠ 0, the particle will have an acceleration
proportional to this nonzero resultant force, or it is equal to the rate of change of the linear
momentum of the particle.
5. Newton’s third law
– The forces of action and reaction between two bodies in contact have the same magnitude and line
of action but opposite sense (equal, collinear and opposite).
6. Newton’s law of gravitation
– Two particles are mutually attracted with equal and opposite forces and the magnitude of this force
is:
Mm
F =G W = mg
r2
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Fundamental Concepts - Revisited

Six fundamental principles
1. Parallelogram law (vector addition of forces)
– the sum of the squares of the lengths of the four sides of a parallelogram
equals the sum of the squares of the lengths of the two diagonals (F = FR)
– If two vectors acting simultaneously on a particle are represented in magnitude
and direction by the two adjacent sides of parallelogram, the resultant can be
represented in magnitude and direction by the diagonal of that parallelogram.

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2. Principle of transmissibility
– the condition of equilibrium or of motion of a rigid body will remain
unchanged if a force acting at a given point of the rigid body is replaced
by a force of the same magnitude and same direction but acting at a
different point, provided that the two force have the same line of action.

Line of action

= =

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3. Newton’s first law

(Static equilibrium condition F=0, or linear momentum is constant L = mv =
constant)
– If the resultant force (external) on a particle is zero, the particle’s velocity
is constant (move in straight line) OR the particle will remain at rest.
– “ An object at rest stays at rest, and an object in motion stays in motion,
with the same speed & same direction...UNLESS acted upon by an
UNBALANCED force”

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4. Newton’s second law of motion

(Dynamic equilibrium condition F – ma = 0, or accelerated motion F=ma)
– When the sum of the forces acting on a particle is ≠ 0, then the sum of
forces is equal to the rate of change of the linear momentum of the
particle. If the resultant force on a particle is not zero, it will have an
acceleration proportional to a nonzero resultant applied force.

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5. Newton’s third law of motion

– The forces of action and reaction between two bodies in contact have the
same magnitude and line of action and opposite sense (equal, collinear
and opposite) .

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6. Newton’s law of gravitation

– Two particles are attracted with equal and opposite forces.

– G: gravitational constant, 6.67 x 10(-11) N.(m²/kg²)

Mm
F =G 2 → W = mg
r

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Date FBDs MEK453 31
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Schematic vs. Free-body Diagrams

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Fundamental Concepts - Revisited

Introduction to Free-Body Diagram (FBD):
❑ FBD is one of the most important concepts in mechanics. It is necessary
that we distinguish between action and reaction.
❑ FBD is a sketch of the isolated body from its supports or other connected
bodies showing all the external forces acting on it.

Wb

(a) (b) Statics FBD (c) Statics FBD

w/o weight of beam with weight of beam

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Fundamental Concepts – cont’d

Free-Body Diagram (FBD), Effective Force (or Inertia or Kinetic) Diagram
(EFD, ID, or KD) vs. Schematic Diagram (SD):
❑ EFD/IFD/KD is a diagram which shows the effects of the external forces
called effective or inertia forces.
❑ SD is a diagram which gives an approximate representation of actual
physical system.

Wb
(a) SD (b) Dynamics FBD (C) EFD/IFD/KD

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(a) SD

Wb
(b) Dynamics FBD (C) EFD/IFD/KD

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Date MEK453 35
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Thank You…..
 College of Engineering, School of Mechanical Engineering, UiTM

3. Review of Vector Algebra and Calculus

A vector is a quantity that has both magnitude and direction. For example, if a
quantity has a magnitude A (5N) and direction  (45°), then it may be
represented as a vector A as;
A = A   or A = 5N  45°
and graphically it can be shown as

A F = 10 N  50o F (F = 10 N)

  4

O O O

Vectors obey the parallelogram law of addition, i.e. they cannot be added
algebraically like scalars. Quantities such as displacement, velocity,
acceleration, force, momentum, and etc. are examples of a vector quantity.

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Components of a vector
Any two or more vectors whose sum is equal to a certain vector V are said to be the
components of that vector.

In Figure (a), R and Q are said to be components of V while T and S form components
of V in Figure (b). Notice that the vector can have its components oriented in many
directions. However, for most practical situations, the vector is usually resolved into
rectangular components i.e. components which are mutually perpendicular to each
other as shown in Figure aside.

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Unit vector

• A unit vector is a vector whose magnitude is equal to 1.

• Introducing a unit vector i along the x axis and j along the y axis where, we write:

V = Vx + Vy → V = Vx i + Vy j

𝑖 = 𝑗 =1

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RESOLUTION OF A PLANAR VECTOR (2D)

• Using Cartesian coordinate, a vector V can be resolved into components x and y:

where Vx and VY are the x and y components of a vector V, respectively. Introducing

unit vectors and along the x and y axis, these components can be expressed as;
Vx = Vx i and Vy = Vy j
where Vx and Vy are the magnitudes or scalar components in the corresponding x and y
direction and they can be determined as;

Vx = Vcos and Vy = Vsin

The magnitude and direction of V can then be determined by writing

𝑉𝑦 𝑉𝑦
and tan  = 𝑉 ;  = tan-1 𝑉
𝑥 𝑥

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RESOLUTION OF A SPATIAL VECTOR (3D)

• A general case of a vector is a vector in space which is a 3-dimensional or spatial

vector as depicted in Figure below using rectangular coordinate:

cos x , cos y and cos z are known as

direction cosines of V along the respective x,
y, z axes.
Introducing unit vectors i, j and k along the x
– , y – , and z – axis, respectively, the vector V
can be expressed in its rectangular
components as:

Where;
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RESOLUTION OF A SPATIAL VECTOR (3D)

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Defining a Unit Vector: u

Let P(x1, y1, z1) and Q(x2, y2, z2) be any two points in the rectangular coordinate system.
Then the vector R directing along P to Q having unit vector u , may be written as

Where the magnitude of R is:

And the unit vector u is given by:

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Example 1
Consider two vectors A (directed along OP) and B (directed along DE) as shown in Figure E1-1.
Express each of these vectors in its rectangular components.
Solution:
We may write vector A as a combination of its
magnitude (A = 221) and direction (uOP) as;

where

Similarly, for vector B , we may write it as a

combination of its magnitude (B = 489) and
*P(18, 10, 8), D(–10, 0, –6) direction (uDE) as where:
and E(18, –9, 8)

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REVIEW OF BASIC VECTOR ALGEBRA AND VECTOR CALCULUS

Given A = Ax i + Ay j + Az k and B = Bx i + By j + Bz k

Addition and subtraction

A ± B = (Ax ± Bx) i + (Ay ± By) j + (Az ± Bz) k

For example: Let A = 3i + 2j – 5k and B = – 2i + 4j + 3k then

A + B = [3 + (–2)] i + (2 + 4) j + (–5 + 3) k = i + 6j – 2k
A – B = [3 – (–2)] i + (2 – 4) j + (–5 – 3) k = 5i – 2j – 8k

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Multiplication
a) Scalar multiplication of two vectors or dot product
Algebraic operation that takes two equal-length sequences of numbers (usually
coordinate vectors) and returns a single number. This operation can be defined either
algebraically or geometrically

Algebraically - the sum of the products of the

corresponding entries of the two sequences of Geometrically - A vector can be pictured as an arrow.
numbers Its magnitude is its length, and its direction is the
The dot product of two vectors A = [A1, A2, direction that the arrow points. The magnitude of a
..., An] and B = [B1, B2, ..., Bn] is defined as; vector A is denoted by ǁAǁ. The dot product of two
Euclidean vectors A and B is defined by:
A • B = AB cos 
It follows that i•j = (1)(1)cos 90o = 0 ,
and similarly, j•k = k•i = 0.
where Σ denotes summation notation and n is the i•i = (1)(1)cos 0o = 1 , similarly, j•j = k•k = 1.
dimension of the vector space. For instance, in
three-dimensional space, the dot product of vectors Therefore, A • B = Ax Bx + Ay By + Az Bz
[1, 3, −5] and [4, −2, −1] is:
For example: Using the same vectors A = 3i + 2j – 5k
and B = – 2i + 4j + 3k , then
A • B = 3(–2) + 2(4) + (–5)(3) = – 17

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Multiplication

b) Vector multiplication of two vectors or cross product

By definition, the cross product is defined as
A  B = AB sin n
where n is a unit vector perpendicular to the plane containing both A and B.

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Multiplication
• It follows that ;

• Therefore;

• Example:

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Differentiation Rules
• Some useful vector calculus involving differentiation is given
as follows.

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OMEGA THEOREM
• This theorem is used when we have a vector of constant magnitude changes its direction i.e. it rotates
with an absolute angular velocity .
• Consider point P on a rigid body which rotates about a fixed
axis passing through some fixed point O.
• The position of point P from point O is defined by a vector
R. The velocity of point P can be expressed as

v =𝑅ሶ =   R (1)

• This illustrates the fact that for a constant vector R whose

direction is changing due to the rotation of the body, its
derivative with respect to time is equal to the vector product
of the angular velocity  with which it rotates and that
vector R itself. It represents the rate at which a vector of
constant length changes its direction.

Note: symbol for angular

velocity in vector form;  or 

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OMEGA THEOREM
For example: Consider unit vectors i, j, and k which has a rotation . It follows that the rate of
change of these unit vectors using the Omega theorem are, respectively, obtained as;

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REFERENCE COORDINATE SYSTEMS

In the analysis of problems in dynamics, there are two reference coordinate systems commonly used:
global coordinate system (or fixed reference axis) and local coordinate system (or moving reference
axis).

(a) Global Coordinate System (or Fixed Reference Axis)

OXYZ is chosen to be fixed in space i.e. the origin O and the

orientation of each axis is fixed. It forms what is called as global
coordinate system.

Unit vectors along the X-, Y-, and Z-axis are, respectively: I, J, K.

All quantities measured in this coordinate system are absolute

quantities.

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(b) Local Coordinate System (or Moving Reference Axis)
1. Local Coordinate System with origin at a 2. Local Coordinate System with origin at a
fixed point O moving point A
• Oxyz is moving in space i.e. the orientation of • Axyz is moving in space i.e. the origin A and the
each axis is changing, but its origin O is fixed. orientation of each axis is changing with time..
This type of axis is called a local coordinate • Unit vectors along the x-, y-, and z-axis are,
system. respectively: i, j, k.
• Unit vectors along the x-, y-, and z-axis are, • All quantities measured in this coordinate
respectively: i, j, k. system are relative quantities with respect to
• All quantities measured in this coordinate point A and to obtain the absolute quantities, we
system are relative quantities and they must be must determine the motion of point A relative to
converted to global axis to obtain the absolute point O and later add them together.
quantities.

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RATE OF CHANGE OF A VECTOR WITH RESPECT TO A ROTATING

FRAME

Consider a vector R(t) as shown in Figure. There are two reference frames used to characterized
this vector and its derivatives.

OXYZ is a fixed (or inertia) reference

frame with I, J, K as unit vectors.
Oxyz is a moving (i.e. rotating)
reference frame which rotates at the
absolute angular velocity  with respect
to OXYZ frame and has unit vectors i , j
and k.

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RATE OF CHANGE OF A VECTOR WITH RESPECT TO A
ROTATING FRAME

We observe that as time t varies, the magnitude and direction of R

also change i.e. its length and orientation vary with time. Writing
the vector R in the Oxyz frame we have:

Its derivative with respect to this frame is then given by:

which represents the rate of change of R with respect to the

rotating frame Oxyz.
The derivative of the vector R with respect to the inertial frame
OXYZ can be obtained by differentiating the vector R as follows:

which represents the rate of change of R with respect to the fixed

reference frame.

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RATE OF CHANGE OF A VECTOR WITH RESPECT TO A

ROTATING FRAME

Using Omega Theorem, we may write;

It follows that;

then

Note that the use of this equation simplifies the solution for the rate of change of a vector
R with respect to a fixed inertial reference frame OXYZ when R is defined by its
components along the axes of a rotating frame Oxyz.

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 College of Engineering, School of Mechanical Engineering, UiTM
Motion with Respect To A Fixed Point
Let’s now consider a vector R moving in space with an absolute angular velocity  rad/s and absolute
angular acceleration  = rad/s2.

where R is the magnitude and u is the unit vector that shows

the direction of R.
Differentiating eq(1) with respect to time yields

Differentiating eq(2) with respect to time yields

• Note that the unit vector u is generally
expressed using a local coordinate i, j
and k which may be later be
transformed into a global coordinate.
• If R represents a position vector of a
moving point P, then eq.(2) and (3)
give the absolute velocity and absolute
acceleration of point P, respectively.

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 College of Engineering, School of Mechanical Engineering, UiTM
Motion with Respect To A Moving Point

Consider a particle P moving in space indicated by the

local coordinate Axyz. At the same time, this space is
moving in global coordinate OXYZ with angular velocity
.

Position of P relative to A
(1)
Velocity of P relative to A

(2a)

Acceleration of P relative to A

(3a)

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 College of Engineering, School of Mechanical Engineering, UiTM
Motion with Respect To A Moving Point (cont.)

Observe that if the magnitude of the vector r is constant and its

position in the local coordinates Axyz is fixed, then the terms 𝑥,ሶ 𝑦,ሶ
𝑧,ሶ 𝑥,ሷ 𝑦ሷ and 𝑧ሷ are all equal to zero!!!

Denoting terms as follows:

Eq(2) and Eq(3) can be expressed as;

(2b)

(3b)

Note that the derivative terms without a subscript are all the absolute quantities i.e. with respect to the
OXYZ coordinate system.
Also note that if point P is a fixed point in the Axyz coordinate system, then the terms ( 𝑥iሶ + 𝑦jሶ + 𝑧k)
ሶ and (
𝑥iሷ + 𝑦jሷ + 𝑧k)
ሷ are all zero

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College of Engineering, School of Mechanical Engineering, UiTM MEC420-Dynamics

MEC 420 – DYNAMICS 64