ME 3400 — Engineering Mechanics: Dynamics Instructor: Prof. C. A.

Tan

COURSE REVIEW

Particle Kinematics Rigid Body Kinematics

Definitions When does a rigid body rotate?

The absolute velocity and acceleration vectors of a particle or a A rigid body rotates if at any instant, any line in the body changes
material point 𝑃 are defined, for each instant of time, with respect its orientation with respect to a fixed reference line.
𝐷𝐫𝑝 𝐷𝐯𝑝 𝑑𝜃 𝑑𝜔
to a stationary, non-rotating observer: 𝐯𝑃 = , 𝐚𝑃 = , where Define 𝜔 = , 𝛼 = . For planar motions, 𝛚 = 𝜔𝐤 ̂ , 𝛂 = 𝛼𝐤
̂
𝐷𝑡 𝐷𝑡 𝑑𝑡 𝑑𝑡
𝐷
is the time derivative w.r.t. a stationary observer. Note that where 𝜔 = angular speed, 𝛼 = angular acceleration
𝐷𝑡
velocity is always tangential to the particle’s path (trajectory). Body-fixed reference frames
This is a reference frame attached to the body. This frame rotates
Basic kinematic relations for independent coordinates with the same angular velocity/acceleration as the rigid body.
𝑑𝑣 = 𝑎(𝑡)𝑑𝑡, 𝑑𝑣/𝑎(𝑣) = 𝑑𝑡, 𝑣𝑑𝑣/𝑎(𝑣) = 𝑑𝑠, 𝑣𝑑𝑣 = 𝑎(𝑠)𝑑𝑠
Relative motion between two points of the same rigid body
Rectangular coordinates
̂ , 𝐯𝑃 = 𝑥̇ (𝑡) 𝐢̂ + 𝑦̇ (𝑡) 𝐣̂ + 𝑧̇ (𝑡) 𝐤
̂ 𝐯𝐵 = 𝐯𝐴 + 𝐯𝐵/𝐴 = 𝐯𝐴 + 𝛚 × 𝐫𝐵/𝐴 , 𝑣𝐵/𝐴 = 𝑟𝐵/𝐴 𝜔
𝐫𝑃 = 𝑥(𝑡) 𝐢̂ + 𝑦(𝑡) 𝐣̂ + 𝑧(𝑡) 𝐤
̂  Relative velocity is orthogonal to the line joining A and B.
𝐚𝑃 = 𝑥̈ (𝑡) 𝐢̂ + 𝑦̈ (𝑡) 𝐣̂ + 𝑧̈ (𝑡) 𝐤  Concept of instantaneous center of zero velocity (planar motions)
where vectors with a cap denotes an unit directional vector.
𝐚𝐵 = 𝐚𝐴 + 𝐚𝐵/𝐴 = 𝐚𝐴 + 𝛂
⏟× 𝐫𝐵/𝐴 + 𝛚
⏟ × (𝛚 × 𝐫𝐵/𝐴 )
Normal-tangential coordinates
𝑑𝜃 relative relative
𝐯 = 𝑣 𝐞̂𝑡 = 𝑠̇ 𝐞̂𝑡 = 𝜌 𝑑𝑡 𝐞̂𝑡 , where 𝜌 = radius of curvature tangential acc. normal acceleration
𝑑𝐞̂ 𝑑𝜃 For planar motions, 𝛚 × (𝛚 × 𝐫𝐵/𝐴 ) = −𝜔2 𝐫𝐵/𝐴
Key derivative relation: 𝑑𝑡𝑡 = 𝑑𝑡 𝐞̂𝑛
1) For curvilinear translations, all material points of the rigid
𝐚 = 𝑣̇ 𝐞̂𝑡 + 𝑣𝜃̇ 𝐞̂𝑛 = 𝑣̇ 𝐞̂𝑡 + 𝑣 2 /𝜌 𝐞̂𝑛 (Osculating plane) body have the same velocity and acceleration.
𝜌 = [1 + (𝑑𝑦/𝑑𝑥)2 ]3/2⁄|𝑑2 𝑦/𝑑𝑥 2 | 2) If a rigid body has a fixed point, then it cannot exhibit a
Thus, acceleration is never zero for curvilinear motions. curvilinear translation.
Polar coordinates Rolling and slipping kinematics
𝐫 = 𝑟 𝐞̂𝑟 , 𝐯 = 𝑟̇ 𝐞̂𝑟 + 𝑟𝜃̇ 𝐞̂𝜃 , 𝐚 = (𝑟̈ − 𝑟𝜃̇ 2 )𝐞̂𝑟 + (𝑟𝜃̈ + 2𝑟̇ 𝜃̇)𝐞̂𝜃 Rolling without slip between two bodies in contact requires the
velocities and tangential components of the accelerations of the
Hints for solutions points in contact to be equal. Slipping requires only the normal
1) Set up appropriate coordinate systems components of the velocities to be equal.
2) Examine for kinematic constraints
Relative motion analysis using rotating reference frames
(Note: dot product may be very useful)
This kinematic analysis is useful when A and B are material points
3) Apply vector form of kinematics equations
of the same rigid body or of different rigid bodies.

Courses\ME3400\ME3400_CourseReview.docx Page 1 of 4
Revised: 25 September, 2019
 ME 3400 — Engineering Mechanics: Dynamics Instructor: Prof. C. A. Tan

𝑑𝐫𝐵/𝐴 𝑑𝐯𝐺
∑𝐅 = 𝑚 = 𝑚𝐚𝐺 (A system of particles, G = center of mass)
𝐯𝐵 = 𝐯𝐴 + 𝐯rel + 𝛀 × 𝐫𝐵/𝐴 , where 𝐯rel = | 𝑑𝑡
𝑑𝑡 frame at A
where 𝛀 is the angular velocity of the frame attached at the point Energy Approach (Scalar Approach)
A. If the frame is attached to the rigid body which contains A, i.e., Useful when problem gives information on change in position.
a body-fixed reference frame, then 𝛀 = 𝛚 (the angular velocity of Work-Energy Principle: Δ𝑇 + Δ𝑉 = 𝑈𝑛𝑐
that rigid body). (𝑈𝑛𝑐 is the work done by non-conservative forces)
1
𝐚𝐵 = 𝐚𝐴 + 𝐚rel + 2𝛀 × 𝐯rel + ⏟
𝛂 × 𝐫𝐵/𝐴 + ⏟
𝛀 × (𝛀 × 𝐫𝐵/𝐴 ) Kinetic energy 𝑇 = 𝑚𝑣 2 (need to determine 𝐯, then 𝑣 2 = 𝐯 ⋅ 𝐯)
2
tangential acc. normal acc. Gravitational PE, 𝑉𝑔 = 𝑚𝑔𝑦 (𝑦 is measured positive upward, need
where, 𝛂 is the angular acceleration of the rotating reference to choose datum)
𝑘
frame (or the rigid body if one uses a body-fixed frame) and 𝐚rel Spring PE, 𝑉𝑠 = 2 (𝑥 − 𝑥0 )2, where 𝑥0 is the unstretched position
is the relative acceleration measured by the rotating reference Energy conservation: 𝑈𝑛𝑐 = 0 ⇒ Δ𝑇 + Δ𝑉 = 0, or 𝑑𝐸/𝑑𝑡 = 0
frame attached at A. The term 2𝛀 × 𝐯𝐵/𝐴 is the Coriolis
acceleration, representing the difference in acceleration of B as Momentum Principles
measured by non-rotating and rotating reference frames. Useful when problem gives information on change in time.
Hints for solutions Linear momentum principle:
𝑡2
1) Establish appropriate coordinate systems ∫𝑡 ∑ 𝐅 𝑑𝑡 = 𝑚𝐯2 − 𝑚𝐯1 ≜ 𝐆2 − 𝐆1 (for a particle)
1
2) Establish body-fixed reference frames, where appropriate where 𝐆 is the linear momentum vector for the particle
𝑡2
3) Determine 𝛚 and 𝛂 of the rigid body ∑𝑁𝑗=1 ∫𝑡 ∑ 𝐅𝑗 𝑑𝑡 = 𝑚(𝐯𝐺 )𝑡2 − 𝑚(𝐯𝐺 )𝑡1 (for a system of particles)
1
4) Examine for kinematic constraints
5) Apply vector form of the kinematics equations Angular momentum principle:
𝑡
𝐇𝑂 = 𝐫 × 𝑚𝐯, ∫𝑡 2 ∑ 𝐌𝑂 𝑑𝑡 = (𝐇𝑂 )𝑡2 − (𝐇𝑂 )𝑡1
1

Particle Kinetics Impact/Collision of particles (summary of equations):

Denote subscript 𝑛 = direction of impact, 𝑡 = tangential direction
Free Body Diagram (perpendicular to the normal direction of impact)
′
1) Include all external forces acting on the particle 1) 𝑚𝐴 𝑣𝐴𝑡 = 𝑚𝐴 𝑣𝐴𝑡 (prime denotes the instant right after impact)
′
2) Isolate the particle from kinematic constraints and replace 2) 𝑚𝐵 𝑣𝐵𝑡 = 𝑚𝐵 𝑣𝐵𝑡
constraints by constraint forces (reaction forces are normal to 3) 𝑚𝐴 𝑣𝐴𝑛 + 𝑚𝐵 𝑣𝐵𝑛 = 𝑚𝐴 𝑣′𝐴𝑛 + 𝑚𝐵 𝑣′𝐵𝑛
𝑣 ′ −𝑣 ′
constraint surfaces) 4) 𝑒 = − 𝑣𝐵𝑛−𝑣𝐴𝑛 (energy of system is conserved if 𝑒 = 1)
𝐵𝑛 𝐴𝑛
Basic Equation of Motion (applicable at any instant of time) Central-Force Problems: forces directed along 𝐞̂𝑟 direction, and
𝑑𝐯
∑ 𝐅 = 𝑚 = 𝑚𝐚 (A particle) angular momentum of system is conserved.
𝑑𝑡

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Revised: 25 September, 2019
 ME 3400 — Engineering Mechanics: Dynamics Instructor: Prof. C. A. Tan

Motion in the vertical plane: under gravity force only, thus  Mass moment of inertia for composite rigid bodies is obtained
angular momentum is conserved in the vertical direction. by adding the moments of inertia of all the individual bodies.
Parallel Axis Theorem: 𝐼𝐴 = 𝐼𝐺 = 𝑚𝑑 2 , 𝑑 = 𝐴𝐺̅̅̅̅
Hints for solutions
(Note: mass moment of inertia is smallest at the mass center)
1) Establish appropriate coordinate systems Define radius of gyration: 𝑘 = √𝐼/𝑚
2) Draw free body diagrams
3) Examine for kinematic constraints Energy Approach (Scalar Approach)
4) Identify which approach or combination of approaches to use Useful when problem gives information on change in position
 what is being asked for? Work-Energy Principle: Δ𝑇 + Δ𝑉 = 𝑈𝑛𝑐
1 1
5) Apply vector form of kinematics equations Kinetic energy: 𝑇 = 2 𝑚𝑣𝐺2 + 2 𝐼𝐺 𝜔2
6) Apply appropriate kinetics equations
Same energy conservation principle as used in particle kinetics.
Problem may involve more than one rigid body. Find energies for
each body and add them together to get total energy of the system,
Rigid Body Kinetics and then apply the work-energy principle.
Free Body Diagrams Momentum Principles
1) Include all external forces and body forces Useful when problem gives information on change in time
𝑡2
2) Isolate the rigid body from kinematic constraints (e.g., rolling ∫𝑡 ∑ 𝐅 𝑑𝑡 = 𝑚(𝐯𝐺 )𝑡2 − 𝑚(𝐯1 )𝑡1
1
or slipping) and replace constraints by constraint forces 𝑡2
∫𝑡 ∑ 𝐌𝐺 𝑑𝑡 = (𝐇𝐺 )𝑡2 − (𝐇𝐺 )𝑡1 , 𝐻𝐺 = 𝐼𝐺 𝜔 (or at fixed point O)
1
Basic Equation of Motion Apply the angular momentum equation at G (if convenient) or O
∑ 𝐅 = 𝑚𝐚𝐺 (translation equations; G = center of mass) (if available). Otherwise, apply the general equation at an
∑ 𝑀𝐺 = 𝐼𝐺 𝛼 (rotation equation) arbitrary point A.
Above equations can be applied to the center of mass at each
instant of time. Hints for solutions
Alternate equations for the moment equation: 1) Establish appropriate body-fixed reference frames
∑ 𝑀𝑂 = 𝐼𝑂 𝛼 (if O is a fixed point of the rigid body) 2) Draw free body diagrams
𝑑 3) Examine for kinematic constraints and establish appropriate
∑ 𝐌𝐴 = 𝐇𝐺 + 𝐑 𝐺 × 𝑚𝐚𝐺 (applied at an arbitrary point A)
𝑑𝑡 kinematic relations
∑ 𝑀𝐴 = 𝐼𝐺 𝛼 + (𝐑 𝐺 × 𝑚𝐚𝐺 ) ⋅ 𝐤 ̂ (equation for planar motions)
4) Identify which approach or combination of approaches to use
Problem may involve more than one rigid body. Write the  what is asked for?
equations of motion for all bodies and solve simultaneously. 5) Apply vector form of kinematics equations
Mass Moment of Inertia 6) Apply appropriate kinetics equations
𝐼 = ∫ 𝑟 2 𝑑𝑚 (𝑟 is measured from the point of reference)

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Revised: 25 September, 2019