COURSE SYLLABUS

1. Course Code: B222

2. Course Title : DYNAMICS OF RIGID BODIES

3. Prerequisite : B213 (Statics of Rigid Bodies)

4. Co-requisite : none

5. Credit : 2 units

6. Course Description
This course deals with kinematics of particle; kinetics of rigid bodies; work energy method; and impulse and momentum.

7. Course Outcomes
After completing the course, the student must be able to:
1. Understand the principles governing the motion of particles, velocity and acceleration;
2. Understand the principles of Newton’s Second Law and its applications;
3. Understand the kinematics of particular energy and momentum methods; and the kinematics of rigid
bodies, its energy and momentum.
8. Topics
Rectilinear Translation

Rectilinear motion with constant acceleration

Free falling bodies, Air resistance neglected
Rectilinear motion with variable acceleration
Motion Curves
Kinetics of rectilinear translation. Analysis as a particle
Dynamic equilibrium in translation. Analysis as a rigid body
Curvilinear Translation
Flight of projectile, air resistance neglected
Tangential and Normal Components of acceleration
Banking of Highway curves
Rotation
Kinematics differential equations of rotation
Rotation with constant angular acceleration
Rotation with variable angular acceleration
Work and Energy
Fundamental Work-Energy equation for Rectilinear translation
Application of the Work-Energy Method
Conservation of Momentum
Fundamental Impulse-Momentum equation for translation
Elastic Impact

9. Course Evaluation
The minimum requirement for a passing grade is 60% final grade average from the following:

Attendance 15.00 %
Seatworks / Homeworks/Boardworks 25.00 %
Quizzes 30.00 %
Exams 30.00 %
TOTAL 100.00 %

Note: Final grade = ½ (midterm grade + final term grade)

Aside from academic deficiency, other grounds for a failing grade are the following:
Cheating during seat works, group works, assignments or examinations
Grave misconduct other than cheating
Exceeding 20% of allowable absences

10. Textbooks/References
a. Ferdinand Beer and Russell Johnston, Jr., Vector Mechanics for Engineers Dynamics, 3rd SI Metric Edition.
Singapore: Mc-Graw Hill.
b. Russell Hibbeler, Engineering Mechanics: Dynamics, 12th Edition. New Jersey: Prentice Hall.
c. F. Singer, Engineering Mechanics, 5th ed., Harper and Row, New York
d. online: www.mathalino.com, www.educspace.com
11. Instructor/Professor

Engr. Adam F. Rombaoa

CHAPTER OBJECTIVES

At the end of the lessons, the students should be able to:

1. define the position, displacement, velocity, and acceleration of a particle.
2. solve problems using the differential equations of kinematics.
3. solve rectilinear motion problems graphically.

INTRODUCTION 1. Read the problem carefully and try to correlate the

actual physical situation with the theory you have
Dynamics is the branch of mechanics that deals with studied.
the analysis of bodies in motion. Dynamics includes kinematics 2. Draw any necessary diagrams and tabulate the
and kinetics. Kinematics is the study of the geometry of motion problem data.
3. Establish a coordinate system and apply the relevant
without considering the forces that causes the motion.
principles, generally in mathematical form.
Kinematics is used to relate displacement (s), velocity (v), 4. Solve the necessary equations algebraically as far as
acceleration (a), and time (t). Kinetics is the study of the practical; then, use a consistent set of units and
relation existing between the forces acting on a body, the mass complete the solution numerically. Report the answer
of the body, and the motion of the body. Kinetics is used to with no more significant figures than the accuracy of
predict the motion caused by given forces or to determine the the given data.
forces required to produce a given motion. 5. Study the answer using technical judgment and
common sense to determine whether or not it seems
In this chapter the motion of bodies - possibly as large reasonable.
6. Once the solution has been completed, review the
as cars, rockets, or airplanes - will be considered without regard problem. Try to think of other ways of obtaining the
to their size. The word particle will be used to denotes any same solution.
object of point size.

Major contributors in the field of dynamics DEFINITION AND CHARACTERISTICS OF

TRANSLATION
Galileo Galilei (1564–1642). One of the first major contributors
in the field of dynamics. His work consisted of experiments Translation – the motion of a rigid bodies in which a straight
using pendulums and falling bodies. line passing through any two of its particles always remains
parallel to its initial position. Translation may be either
Isaac Newton (1642–1727). Formulated the three fundamental rectilinear or curvilinear.
laws of motion and the law of universal gravitational attraction.
Rectilinear translation simply means motion of a particle or
Jean-Baptiste le Rond d'Alembert(1717 – 1783). Discovered body along a straight line. If the motion of the translating body
is curved, the motion becomes a curvilinear.
the d’Alembert’s Principle which is an alternative form of
Newton’s second law of motion.

Some applications of the principles of dynamics

1. Structural design of any vehicle, such as an automobile RECTILINEAR MOTION WITH CONSTANT
or airplane ACCELERATION
2. Design of mechanical devices, such as motors, pumps,
movable tools, industrial manipulators, and machinery The three kinematic equations of motion with constant
3. Predictions of the motions of artificial satellites, acceleration:
projectiles, and spacecraft
𝒗 = 𝒗𝟎 + 𝒂𝒕
Problem Solving 𝟏
𝒔 = 𝒗𝟎 𝒕 + 𝒂𝒕𝟐
Dynamics is considered to be more involved than 𝟐
statics since both the forces applied to a body and its motion 𝒗𝟐 = 𝒗𝟎 𝟐 + 𝟐𝒂𝒔
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
PROBLEMS:

1. 1013. An automobile starting from rest speeds up to 40 ft

per sec with a constant acceleration of 4 ft per sec2, runs at
this speed for a time, and finally comes to rest with a
deceleration of 5 ft per sec2. If the total distance travelled
is 1000 ft, find the total time required. (Ans: 34 s)

4. Automobiles A and B are traveling in adjacent highway

lanes and at t = 0 have the positions and speeds shown.
Knowing that automobile A has a constant acceleration of
2. 1016. An automobile is moving at a constant velocity of 45 1.8 ft/s2 and that B has a constant deceleration of 1.2 ft/s2,
ft per sec passes a gasoline station. Two seconds later, determine (a) when and where A will overtake B, (b) the
another automobile leaves the gasoline station and speed of each automobile at that time. (Ans: a. 15.05s, 734
accelerates at the constant rate of 6 ft/s2. How soon will the ft b. vA = 42.5 mi/h, vB = 23.7 mi/h)
second automobile overtake the first? (Ans: 16.7s)

3. In a boat race, boat A is leading boat B by 50m and both

boats are traveling at a constant speed of 180 km/h. At t =
0, the boats accelerate at constant rates. Knowing that when
B passes A, t = 8 s and vA = 225 km/h, determine (a) the
acceleration of A, (b) the acceleration of B. (Ans: aA =
1.563 m/s2, aB = 3.13 m/s2)

5. Initially, the car travels along a straight road with a speed

of 35m/s. If the brakes are applied and the speed of the car
is reduced to 10 m/s in 15 s, determine the constant
deceleration of the car. (1.67 m/s2)

2
6. A motorist is traveling at 54 km/h when she observes that 8. Two automobiles A and B are approaching each other in
a traffic light 240 m ahead of her turns red. The traffic light adjacent highway lanes. At t = 0, A and B are 3200 ft apart,
is timed to stay red for 24 s. If the motorist wishes to pass their speeds are vA = 65 mi/h and vB = 40 mi/h, and they
the light without stopping just as it turns green again, are at Points P and Q, respectively. Knowing that A passes
determine (a) the required uniform deceleration of the car, Point Q 40 s after B was there and that B passes Point P 42
(b) the speed of the car as it passes the light. B. s after A was there, determine (a) the uniform accelerations
of A and B, (b) when the vehicles pass each other, (c) the
speed of B at that time.
54 km/h

7. Tests reveal that a normal driver takes about before he or

she can react to a situation to avoid a collision. It takes 9. 1014. A train travels between two stations ½ mile apart in
about 3 s for a driver having 0.1% alcohol in his system to a minimum time of 41 seconds. If the train accelerates and
do the same. If such drivers are traveling on a straight road decelerates at 8 ft/s2, start from rest at the 1st station and
at 30 mph (44 ft/s) and their cars can decelerate at 2 ft/s2, coming to a stop at the second station, what is its maximum
determine the shortest topping distance d for each from the speed in mph? How long does it travel at this top speed?
moment they see the pedestrians. Moral: If you must drink,
please don’t drive!

3
 FREE FALLING BODIES, AIR RESISTANCE
NEGLECTED

Useful equations:
𝒗 = 𝒗𝟎 ± 𝒈𝒕
𝟏 2. 1005. A stone is dropped down a
𝒔 = 𝒗𝟎 𝒕 ± 𝟐 𝒈𝒕𝟐 well and 5s later the sound of the
𝒗𝟐 = 𝒗𝟎 𝟐 ± 𝟐𝒈𝒔 splash is heard. If the velocity of the
sound is 1120 ft/s, what is the depth
of the well? (Ans: 353ft)
Where:

𝑣 − 𝑓𝑖𝑛𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑔 = 9.81𝑚/𝑠 2 ,32.2ft/s2

𝑣𝑜 − 𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 (+) going down, (-) going up
𝑡 − 𝑡𝑖𝑚𝑒 𝑜𝑓 𝑓𝑙𝑖𝑔ℎ𝑡
S - height

PROBLEMS:

1. 1004. A ball is dropped from the top of a tower 80 ft high

at the same instant that a second ball is thrown upward from
the ground with an initial velocity of 40 ft/s. When and
where do they pass, and with what relative velocity? (Ans:
after 2 sec at 64.4 ft from the top of tower; relative
velocity = 40 ft/s)
3. During a test, a rocket travels upward at 75 m/s, and when
it is 40 m from the ground its engine fails. Determine the
maximum height sB reached by the rocket and its speed just
before it hits the ground. While in motion, the rocket is
subjected to a constant downward acceleration of 9.81 m/s2
due to gravity. Neglect the effect of air resistance. (Ans:
sB= 327m, vC = 80.1 m/s)

4
 RECTILINEAR MOTION WITH VARIABLE
ACCELERATION

The Differential Equations of Kinematics

(1) 𝒗 = 𝒅𝒔/𝒅𝒕 (𝟑) 𝒗𝒅𝒗 = 𝒂𝒅𝒔

(𝟐) 𝒂 = 𝒅𝒗/𝒅𝒕

Velocity, 𝒗, is the time rate of change of displacement.

Acceleration, 𝒂, is defined as the time rate of change of
velocity.
Displacement, s, refers to the change in position of a particle.
Position, s, is the location of a particle from a fixed point.

The Four Cases:

Case I. The displacement is given in terms of time; i.e., s = f(t)

Case II. The acceleration is expressed in terms of time; i.e., 𝒂 =

𝒇(𝒕). The general procedure is to start with (2) written in the
form dv = a dt and integrate to find the velocity in terms of time.

Case III. The velocity is given it terms of time; i.e., 𝑣 = 𝑓(𝑡).

This case is a combination of Cases I and II. Differentiating the
given velocity-time relation determines the acceleration while
4. A stone is thrown vertically upward from a point on a integrating it determines the displacement.
bridge located 40 m above the water. Knowing that it
strikes the water 4 s after release, determine (a) the speed Case IV. One of the principal variables is expressed in term of
with which the stone was thrown upward, (b) the speed an adjacent variable; i.e., a = f(v) or v =f(s).
with which the stone strikes the water. (Ans: a. 9.62 m/s,
b. 29.6 m/s).

PROBLEMS:

1. 1019. The motion of a particle is given by the equation s =

2t4- t3/6 + 2t2 where s is in ft and t in seconds. Compute
the value of v and a when t = 2s. (Ans: 70ft/s, 98 ft/s2).

5. A ball is thrown vertically upward with a speed of 15 m/s.

Determine the time of flight when it returns to its original
position. (3.058 s) 2. 1024. The velocity of a particle moving along the X axis is
defined by v = x3 – 4x2+ 6x where v is in ft/s and x is in ft..
6. A ball is thrown vertically upward with an initial velocity Compute the value of the acceleration when x = 2ft. (Ans:
of 3m/s from the window of a tall building. The ball strikes 8ft/s2)
the sidewalk at the ground level 4 sec later. Determine the
velocity with which the ball hits the ground and the height
of the window above the ground. (36.24 m/s, 66.48 m)

5
3. 1025. The motion of a particle is defined by the relation a The v-t and a-t curves
= 4t, where a is in ft/s2 and t in seconds. It is known that s
= 1ft and v = 2 ft/s when t = 1 s. Determine the relations
between v and t, s and t, and v and s. (Ans: v = 2t2; 3s =
2t3 + 1; v3/2 = (3s – 1)√𝟐)

The following figure shows the relations between s-t, v-t, and
MOTION CURVES a-t curves.

Motion Curves are graphs of the displacement (s), velocity (v),

and acceleration (a) versus time (t). They represent the motion
of a particle. Examples of motion curves are shown in the
figures below.

The s-t and v-t curves

6
PROBLEMS: 3. A motorcycle starts from rest at s =0 and travels along a
straight road with the speed shown by the v–t graph. Determine
1. Draw the v–t and s-t graphs if v = 0 and s = 0 when t the total distance the motorcycle travels until it stops when t
= 0. Find the equations v = f(t) and s = f(t) for each =15 s. Also, plot the a–t and s–t graphs. (Ans: 52.5 m)
segment.

2. The car shown in the figure starts from rest and travels
along a straight track such that it accelerates at 10 m/s2 for
10 s, and then decelerates at 2 m/s. Draw the v-t and s–t
graphs and determine the time t’ needed to stop the car.
How far has the car traveled? (Ans: 60s, 3000m)

4. 1033. From the v-t curve shown in the figure, determine the
distance traveled in 4 sec and also in 6 sec. Also, sketch the a-t
and s-t curve approximately to scale.

7
 KINETICS OF RECTILINEAR TRANSLATION.
ANALYSIS AS A PARTICLE 3. 1057. The coefficient of kinetic friction under block A in the
figure is 0.30 and block B is 0.20. Find the acceleration of the
Newton’s Second Law of Motion (Law of acceleration) system and the tension in each chord. (Ans: a = 4.8 ft/s2).
The acceleration (a) of a body is directly proportional
to the net force (Fnet) acting on it and inversely proportional
to its mass (m).

∑𝑭 = Fnet = ma

The general equations of kinetics applied to rectilinear

translation

𝑾
∑𝑿 = 𝒂
𝒈
∑𝒀 = ∑𝒁 = 𝟎

A general plan for the solution of problems consists of the

following steps:
1. Draw a free-body diagram for each body involved in
the problem. Indicate thereon all forces, both known
and unknown, representing the latter by an appropriate
symbol. If the direction of any unknown (except
friction) is incorrectly assumed, the solution will yield
its correct magnitude but with a negative sign. Friction
forces, however, must always be directed to oppose
the motion.
2. Determine the direction of motion if not evident or
specified and indicate it by a dashed arrow near each
free-body diagram.
3. Determine the kinematic relations between the bodies
involved in the problem.
4. Select the X axis as positive in the direction of motion
and apply ∑𝒀 = 0 and ∑𝑿 = (Wa)/g to each body.
5. Solve for the unknown, using such additional
equations of kinematics as may be required to
determine relations between s, v, and t. DYNAMIC EQUILIBRIUM IN TRANSLATION.
ANALYSIS AS A RIGID BODY

PROBLEMS: D’Alembert’s Principle

The resultant of the external forces and the kinetic
1. 1044. An elevator weighing 3220 lb starts from rest and reaction (reversed effective force) acting on a body equals to
acquires an upward velocity of 600 ft/min in a distance of 20ft. zero.
If the acceleration is constant, what is the tension in the cable?
(Ans: 3470 lb) Consider the following figures:

(a) accelerating body

2. 1047. Determine the force P that will give the body shown in P – F - REF = 0
the figure below an acceleration of 6 ft/s2. The coefficient of
kinetic friction is 0.20. (Ans: 135.4 lb)

(b) decelerating body

P – F + REF = 0

REF = (W/g)a

8
Inertia force sometimes called the Reversed Effective Force
(REF)

A free-body diagram which includes the inertia force (REF) as

well as the real and applied forces represents a force system
whose resultant is zero.

PROBLEM:

2. 1083. The coefficient of kinetic friction under the sliding

supports at A and B in the figure below is 0.30. What force P
will give the 600-lb door a leftward acceleration of 8.05 ft/s2?
What will be the normal pressure at A and B? (Ans: P = 330
lb, NA = 82.5 lb, NB = 517.5 lb)

FA FB
NA NB

(W/g) a

9
CHAPTER OBJECTIVES

At the end of the lessons, the students should be able to:

1. Solve problems involving flight of projectiles.
2. Solve problems involving normal and tangential components of acceleration.
3. Solve problems involving conical pendulum and banking of highway curves.

FLIGHT OF PROJECTILE. AIR RESISTANCE

NEGLECTED

Projectile – a body which after being given an initial velocity

(with an initial angle of release), is allowed to travel under the
action of gravity alone.

The General Equations of Projectile

𝑣𝑋 = 𝑣𝑂𝑥 = 𝑣𝑂 𝑐𝑜𝑠𝜃
𝑣𝑦 = 𝑣𝑂𝑦 − 𝑔𝑡 = 𝑣𝑂 𝑠𝑖𝑛𝜃 − 𝑔𝑡

𝑣 = √(𝑣𝑥 )2 + (𝑣𝑦 )2 resultant velocity

2. 1105. A projectile is fired with an initial velocity of 193.2 ft/s
𝑥 = 𝑣𝑂𝑥 𝑡 = 𝑣𝑂 𝑐𝑜𝑠𝜃 𝑡 downward at an angle of 30 degrees to the horizontal from a
1 1 point 257.6 ft above the level plane. What horizontal distance
𝑦 = 𝑣𝑂𝑦 𝑡 − 𝑔𝑡 2 = 𝑣𝑂 𝑠𝑖𝑛𝜃 𝑡 − 𝑔𝑡 2
2 2 will it cover before it strikes the level plain? (Ans: 334.63 ft)

Special Cases 3. Determine the speed at which the basketball at A must be

thrown at the angle of 30 degrees so that it makes it to the basket
at B. (Ans: 12.37 m/s)

(𝑣𝑂 𝑠𝑖𝑛𝜃)2
𝐻=
2𝑔
(𝑣𝑂 )2 𝑠𝑖𝑛2𝜃
𝑅=
𝑔
2𝑣𝑂 𝑠𝑖𝑛𝜃
𝑡=
𝑔

Where: H – maximum height

R - maximum range
𝑣𝑂 – initial velocity
t – time of flight for a maximum range

PROBLEMS:
1. 1103. A shell leaves a mortar with a muzzle velocity of 500
ft/s directed upward at 60 degrees with the horizontal.
Determine the position of the shell and its resultant velocity 20
sec after firing. How high will it rise? (Ans: x = 5000 ft, y =
2220 ft, v =327 ft/s, H = 2910 ft)

10
4. 1107. The car shown in the figure is just to clear the water- TANGENTIAL AND NORMAL COMPONENTS OF
filled gap. Find the take-off velocity vO. (Ans: 14.14 ft/s) ACCELERATION

The tangential and normal components of acceleration

denote respectively the rate of change of magnitude and of
direction of velocity.

Formulas:
5. 1112 Boat A moves with a constant velocity of 20ft/s, starting 𝑑𝑣
from the position shown. Find 𝜃 in order for the projectile to hit 𝑎𝑡 = Where:
the boat 5 sec after starting, under the conditions given. How
𝑑𝑡 𝑎𝑡 – tangential component
high is the hill above the water? (Ans: 𝜽 = 33.88O, 133.25 ft.) 𝑎𝑛 – normal component
𝑣2
𝑎𝑛 = 𝑎 – resultant acceleration
𝑟 𝑟 – radius of curvature
𝑠 – arc distance
𝑎 = √𝑎𝑡 2 + 𝑎𝑛 2
𝜃
𝑠 = 𝜃𝑟
h

PROBLEM:

1. 1125. A particle moves on a circle in accordance with

the equation 𝑠 = 𝑡 4 − 8𝑡, where is the displacement in
feet measured along the circular path and t is in seconds.
Two seconds after starting from rest, the total acceleration
of the particle is 48√2 ft/s2. Compute the radius of the
circle. (Ans: 12ft)

11
 CONICAL PENDULUM using the following data: W = 100 lb; v = 8.03 ft/s; L =
18in. (Ans: 𝜃 = 57.6O, T = 187 lb, t = 0.993s)

Figure P-1127
BANKING OF HIGHWAY CURVES
Formulas:
Ideal angle of banking; friction unnecessary
Angle of inclination of the chord
𝒗𝟐
𝒕𝒂𝒏𝜽 =
𝒈𝒓
𝒗𝟐
𝒄𝒐𝒔𝟐 𝜽 + 𝒄𝒐𝒔𝜽 − 𝟏 = 𝟎
𝒈𝑳

𝑾 = 𝑻𝒄𝒐𝒔𝜽
𝒓 𝒉
𝒕 = 𝟐𝝅√ = 𝟐𝝅√
𝒈 𝒕𝒂𝒏𝜽 𝒈
𝑳
𝒕𝒎𝒂𝒙 = 𝟐𝝅√
𝒈

𝒗𝒓 𝟐
Where: 𝒕𝒂𝒏𝜽 =
𝒈𝒓
𝜃 – angle of inclination of the chord with
the vertical Maximum velocity, friction considered
𝑾𝒗𝟐
− centrifugal inertia force
𝒈𝒓
𝑇 – chord tension
𝑊 – weight
𝑡 – time to complete one revolution
𝒕𝒎𝒂𝒙 - time to complete one revolution if h
approaches a limiting value L
𝑟 – radius of curvature
𝑠 – arc distance
h - height

PROBLEMS:

1.1127. As shown in figure P-1127, a bob of weight 𝑾 is 𝒗𝒎𝒂𝒙 𝟐

moving with a constant velocity 𝒗 in a horizontal plane at 𝒕𝒂𝒏(𝜽 + ∅) =
𝒈𝒓
the end of the chord of length L. Because the string
generates a cone while in motion, the system is called a
conical pendulum. It is required to determine the tension
in the supporting chord, its inclination with the vertical,
and the period or time required to complete one revolution
12
Minimum velocity, friction considered

𝒗𝒎𝒊𝒏 𝟐
𝒕𝒂𝒏(𝜽 − ∅) =
𝒈𝒓

Where:
𝜃 – ideal angle of banking
∅ - angle of friction
tan∅ - f = F/N
f - coefficient of friction

PROBLEMS:

1. 1146.Find the angle of banking of a highway curve of

300-ft radius designed to accommodate cars travelling at
100mph, if the coefficient of friction between the tires
and the road is 0.60. What is the rated speed of the
curve? (Ans: 𝜃 = 34.8O, v = 56mph)

2. 1147. The rated speed of a highway curve of 200-ft

radius is 30mph. If the coefficient of friction between the
tires and the road is 0.60, what is the maximum speed at
which a car can round the curve without skidding?

13
CHAPTER OBJECTIVES

At the end of the lessons, the students should be able to:

1. Transform the kinematic differential equations for rectilinear motion into kinematic differential
equations of rotation.
2. Solve problems involving rotation with constant angular acceleration.
3. Solve problems involving rotation with variable angular acceleration.

KINEMATICS DIFFERENTIAL EQUATIONS OF

ROTATION 2. 1203. The rim of a 50-in wheel on a brakeshoe testing
machine has a speed of 60 mph when the brake dropped. It
The kinematic differential equations of rotation are tabulated comes to rest after the rim has traveled a linear distance of
below with similar equations for rectilinear motion. 600ft. What are the constant angular acceleration and the
number of revolutions the wheel makes in coming to rest?
Rectilinear (Ans: 𝜶 = −𝟑. 𝟏𝟎 𝒓𝒂𝒅/ s2, 𝜽 = 45.9 rev.)
Rotation
Motion (related by)
𝒗 = 𝒅𝒔/𝒅𝒕 𝒔 = 𝒓𝜽 𝝎 = 𝒅𝜽/𝒅𝒕
𝒂 = 𝒅𝒗/𝒅𝒕 𝒗 = 𝒓𝝎 𝜶 = 𝒅𝝎/𝒅𝒕
𝒗𝒅𝒗 = 𝒂𝒅𝒔 𝒂𝒕 = 𝒓𝜶 𝝎𝒅𝝎 = 𝜶𝒅𝜽
𝒂𝒏 = 𝒓𝝎𝟐

ROTATION WITH CONSTANT ANGULAR

ACCELERATION

Relations between rectilinear motion and rotation

Rectilinear
Rotation
Motion (related by)
𝒗 = 𝒗𝑶 + 𝒂𝒕 𝒔 = 𝒓𝜽 𝝎 = 𝝎𝑶 + 𝜶𝒕
𝟏 𝒗 = 𝒓𝝎 𝟏
𝒔 = 𝒗𝑶 𝒕 + 𝒂𝒕𝟐 𝜽 = 𝝎𝑶 𝒕 + 𝜶𝒕𝟐
𝟐 𝟐
𝒗𝟐 = 𝒗𝑶 𝟐 + 𝟐𝒂𝒔 𝒂𝒕 = 𝒓𝜶 𝟐
𝝎𝟐 = 𝝎𝑶 + 𝟐𝜶𝜽

ROTATION WITH VARIABLE ANGULAR

ACCELERATION

The technique for handling the case of rotation with variable

angular acceleration is identical to that of rectilinear motion
with variable acceleration.
3. 1213. The rotation of a flywheel is defined by the
relation 𝜽 = 𝟐𝒕𝟒 − 𝟑𝟎𝒕𝟐 + 𝟔, where 𝜽 is measured in radians
PROBLEMS: and t in seconds. Compute the values of angular velocity and
angular acceleration at the instant when t = 4 sec. (Ans: 𝝎 =272
1. 1202. A flywheel 6 ft in diameter accelerates from rest at the rad per sec; 𝜶 = 324 rad per sec2)
constant rate of 4 rpm per sec. Compute the normal and
tangential components of the acceleration of a particle on the
rim of the flywheel after 10 sec. (Ans: an = 52.92 ft/s2; at =
1.26 ft/s2)

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4. 1214. The rotation of a flywheel is governed by the relation
𝝎 = 𝟒√𝒕; 𝝎 is in radians per seconds. 𝜽 = 2 rad when t = 1 sec.
Compute the values of 𝜽 and 𝜶 at the instant when t = 3sec.
(Ans: 𝜽=13.21 rad; 𝜶 =1.154 rad per sec2)

CHAPTER OBJECTIVE

At the end of the lessons, the students should be able to solve

problems that involve force, velocity, and displacement using
the work-energy equation.
2. Determine the kinematic relations between the bodies
Work-Energy Theorem
composing the system.
The net work done on an object always produces a
3. Apply the work-energy equation to the entire system.
change in kinetic energy of the object. (Positive Work –
4. If the internal force in a connecting member is desired,
Negative Work = Final K.E. – Initial K.E.)
apply the work-energy equation to a free-body
diagram of that part of the system on which this force
𝑾𝒏𝒆𝒕 = ∆𝑲. 𝑬. then acts as an external force.

FUNDAMENTAL WORK-ENERGY EQUATION FOR

RECTILINEAR TRANSLATION

𝑺
PROBLEMS:
𝑾 𝟐
∫ ∑𝑿 ∗ 𝒅𝒔 = (𝒗 − 𝒗𝟐𝟎 )
𝟎 𝟐𝒈 1.1404. A constant force P = 150 lb acts on the body shown in
the figure during the only first 20 ft of its motion starting from
Where: rest. If fK = 0.20, find the velocity of the body after it has moved
a total distance of 30 ft.
𝑺
∫𝟎 ∑𝑿. 𝒅𝒔 – resultant work
𝑾 𝟐
𝟐𝒈
𝒗 – kinetic energy

APPLICATION OF THE WORK-ENERGY METHOD.

CONSTANT FORCES

Work-Energy equation involving constant forces

𝑾
∑𝑿. 𝒔 = 𝟐𝒈 (𝒗𝟐 − 𝒗𝟐𝟎 )

General plan for applying the work-energy method

1. Determine the direction of motion. Confirmation is

obtained by noting that the resultant work must be
positive to speed up a system, and vice versa.

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 RESULTANT WORK. VARIABLE FORCES

Work Done by Spring

𝑺 𝑺
𝟏 𝟐
∫ ∑𝑿. 𝒅𝒔 = ∫ 𝒌𝒔. 𝒅𝒔 = 𝒌𝒔
𝟎 𝟎 𝟐

Where: k – spring constant

Spring modulus or spring constant represents the force required

to deform a given spring through a unit distance.

PROBLEMS:

1.1418. A block weighing 96.6 lb is dropped from a height of

2.1405. After the block shown in the figure has moved 10 ft 4ft upon a spring whose modulus is 100 lb/in. What velocity
from rest, the constant force P is removed. Find the velocity of will the block have at the instant the spring is deformed 4 in?
the block when it returns to its initial position. (Ans: 21.2 ft/s). (Ans: 15.3 ft/s)

2.1419. A 600-lb block slides down an incline having a slope of

3 vertical and 4 horizontal. It starts from rest and, after moving
4 ft, strikes a spring whose modulus is 100 lb/ft. If the
coefficient of kinetic friction is 0.20, find the maximum
velocity of the block. (Ans: 12.3 ft/s)

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CHAPTER OBJECTIVE

At the end of the lessons, the students should be able to solve

problems that involve force, velocity, and displacement using
the impulse-momentum method.

Introduction

Impulse (I) is the product of the average force (F) and time
interval (∆ ) during which the average force acts.

Momentum (P) is the product of mass (m) and velocity (V).

POBLEMS:
Impulse-momentum theorem
The change in momentum of a body during the time interval is
1. 1503. A 300-lb block is in contact with a level plane whose
equal to the net force that acts on the body during the time
coefficient of kinetic friction is 0.10. (a) If the block is acted
interval.
upon by a horizontal force of 50 lb, what time will elapse before
the block reaches a velocity of 48.3 ft/s, starting from rest? (b)
∆ = ∆ if the 50-lb force is removed, how much longer will the
( − )= ( − ) block continue to move? (Ans: (a) t = 22.5 s; (b) t = 15 s)

GENERAL LINEAR IMPULSE-MOMENTUM

EQUATION APPLIED TO TRANSLATION

∑ . = ( − )

When the applied forces are constant, this equation becomes

∑ . = ( − )

Where:

∑ . – resultant linear impulse

2. 1504. A 300-lb force pushes a 200-lb block up an incline

whose slope is 3 vertical and 4 horizontal. If = 0.20,
determine the time required to increase the velocity of the block
ELASTIC IMPACT from 10 to 50 ft/s. (Ans: 1.68 s)

Coefficient of restitution (e) is defined as the ratio of the relative

velocities of colliding bodies after impact to their relative
velocities before impact.

Consider the figure below,

−
=
−
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3. Direct central impact occurs between a 100 N body moving 5. A man weighing 68 kg jumps from a pier with a horizontal
with a velocity of 3 m/s and a 150 N body moving in the velocity of 5 m/s onto a 100 kg boat moving towards the dock
opposite direction with a velocity of 1.8 m/s. The 100 N body at 4 m/s. What would be the velocity of the boat after the man
rebounds in the opposite direction with a velocity of 1.5 m/s. lands on it? (Ans: 0.36 m/s to the left)
Compute the amount and direction of the velocity of the 150 N
body. (Ans: 1.2 m/s to the right)

4. Two cars having equal weights of 135 kN are travelling on

a straight horizontal track with velocities of 3 m/s to the right
and 1.5 m/s to the left respectively. They collide and are
coupled during the impact. Neglecting friction due to skidding,
determine their final common velocity. (Ans: 0.75 m/s)

18