PES UNIVERSITY

(Established under Karnataka Act no. 16 of 2013)

Department of Mechanical Engineering

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NOTES

Subject: Engineering Mechanics-Dynamics

Subject Code: UE19ME203

Unit 1: Kinematics of particles

Notes: “Engineering Mechanics Dynamics” by J. L. Meriam,
L. G. Kraige, and J. N. Bolton, 8th Edition, Wiley.

Sl. No Chapter No. Concepts Page No.

1. 2 Introduction, Particle motion, Velocity and 21-23
Acceleration.
2. 2 Graphical interpretations, Analytical integration 24-25
– constant acceleration.

3. 2 Acceleration as a function of time, velocity and 25-26

displacement
4. 2 Plane curvilinear motion: Velocity and, 42-46

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acceleration, visualization of motion;
Rectangular co-ordinates: vector representation
5. 2 Projectile motion, Numerical problems on 46-47
rectangular coordinates
6. 2 Normal and tangential coordinates: velocity and 57-59
acceleration, geometric interpretation, circular
motion
7. 2 Polar coordinates: time derivatives of the unit 69-71
vectors, velocity and acceleration, geometric
interpretation, circular motion
8. 2 Relative motion (Translating axes): Choice of 90-91
co-ordinate system, vector representation,
Additional considerations
9. 2 Constrained Motion of Connected Particles 99-100
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Engineering Mechanics - Dynamics

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Jyothsna K Moorthy
Department of Mechanical Engineering
[email protected]

1
Engineering Mechanics Dynamics

Kinetics of Particles

Jyothsna K Moorthy
Department of Mechanical Engineering
2
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles- Introduction

 Kinetics is the study of motion of a body taking into consideration the effects
of forces acting on it.

 Solution to problems in kinetics can be obtained through one of the following 3methods
1) Direct application of Newton’s second law aka force-mass-acceleration method
2) Use of work and energy principles
3) Application of impulse and momentum principle

3
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Types of motion

• Motion can be classified as

1) Unconstrained : The particle is free to follow the path determined by its initial
motion and the external forces acting on it. E.g. airplane or rocket in flight
2) Constrained : The motion of a particle is partially or totally restrained E.g.
Carrom discs on a carrom-board

• And as
1) Rectilinear : Particle has motion along a straight line
2) Curvilinear : The motion of the particle is along a curved path 4
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Force-mass-acceleration method

• If a particle is subjected to a set of forces F1, F2, F3…whose vector sum is ƩF,
by Newton’s second law, ƩF= ma.
• Both applied and reaction forces are to be considered in the vector sum.

Newton’s 2nd law for rectilinear motion- Rectangular Coordinate

system
F x  ma x

 F   Fx î   Fy ĵ   Fz k̂ F  F    F    F  
x
2
y
2
z
2

F  ma y
a 
y
 a 2
 a 2y  a 2z
a  a x î  a y ĵ  a z k̂
F z  ma z x

5
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Newton’s Method

Free-body diagram:
• All bodies which are in contact and exert forces on the system under consideration are
removed.
• These bodies are represented by the forces they exert on the system under consideration.
• Newton’s second law is now applied to this system subjected to a system of forces to
determine the unknown quantities.
Note: The forces include those from the supports

6
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Free Body Diagram

Two halves of a round Taking moments about P

r
homogeneous cylinder are W 4r
A B  Fmin .2r   Fmin .r  0
held together by a thread 2 3π
wrapped around it with 2 2W
weights, each F, attached to Fmin 
3π
its ends as shown in the F F
figure. The cylinder weighs FBD
W newtons. Draw the FBD
B
for the condition where the F
two halves are in equilibrium
G
and the weights are
W/2
minimum
Nx P

Ny F
7
Courtesy: AMIE question paper 1974
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Newton’s Method- Rectilinear motion
y
x 400N Equation of motion:
A 50kg crate is to be
transported up the slope of F y  ma y  0
inclination 25o. The
N  50g.cos25  0 Kinetic Friction
coefficient of kinetic friction fk  μk N
25o N  444.54N
between the surfaces is 0.25.
 0.25x444.54
Determine the resulting
 111.13N
acceleration if the pull FBD F x  ma x
causing the motion is 400N. 400  50g.sin25  f k  50.a x
ax 400N
400  50g.sin25  111.13  50.a x
Data:
1. m=50kg a x  1.63m/s2
2. µk = 0.25 fk
3. Ɵ=25o
4. P=400N N
50g
8
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Newton’s Method- Rectilinear motion

A tennis ball of mass 0.57kg is FBD dv

- 0.109v2  5.592  0.57v
thrown up with an initial y ds
 
FD a
velocity of 66m/s. The air  0.109v2  5.592 ds  0.57vdv
resistance is 0.109v2 (N)
- 0.57vdv
where v is the speed in m/s.  ds
Determine the maximum 0.57g 0.109v  5.592
2

height reached by the ball. If H is the maximum height reached by the ball,
Equation of Motion @y=H, v=0
- FD  0.57 * 9.81  0.57 * a 0 H
- 0.57vdv
Data:
1. m=0.57kg ads  vdv  v
  ds
0.109v  5.592 0
2

2. v=66m/s dv
av
3. FD=0.109v2 ds
Where s is the displacement
in the y direction 9
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Newton’s Method - Rectilinear motion

0
- 0.57vdv Since acceleration is constant,

66

0.109v  5.592
2
H
v 2  u 2  2gs
H  11.64m 0 - 662  2 *  9.81* H
H  222m
Ignoring Drag
In the absence of drag, H can
be determined from the
kinematics of the problem

10
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Newton’s Method - Rectilinear motion

A tow truck weighing Data: FBD for tow truck and the car
3000kg can have a 1. mtruck =3000kg
maximum acceleration of ax
2. mcar =2000kg
4m/s2. What will be its 3. a=4m/s2 5000kg
acceleration if it tows car of P=12kN
mass 2000kg. Also, what is FBD for tow truck
ax =4m/s2
the force acting on the
horizontal coupling P Equation of Motion
3000kg
connecting the truck and
the car 12000
ax 
ax Equation of Motion 5000
The maximum force that  2.4m/s2
3000kg the truck can exert is
P  3000* 4
 12kN 11
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Newton’s Method - Rectilinear motion

ax FBD for tow truck pulling the car

ax =2.4m/s2 ax =2.4m/s2
3000kg
3000kg 2000kg
P=12kN T T

T  2000* 2.4
12000 T  3000* 2.4
T  4800N
T  4800N

12
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Newton’s Method - Rectilinear motion

An elevator lifts passengers over Assuming constant acceleration

a height of 200m. The maximum
velocity of 6m/s is reached in v2 36
ay  
15m. The elevator weighs 12kN. 2h 2 *15
If the weight of the passengers is a y  1.2m/s2
10kN, what is the tension in the
cable and the net force lifting the
passengers. FBD T
Equation of Motion
Data: m+M
1. m=1019.37kg ay T  (M  m)g  (M  m)a y
ay 2. M=1223.24kg
3. v=6m/s (m+M)g T  24691.14N
4. u=0m/s
5. H=200m
6. h=15m
13
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Newton’s Method - Rectilinear motion

FBD of passengers

m
ay
ay
mg R

Equation of Motion
R  mg  ma y
R  11223.26N

14
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Newton’s Method - Rectilinear motion

Determine the acceleration FBD-Case1 FBD-Case2

of100 kg mass in the 2 cases T T
shown below. T=686.7N
Case1 Case1 100kg ay 70kg ay
100kg ay

981N 686.7N
981N
Equation of Motion
Equation of Motion
T  981  100ay 686.7  981  100 * a y
70kg 70*9.81N
T  686.7  70a y a y  2.94m/s2
100kg 100kg
294.3  170a y
ay
a y  1.73m/s 2

T  808N 15
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Newton’s Method

A parachutist of mass 100kg has FBD: Integrating

a velocity of 9m/s at the instant FR
the parachute is deployed. Air dv
resistance is FR=70v2. Obtain the y 100kg a  v 2  3.742   -1.42dt
expression for velocity as a
function of time and the final 981N 1  v  3.74 
ln   1.42.t  c1
velocity reached. 2 * 3.74  v  3.74 
Equation of Motion  v  3.74 
Data: ln   10.62t  c 2
1. m=100kg  v  3.74 
2. u=9m/s - FR  981  100a
3. FR=70v2 dv
- 70v  981  100
2

dt
- dv
 1.42dt
v  14
2
16
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Newton’s Method

 v  3.74  ( 10.62tc 2 ) (1  ce10.62t )

 e v  3.74
 v  3.74  (1  ce10.62t )
 ce10.62t @t  0; v  9m/s
(1  c)
 v  3.7  ( 10.62tc2 ) 9  3.74
 e (1 - c)
 v  3.7 
c  0.41
(1  ce10.62t )
v  3.74 (1  0.41e 10.62t )
(1  ce10.62t ) v  3.74
(1  0.41e 10.62t )
as t   (3.74  1.53e 10.62t )

v final  3.74m/s (3.74  1.53e 10.62t )
17
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Newton’s Method
A flat-bed truck starts from rest
FBD: ac
with constant acceleration. A u u
2 2
9.7 2

700kg crate slides 3m to the edge aT  2

 1
 3.36m/s2
2ST 2x14
of the truck bed in the time the 700kg
truck reaches 35kmph in a
u  u1 9.7  0 fk
distance of 14m. Find the t 2 
aT 3.36 R
coefficient of kinetic friction 7357.5N
between the crate and the truck.  2.69s
1
Data: Sc  u 1 t  a c t 2
If the crate did not slip, it would 2
1. m=700kg 4. 5. ST=14m have travelled 14m along with 2S 2x11
2. u1=0m/s 5. SC=14-3=11m the truck. At the end of 2.69s, a c  2c 
3. u2=9.7m/s t 2.692
the crate is 3m from the edge of
the truck => the crate has a c  3.04m/s 2
travelled 11m
18
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Newton’s Method

FBD: ac  fk  μkR
 7357.5 μ k
700kg
fk F x  ma c  f k  700a c
R 700x3.04
7357.5N μk   0.29
7357.5
Equation of Motion:

F y 0
R  7357.5N

19
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Newton’s Method

A locomotive of mass M @t  5s
transports 2 coaches of mass m v  u  at
each to be attached to the rear m m M
v1  5a1
end of a passenger train. The
P
locomotive exerts a pull P to 5
accelerate from rest to a M  2m
FBD- before disengagement
velocity v in 5s. If the last coach a1
disengages from the @t  4s
locomotive at 4s, what is the M+2m v  u  at
P
nature of motion of the
v  4a1
locomotive and the one Equation of Motion
attached coach at 5s. P
4
P  (M  2m)a1 M  2m
P
 a1 
M  2m

20
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Newton’s Method

Equation of Motion

m M P  (M  m)a 2
P
 a2 
Mm

FBD- after disengagement @t  5s

a2 v  u  at
P
v2  4  a 2 (5  4)
M+m
P
M  2m
P P
4 
M  2m M  m

21
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: n-t coordinates

A car going at 160kmph FBD- Top view at Equation of motion:

decelerates at a constant rate to B 277.89m
60kmph in 160m in order to take a ft f n  ma n  N
turn . The coefficient of friction ρ
between the tyre and the road is A fn
ρ
an f t  ma t  5.30m N
0.75. Determine the radius of
curvature of the path at the end
of 160m. FBD- Profile view
u u
2 2
16.67  44.44
2 2

Data: at  2 1

2S 2x160 m
1. µk = 0.75
2. u1=160kmph = 44.44m/s  5.30m/s2
mg N
3. u2= 60kmph=16.67m/s
v 2 16.672
4. S=160m an   Equation of motion:
ρ ρ


277.89
m/s 2
F y  0  N  mg
ρ N  9.81m
22
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: n-t coordinates

277.89m
f n  ma n  N
ρ
f t  ma t  5.30m N

f f 2
n 
 f t2  μN
 0.75x9.81m

 277.89  2 
 m     5.30   7.36m
2

 ρ  

ρ  54.45m

23
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: n-t coordinates

An object climbs up an incline Data: Equation of motion

with a velocity u at P. After Q, 1. µk = 0.25
the normal force on it 2. ρ=2.2m F y 0
reduces to 0.6 times the 3. RQ=0.6RP R P  mg cos40
value before reaching Q. the  7.51m
2.2
coefficient of friction is 0.25. SPQ 
Find u. y tan40 f k p  μ k R p
x
 2.62m
Q  1.88m

F
FBD- Before Q
x  f k p  mg sin40  ma x
u mg sin40
ρ=2.2m
40o ax  1.88m  mg sin40  ma x
P
a x  8.19m/s2

mg cos40
fk-P
RP 24
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: n-t coordinates

y Equation of motion
x
Q F n  ma n
2
RP vQ
u -  mg cos40  m
ρ=2.2m
40o 2 ρ
P v Q2
 4.51m  7.51m  m
2.2
FBD- After Q
v Q2  6.6 m 2 /s 2
mg cos40

vP  u  v 2
Q  2a x s PQ 
an
 7.04m/s
Rp/2
25
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: n-t coordinates

A car takes a turn of radius R Front view Equation of motion

while going at a speed v. y
Fy 0
1. Determine the maximum n R  Mg
speed possible if no
 f  μR
banking is provided
Top view  μMg
2. Determine the banking
angle and the ideal speed if
v
ρ F n  Ma n
the friction between the
v2
tyres and the road surface f M
is negligible FBD: Flat Track ρ
an v2
3. Determine the speed if μMg  M
ρ
friction between the tyres
and the road surface is not f v  μρg
negligible mg R 26
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: n-t coordinates

Front view
y Equation of motion
M
v2
 Fn  Ma n  Rsinθ  M ρ
x
Top view
ɵ
F y  0  Rcosθ  Mg

2
v  v2 
ρ R  M    g 2
 ρ 
FBD: without friction  v2 
θ  tan  
1

an  ρg 
y
M videal  ρg tanθ
ɵ
x R Mg
27
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: n-t coordinates

Front view Equation of motion

F y 0
y
M
F n  Ma n R cosθ  f sinθ  Mg
v2 R cosθ  μ s R sinθ  Mg
R sinθ - f cosθ  M
x ρ Mg
ɵ R .......... (2)
v2 cosθ  μ ssinθ
 R sinθ - μ s R cosθ  M
ρ
FBD: with friction (v<videal) From (1) and (2)
an
Mv 2
R .........( 1) gρsinθ - μ s cosθ 
ρsinθ - μ s cosθ  v
y
M
cosθ  μ ssinθ
ɵ f
x R
Mg

f  μsR
28
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: n-t coordinates

Front view From (3) and (4)

y
F n  Ma n
v2
M R sinθ  μ s R cosθ  M gρsinθ  μ s cosθ 
ρ v
x cosθ  μ ssinθ
Mv 2
ɵ R .........( 3)
ρsinθ  μ s cosθ 
FBD: with friction (v>videal)
an
F y 0
y
M R cosθ  μ s R sinθ  Mg
Mg
ɵ f R .......... (4)
x R cosθ  μ ssinθ
Mg

f  μsR
29
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: n-t coordinates

An airplane is flown at a constant Equation of motion

speed of 500 km/h in the vertical
circle of radius 900 m. Find the
P F n  Ma n
force exerted by the seat on the n R  882.90  90 x 21.44
90kg pilot at the top and the ρ R  1840.7 N
bottom of the circle.
n
Data: Q FBD: @Q 90kg an
v =138.9m/s
ρ =900m 882.9N
R
m =90kg
FBD: @P Equation of motion

an 
v 2 138.92

90kg an F n  Ma n
ρ 900 R  882.90  90 x 21.44
 21.44 m/s 2 882.9N
R R  2812.5N
30
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: n-t coordinates

FBD: @Q
P
n 90kg an
ρ
882.9N
n R
Q
Equation of motion

F n  Ma n
R  882.90  90 x 21.44
R  2812.5N

31
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: n-t coordinates

A small coin is placed on the Top View ω, α Equation of motion

horizontal surface of a
rotating disk. The disk starts F y 0
ρ m
from rest with a constant R  mg
angular acceleration.
Determine the number of FBD  f  μmg
revolutions before coin slips.
y ft f n2  f t2  μmg....... (1)
Let
m - mass of coin
ρ – radial position of the coin fn
µ - coefficient of static friction
α – angular acceleration mg R
ω1=0 – initial angular velocity f  f n2  f t2
fn ,ft – normal & tangential
components of friction f
 μR 32
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: n-t coordinates

Top View ω, α Equation of motion

 F  mat t

ρ m ft  m ρ α

F n  ma n
f n  mρ 2
FBD

y ft Substituting for fn and ft in (1)

mρ α 2  ω4  μmg
fn
1 2 2 2 2
ω 
2
μ g  ρ α .....(2)
mg R ρ
33
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: n-t coordinates

For constant angular From (2)

acceleration
1 1 2 2 2 2
N μ g ρ α
ω 2  ω12  2 θ 4π α ρ
If N is the number of revolutions 2
1  μg 
θ  2π N     1
4π αρ
 ω 2  2 α. 2π N 

ω2
N
4π α

34
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: n-t coordinates

A small object is released from rest at FBD an F n  ma n

the top of a semicircular bowl. The ɵ
v2
coefficient of friction is µk, Obtain the f R - mg sinθ  m
equation of motion of the object. ρ
at
v2
Data:  R  mg sinθ  m
µk – coefficient of friction R mg ρ
u1 =0
Equation of motion
Let v2  ρ 2θ 2  u
Let  F  ma
t t
u
m- mass of object mg cosθ - f  m ρ θ R  mg sinθ  m .....(2)
ρ – radius of the bowl ρ
dθ
ρ mg cosθ - μ k R  m ρ θ
ɵ dθ


m d ρ 2θ 2 
.....(1)
2ρ dθ 35
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: n-t coordinates

du
2ρ mg cosθ - 2ρ μ k R  m .....(1)
dθ
u
R  mg sinθ  m .....(2)
ρ
2 in (1)
 u du
2ρ mg cosθ - 2ρ μ k  mg sinθ  m   m
 ρ dθ

 2μ k u  2g ρ cosθ - μ k sinθ 
du
dθ

36
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Force-mass-acceleration method-curvilinear motion

• If a particle is subjected to a set of forces F1, F2, F3…whose vector sum is ƩF,
by Newton’s second law, ƩF= ma.
• Both applied and reaction forces are to be considered in the vector sum.

Newton’s 2nd law for curvilinear motion: r-ɵ Coordinate system

F r  ma r a r  r  rθ 2 F  F    F  

r
2
θ
2

F θ  ma θ a θ  rθ  2rθ a a 2
r  a θ2 
37
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion : r-ɵ coordinate system

The arm OA rotates about a

horizontal axis through point O. FBDɵ r
Equation of motion
The slider of mass m moves on
OA. At time t, the configuration m
f F θ  ma θ
is as shown in figure and the
mass is sliding towards O with a ɵ 
R  mg cosθ  m - 2vθ 
 
R
velocity v. Determine the R  m g cosθ - 2vθ
reaction force on the slider. mg

A
r
a θ  rθ  2rθ
 2vθ

ɵ
O

38
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion: r-ɵ coordinate system

The arm OA rotates about a horizontal

axis through point O. The slider of Let BP  l1
mass m moves with without friction on
OA. The inextensible cable BP controls
l12  l 2  r 2  2lrcosθ
the motion of the slider. At time t, the
configuration is as shown in figure. Differentiating w.r.t tim e
Determine the tension in cable BP and
2l l  0  2rr  2lrcosθ  2lrsinθ θ
1 1
the reaction force on the slider.
l1l1  rr - lcosθ   lrsinθ θ ........(1 )
A
r
r 
l l  lrsinθ θ 
1 1
β
r - lcosθ 
l1
ɵ B
O
l 39
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion : r-ɵ coordinate system

l1l1  rr - lcosθ   lrsinθ θ ........(1 )

Differentiating (1) w.r.t tim e

 
l1l1  l12  rr - lcosθ   r r  lsinθ θ  lrsinθ θ  lrcosθ θ 2  lrsinθ θ

r 
l l  l   rr  lsinθ θ  lsinθ θ - lrcosθ θ
11
2
1
2

r - lcosθ

a r  r  rθ 2

a θ  2rθ where r 
l l  lrsinθ θ 
1 1
r - lcosθ 
40
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion : r-ɵ coordinate system

A
r From the geometry
β l
 1
l F θ  ma θ
sinβ sinθ R  Tsinβ  mgcosθ  ma θ
l1  lsinθ 
ɵ R  Tsinβ  mgcosθ  ma θ
O B  β  sin 1  
 l1   m- a r  gsinθ  tan β  gcosθ  a θ 
l
Equation of motion
ɵ
FBD r  F  ma
r r

m ɵ  Tcosβ  mgsinθ  ma r
 ma r  gsinθ 
ɵ T
β cosβ
T mg R
41
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion : r-ɵ coordinate system
r
A 5000kg aircraft is tracked by a radar y
FBD
at P as shown in figure. The thrust of L x
the engine is 40kN. g=9.76m/s2. Find v ,a v  v 2r  v θ2
the lift and drag if at a given time ɵ
D
 138.29m/s
instant the radar reads the following
α
data r  15km ; r  90m/s
40kN
θ  30o ; θ  7e  3 rad/s v 
mg α  tan 1  r 
θ  6e  5 rad/s 2  vθ 
r vθ  rθ
 40.6
 15e3x7e- 3
 105m/s
F ɵ
r v r  r
ɵ  90m/s
P 42
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion : r-ɵ coordinate system

r  1.85  0.735 r

a θ  rθ  2rθ y
 2.59m/s2
 15e3x6xe - 5  2x90x7e - 3 ɵ x
 2.16m/s2 r α
y 90-α
ɵ
ɵ
x α
a r  a θ tan L
v ,a
 2.16 tan40.6 D
ɵ
α-ɵ
 1.85m/s 2
α
40kN
a r  r  rθ 2 mg

 r - 15x10 x 7x103

 
3 2
ax 
aθ

2.16
cosα cos40.6
 r - 0.735 m/s 2
 2.84m/s2
43
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion : r-ɵ coordinate system
r
y
r
y
F
ɵ x x  ma x
L x α
90-α F  D  mgsin(α  θ)  ma x
v ,a ɵ
α
ɵ D  F  ma x  mg sin(α  θ)
D ɵ
 40000  5000x2.84  5000x9.76sin10.6
α
 16.62kN
α-ɵ
40kN
mg F y 0
L  mgcos(α  θ)
α-ɵ=40.6-30 L  5000x9.76cos10.6
=10.6  47.97kN

44
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion : r-ɵ coordinate system

A tube rotates about the vertical axis FBD: (Top View)

with a constant angular rate. It carries ar
ɵ
a small mass m whose position is T
controlled by a cord as shown in aɵ
figure. Determine the tension T in the r
cord and the force exerted by the Rɵ
tube on the mass if the rotation of
the drum is Case 1: Clockwise ω
ωo
1. Clockwise r  rω ; θ  ωo ;r  θ  0
2. Counter clockwise ɵ
a r  r  rω 2   rωo
2
ω
r
a  rθ  2rθ  2rω ω
θ o
Radius r

45
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion : r-ɵ coordinate system

ωo
ɵ
Equation of motion

 F  ma
ω
r r r

Radius r 
 T  m - rωo
2

T  mωo r
2

Case 1: Clockwise ω
F θ  ma θ
Fθ  2mrω ωo
FBD: (Top View)
ar
ɵ
T
aɵ
r
Rɵ 46
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion : r-ɵ coordinate system

ωo a r  r  rω 2   rωo
2
ɵ
a  rθ  2rθ  2rω ω
θ o
ω r
Equation of motion

 F  ma
Radius r
r r


 T  m - rωo
2

T  mωo r
2
Case 2: Counter clockwise ω
FBD: (Top View)
ar
F θ  ma θ
ɵ Fθ  2mrω ωo
T
aɵ
r
Rɵ 47
 ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion : r-ɵ coordinate system

A slender plate rotates in the Data: a θ  rθ  2rθ

vertical plane in the ccw θ  45o  0  2x0x3
direction at 3rad/sec. A mass m
is placed on it at a radial distance θ  3rad/s 0
of 0.4m when the plate is r  0.4m
horizontal. If the mass slips when a r  r  rω 2
ɵ=45o ,determine the coefficient Let µ be the coefficient of static friction.  0  0.4x32
of static friction between the
block and the plate.  3.6m/s 2
ɵ
FBD
m P r
f
ɵ
ɵ
O mg R
48
ENGINEERING MECHANICS DYNAMICS
Kinetics of Particles: Curvilinear motion : r-ɵ coordinate system

m P Equation of motion

F θ  ma θ

Created by free version of 2PDF

ɵ R  mgcos45  0
O
R  6.94m N

f  μR
ɵ  6.94mμ.N
FBD
r
f F r  ma r
ɵ f  mgsin45  3.6m
6.94m μ - 6.93m  3.6m
mg R
μ  0.48 49
Created by free version of 2PDF
Created by free version of 2PDF
 PES UNIVERSITY
(Established under Karnataka Act no. 16 of 2013)
Bengaluru – 560 085
Department of Mechanical Engineering

Lecture Notes

Subject: Engineering Mechanics-Dynamics

Subject Code: UE20ME254

Unit 3: Kinetics of Particle - Work, Energy and Momentum

Faculty Instructor

Mr. Madhu M
Assistant Professor
Department of Mechanical Engineering
PESU EC Campus
Unit 3: Kinetics of Particles Work, Energy and Momentum

3.1: Introduction

In the preceding topic force-mass-acceleration method derived from Newton's

second law of motion was used to solve engineering dynamic problems.
i.e Newton's second law of motion given as

𝑭 = 𝒎𝒂 ……………….3.1

is used to obtain the equation of particle motion.

In equation 3.1, ‘F’ represents the cumulative effect of unbalanced forces acting on
a particle of mass ‘m’ and ‘a’ represents the resultant acceleration of the particle.

If force ‘F’ is varying spatially and if somehow, we know the spatial variation of
the force then integrating equation 3.1, with respect to spatial coordinates we
obtain the work energy formulation.

Hence like force-mass-acceleration method, work and energy method or work-

energy principle is another way of solving engineering dynamics problems.

Work and energy method also start with Newton's second law. i.e. if we integrate
both sides of equation3.1 with respect to position (spatial coordinates), we obtain
the equation that is used in the work and energy method.

Work and energy method can be employed in computing the change in velocity
during a displacement of the particle.

3.2: Work of a force

Before arriving at the Work and energy principle. Let us understand the concept of
work done by a force.

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

Figure 3.1

Consider a particle travelling along the path ‘𝜉 ’. As shown in the figure 3.1.

The position vector of a particle at point ‘A’ is ‘r’ at time ‘t’ and ‘r+dr’ at point ‘B’
at time ‘t+dt’.
‘dr’ is the displacement vector of the particle from point ‘A’ to point ‘B’ during the
time interval ‘dt’ and is tangent to path at point ‘A’

Therefore, the infinitesimal work ‘dU’ done by the force ‘F’ as it moves from point
‘A’ to point ‘B’ is defined as,

𝒅𝑼 = 𝑭. 𝒅𝒓
……………………….3.2

The total work done by ‘F’, as it moves from point ‘1’ to point ‘2’ is obtained by
integrating equation 3.2. Which is given as,

𝒓𝟐
.
𝑼𝟏−𝟐 = 𝒅𝑼 = 𝑭. 𝒅𝒓
𝝃
𝒓𝟏
………………….3.3
Work is a scalar quantity and it may be positive, negative, or zero. Also ‘F’ is a
vector quantity called force vector and ‘dr’ is the position vector.

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

Introducing 𝑑𝑠 = 𝑑𝑟 which is the magnitude of position vector (scalar quantity)

and 𝐹𝑐𝑜𝑠𝛼, the magnitude of force in the direction of displacement. We can write
equation 3.2 as,

𝒅𝑼 = 𝑭𝒄𝒐𝒔𝜶. 𝒅𝒔
……………………3.4

Where, ‘α’ is the angle between ‘F’ and ‘dr’

Referring to the figure 3.2, we see that 𝐹𝑐𝑜𝑠𝛼 = 𝐹𝑡 is the component of ‘F’ that is
tangent to the path at point ‘A’

Figure 3.2
Therefore, equation 3.3 can be written as,

𝑺𝟐
𝑼𝟏−𝟐 = 𝑭𝒕 . 𝒅𝒔
𝑺𝟏
…………………….3.5

Note:
 The normal component Fn, being perpendicular to the path does not do
any work.
 Tangential component Ft does all the work, hence it is called as the
working component of ‘F’.
 Therefore, equation 3.2 can be written as,

𝒅𝑼 = 𝑭𝒕 . 𝒅𝒔

= (Working component of ‘F’) x (Magnitude of position vector ‘dr’)

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

 Equation 3.5 can be graphically interpreted as shown in the figure 3.3.

Figure 3.3

The work U1-2 is equal to the area under the Ft-s diagram.

 Equation 3.4

i.e𝒅𝑼 = 𝑭𝒄𝒐𝒔𝜶 𝒅𝒔

can be written as,

𝒅𝑼 = 𝑭. 𝒅𝒔 𝒄𝒐𝒔𝜶
………….3.6

Where, 𝑑𝑠𝑐𝑜𝑠𝛼 is the component of ‘dr’ that is parallel to ‘F’ and this component
is known as the work-absorbing component of the differential displacement.

The expression for the work done by a force in rectangular coordinates is

expressed as;

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

𝑼𝟏−𝟐 = 𝑭𝒙 𝒅𝒙 + 𝑭𝒚 𝒅𝒚 + 𝑭𝒛 𝒅𝒛

𝒙𝟐 𝒚𝟐 𝒛𝟐
= …………….3.7
𝑭𝒙 𝒅𝒙 + 𝑭𝒚 𝒅𝒚 + 𝑭𝒛 𝒅𝒛
𝒙𝟏 𝒚𝟏 𝒛𝟏

Where dx, dy and dz are components of ‘dr’ and (x1,y1,z1) and (x2,y2,z2) are the
coordinates of point ‘1’& ‘2’ respectively.

3.3: Work of a constant force

From equation 3.3 we have,

𝒓𝟐

𝑼𝟏−𝟐 = 𝑭. 𝒅𝒓
𝒓𝟏

If force is constant in both magnitude and direction,then ‘F’ comes out of the
integral.

Therefore,

𝒓𝟐

𝑼𝟏−𝟐 = 𝑭 𝒅𝒓 = 𝑭. ∆𝒓
𝒓𝟏
………………3.8

Where ∆𝑟 is displacement vector from point 1 to point 2.

In case of straight path as shown in figure 3.4, work done by the constant force is
given as,

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

Figure 3.4

𝑼𝟏−𝟐 = 𝑭. ∆𝒙

But if the particle moves in a random path and the force is acting at an angle ‘α’ to
the displacement vector as shown in figure 3.5, the work done by the force is given
as,

Figure 3.5

𝑼𝟏−𝟐 = 𝑭. ∆𝒚
…………….3.9
Where, ∆𝑦 is not the displacement of the point of application of ‘F’, it is the work-
absorbing component of the displacement.

Therefore, from above observation, the work done by a constant force depends
only on its initial and final positions of its point of application and not the path of
the particle.

3.4: Work done by Weight

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

Objects under the influence of earth gravitational pull experiences weight force and
it can be considered to a constant force until the object is in the earth’s atmosphere.
i.e‘g’ the acceleration due to gravity is constant.Hence weight can be a constant
force and the work done by the weight can be determined as follows.

Figure 3.6

Work done by ‘W’ as the particle elevates from point (1) to point (2) is given as,

𝑼𝟏−𝟐 = −𝑾 (𝒚𝟐 − 𝒚𝟏 )

𝑼𝟏−𝟐 = −𝑾. ∆𝒚
……………3.10

Note ∆𝑦 is work absorbing component of the displacement. The negative sign

indicates that ‘W’ and displacement are in opposite direction. Also work done by
weight is independent of the path and depends only on change of elevation.

3.5: Work associated with varying gravitational field

We know that if ‘g = constant’ within the earth’s atmosphere and the weight
experienced by anybody is considered to be constant. But if a body escapes earth’s
atmosphere then ‘g’ is no more constant.

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

work in such cases must be determined from Newton's law of gravitation. which is
given as,

𝑮𝒎𝒆 𝒎
𝑭=
𝒓𝟐
……………3.13

Figure 3.7
This force ‘F’ is the force of attraction between two bodies of masses ‘me’ and ‘m’
separated by distance ‘r’ and ‘G’ represents the universal gravitational constant.

The work done by gravitational attraction force is expressed as,

𝒓𝟐 𝒓𝟐
𝒅𝒓
𝑼𝟏−𝟐 = 𝑭. 𝒅𝒓 = −𝑮𝒎𝒆 𝒎
𝒓𝟏 𝒓𝟏 𝒓𝟐

𝟏 𝟏
𝑼𝟏−𝟐 = 𝑮𝒎𝒆 𝒎 −
𝒓𝟐 𝒓𝟏

𝟏 𝟏
𝑼𝟏−𝟐 = 𝒎𝒈𝑹𝟐 −
𝒓 𝟐 𝒓𝟏
……………...3.14

Where,
the equivalence Gme = gR2,
g – Gravitational acceleration at the earth surface and
R – Radius of the earth.

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

3.6: Work associated with a spring force

Figure 3.8
Consider an ideal spring having negligible weight and its deformation is
proportional to the force. We know that the spring force is proportional to the
elongation ‘δ’ and is expressed as,

𝑭 = 𝒌𝜹
….…………….3.11
Where,
‘k’ is spring constant or spring stiffness
‘δ’ is elongation (Final length – Initial length)
‘δ' = Lf – Lo (Spring is elongated)
‘δ' = Lo – Lf (Spring is Compressed)
Whether the spring is elongated, or contracted spring force is always opposite to
the deformation of the spring. Therefore, work done by the spring force is always
negative.
Consider a spring deformed as shown in the below figure 3.9,

Figure 3.9
If ‘δ1' is the initial position of the spring from unstretched position and ‘δ2' is the
final position of the spring from unstretched position the work done by the spring
force is expressed as,

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

𝜹𝟐 𝜹𝟐
𝑼𝟏−𝟐 = 𝑭. 𝒅𝜹 = −𝒌 𝜹. 𝒅𝜹
𝜹𝟏 𝜹𝟏

𝜹𝟐𝟐 𝜹𝟐𝟏
𝑼𝟏−𝟐 = −𝒌 −
𝟐 𝟐

𝟏
𝑼𝟏−𝟐 = − 𝒌 𝜹𝟐𝟐 − 𝜹𝟐𝟏
𝟐
……………….3.12

3.7: Principle of work and kinetic energy

As discussed in the previous article, the integration of newton’s law of motion with
respect to spatial coordinates gives us the work and kinetic energy principle. The
principle of work and kinetic energy states that the work done by all forces acting
on a particle equals the change in the kinetic energy of the particle.

Proof: Consider a particle of mass ‘m’ as it moves from point 1 to point 2 along the
path ‘ξ’ with its path coordinates changing from s1 to s2.

Figure 3.10
Applying Newton’s second law of motion in the direction tangent to the path. We
get,

𝑭𝒕 = 𝒎𝒂𝒕 ………………….3.15

We know that,

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

𝒅𝒗
𝒂𝒕 =
𝒅𝒕

Since we must integrate with respect to spatial coordinates let us write𝑎𝑡 , as

𝒅𝒗 𝒅𝒔
𝒂𝒕 = .
𝒅𝒔 𝒅𝒕
But
𝒅𝒔
=𝒗
𝒅𝒕
Therefore,

𝒅𝒗 ………………….3.16
𝒂𝒕 = 𝒗
𝒅𝒔

Substituting equation 3.16 in equation 3.15. We get,

𝒅𝒗
𝑭𝒕 = 𝒎 𝒗
𝒅𝒔

𝑺𝟐 𝒗𝟐 ……………………3.17
𝑭𝒕 𝒅𝒔 = 𝒎𝒗𝒅𝒗
𝑺𝟏 𝒗𝟏

Where, 𝑣1 and 𝑣2 are the speeds of the particle at the endpoints 1 and 2 of the path.
The R.H.S of the equation 3.17 is nothing but the work done by the net force from
point 1 to point 2.
Therefore equation 3.17 can be written as,

𝟏 ……………………3.18
𝑼𝟏−𝟐 = 𝒎(𝒗𝟐𝟐 − 𝒗𝟐𝟏 )
𝟐

By the definition of kinetic energy of a particle we have,

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

𝟏
𝑻= 𝒎𝒗𝟐
𝟐

So that equation 3.18 becomes

𝑼𝟏−𝟐 = 𝑻𝟐 − 𝑻𝟏 = ∆𝑻 ……………………3.19

The above equation 3.19 is the work-energy principle.

i.e. Work done by the resultant force acting on a particle

= change in the kinetic energy of the particle.

3.8: Power and Efficiency

Power is defined as the rate at which the work is done. Hence power is a time
factor.
Therefore,
𝒅𝒗 ……………………3.20
𝑷=
𝒅𝒕
Power is also a scalar quantity like work and its unit is watts (1 J/s = 1 N.m/s).

No matter how small or big a machine is, all deliver the required amount of energy
but at what time duration is the question? A powerful machine delivers the
sufficient energy in lesser time compared to less powerful machine which takes
more time to deliver the same amount of energy (Work).
Thus, the capacity of a machine is rated by its power, which is defined as the time
rate of doing work.
The power of a force ‘F’ is obtained by substituting 𝑑𝑈 = 𝐹. 𝑑𝑟 into equation 3.20.

i.e.
𝑭. 𝒅𝒓
𝑷=
𝒅𝒕

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

𝒅𝒓 But,
𝑑𝑟
=𝑣
𝑷 = 𝑭. 𝑑𝑡
𝒅𝒕

Therefore,
𝑷 = 𝑭. 𝒗 ………………………3.21

Hence power is product of force and velocity of the particle.

Efficiency of a machine is the ratio of output power to the input power of the
machine and is given as,

𝑶𝒖𝒕𝒑𝒖𝒕 𝒑𝒐𝒘𝒆𝒓
𝜼= × 𝟏𝟎𝟎 %
𝑰𝒏𝒑𝒖𝒕 𝒑𝒐𝒘𝒆𝒓

Any machine does have losses during its operation. This is due moving parts of the
machine inducing friction and thereby heat losses. Hence the output power of the
machine is always lesser than the input power. Hence the efficiency of a machine
is always less than 100%.

3.9: Potential energy and conservative forces

Potential energy is the capacity of a conservative force to do work and a

conservative force is one whose work depends only on the initial and final position
of its point of application and not on the path of the particle.

𝑟2
If the force ‘F’ is conservative, its work 𝑈1−2 = 𝑟1
𝐹. 𝑑𝑟 is a function of the
initial and final position of its point of application.

Therefore, the integral can be function of 𝑟1 and 𝑟2 only if the integrand is an exact
differential of some scalar function V(r).

Therefore,
𝑭. 𝒅𝒓 = −𝒅𝑽 ……………………3.22

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

(-ve sign indicates the loss in the potential of the force to do work)
The function V(r) is called potential energy of the force ‘F’

Therefore, the work done by a force in terms of potential function is given as,

𝒓𝟐
……………………3.23
𝑼𝟏−𝟐 = − 𝒅𝑽 = − 𝑽𝟐 − 𝑽𝟏 = −∆𝑽
𝒓𝟏

Where, 𝑉1 = 𝑉(𝑟1 )and 𝑉2 = 𝑉(𝑟2 )

Equation 3.23 shows that,

Work of a conservative force = Decrease in its potential energy.

The potential energy of a conservative force ‘F’ that acts at a point with
rectangular coordinates (x,y,z) is,

𝒅𝑽 = −𝑭. 𝒅𝒓 = − 𝑭𝒙 𝒊 + 𝑭𝒚 𝒋 + 𝑭𝒛 𝒌 . (𝒅𝒙𝒊 + 𝒅𝒚𝒋 + 𝒅𝒛𝒌)

𝒅𝑽 = − 𝑭𝒙 𝒅𝒙 + 𝑭𝒚 𝒅𝒚 + 𝑭𝒛 𝒅𝒛 …………………….3.24
Since dV is an exact differential of potential energy V, it can be written as,

𝝏𝑽 𝝏𝑽 𝝏𝑽 ……………………3.25
𝒅𝑽 = 𝒅𝒙 + 𝒅𝒚 + 𝒅𝒛
𝝏𝒙 𝝏𝒚 𝝏𝒛

Comparing equation 3.24 and 3.25.

The rectangular components of force ‘F’ becomes,

𝝏𝑽 𝝏𝑽 𝝏𝑽 …………………….3.26
𝑭𝒙 = − ; 𝑭𝒚 = − ; 𝑭𝒛 =
𝝏𝒙 𝝏𝒚 𝝏𝒛

Equation 3.26 shows that a conservative force ‘F’ is the negative gradient of
potential function ‘V’.

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

Therefore,
𝑭 = −𝛁𝑽 …………………3.27

Where, ∇ is the gradient operator

 Note that equation 3.27 is only valid if the force is a conservative one.

3.10: Conservation of Mechanical Energy

From principle of conservation of energy, it is known that the total energy of a

closed system is constant. i.e. the form of the energy may change – say from
mechanical energy to electrical energy in case of a generator – but the total energy
can neither be created nor destroyed.
In context with mechanics, the form of energy that we are concerned with is purely
mechanical energy and it is defined to be the sum of the potential and kinetic
energies.
Hence if all forces acting on a particle are conservative then the mechanical energy
is also conserved, and this concept is known as principle of conservation of
mechanical energy.
From equation 3.23 we know that work done by a conservative force is equal to
decrease in its potential energy.
i.e.
𝑼𝟏−𝟐 = − 𝑽𝟐 − 𝑽𝟏 = −∆𝑽

Substituting the above expression into work-energy principle we get,

𝑼𝟏−𝟐 = ∆𝑻

− 𝑽𝟐 − 𝑽𝟏 = 𝑻𝟐 − 𝑻𝟏

𝑽𝟏 + 𝑻𝟏 = 𝑽𝟐 + 𝑻𝟐 ……………………3.28

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

and letting total mechanical energy ‘E’ to be the sum of potential and kinetic
energies,
i.e. letting

𝑬=𝑻+𝑽 …………………….3.29

Equation 3.28 becomes,

𝑬𝟏 = 𝑬𝟐 or ∆𝑬 = 𝟎 …………………….3.30

Equation 3.30 is called the principle of conservation of mechanical energy.

3.11: Potential energy of a constant force

We know that work done by a constant force was given as,

𝑼𝟏−𝟐 = 𝑭. ∆𝒙 (for a particle moving in straight path)

but 𝑈1−2 = −∆𝑉 from potential function. Therefore,

𝑽𝒇 = −𝑭. 𝒙 …………………….3.31

Where ‘x’ is measured from any convenient datum.

3.12: Potential energy of a weight

The work done by weight was given as,

𝑼𝟏−𝟐 = −𝑾. ∆𝒚 (for a particle moving in vertical path)

but 𝑈1−2 = −∆𝑉 from potential function. Therefore,

𝑽𝒈 = 𝑾𝒉 …………………….3.32

Equation 3.32 is called gravitational potential energy.

Department of Mechanical Engineering

Unit 3: Kinetics of Particles Work, Energy and Momentum

3.13: Potential energy of spring

Work done by an ideal spring was given as,

𝟏 𝟏
𝑼𝟏−𝟐 = − 𝒌(𝜹𝟐𝟐 − 𝜹𝟐𝟏 ) = − 𝒌. ∆𝜹𝟐
𝟐 𝟐
Substituting 𝑈1−2 = −∆𝑉 in above expression we get,

𝟏 …………………….3.33
𝑽𝒄 = 𝒌. ∆𝜹𝟐
𝟐

3.14: Gravitational potential energy

The work done by gravitational attraction force was given as,

𝟏 𝟏
𝑼𝟏−𝟐 = 𝒎𝒈𝑹𝟐 −
𝒓𝟐 𝒓𝟏

𝟏
𝑼𝟏−𝟐 = 𝒎𝒈𝑹𝟐 ∆
𝒓

Substituting 𝑈1−2 = −∆𝑉 we get gravitational potential energy as,

𝒎𝒈𝑹𝟐 …………………….3.34
𝑽𝒈 = −
𝒓

Department of Mechanical Engineering

ENGINEERING MECHANICS:

Created by free version of 2PDF

DYNAMICS

Mr Madhu M
Assistant Professor
Department of Mechanical Engineering
ENGINEERING MECHANICS: DYNAMICS

Kinetics of Particles: Work, Energy and

Momentum principles

Madhu M
Department of Mechanical Engineering
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

Starting with Newton’s Second law,

𝑭 = 𝒎𝒂 𝑭 = 𝒎𝒂

Integration with Integration with

spatial coordinate time
Work Kinetic Energy Impulse Momentum
 ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

“Work”

Product
of

FORCE EFFECT OF FORCE

• Point load • Displacement

• Pressure • Change in velocity
• Drag • Change in acceleration
• Twisting load • Heat
• Impact load • Stress
• Strain
 ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

“Work of a force”
‘F’ acting on a particle at A which moves along the path shown.

Created by free version of 2PDF

‘r’ Position vector measured from some convenient origin ‘O’
locates the particle as it passes point A,

‘dr’ Differential displacement associated with an infinitesimal

movement from A to A’.
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS

Work and Energy

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING Mechanics : DYNAMICS
Work and Energy

The magnitude of this dot

product is
dU = F ds cosα
This may be thought as as the displacement
multiplied by a force component Ft = F cos α
in the direction of the displacement
F
𝜶
ds F cosα
dr

The work dU done by the force F on the

particle of mass m as it undergoes a
differential displace dr is defined as
𝑑𝑈 = 𝑭 ∙ 𝑑𝒓 = 𝐹Ԧ ∙ 𝑑 𝑟Ԧ
ENGINEERING MECHANICS : DYNAMICS
Work and Energy
Alternative Expression
dU = Ft ds
Comments
o Only the component of the force Ft in the direction of the
displacement does work.

o Work is positive if the working component Ft is in the

direction of the displacement and negative otherwise.

o The normal component Fn does no work because it is

perpendicular to the displacement.

o Forces which do work are termed active forces. Constraint

forces which do no work are termed reactive forces.
ENGINEERING MECHANICS : DYNAMICS
Work and Energy

• Dimensions

• Force × Length

• SI Units

• N·m or Joule (J)

• The joule is the amount of work done by a force of 1 N acting

through a distance of 1 m in the direction of the force.

• Same dimensions as moment, but work is a scalar quantity

computed with a dot product and moment is a vector quantity
computed with a cross product.
ENGINEERING MECHANICS : DYNAMICS
Calculation of Work
As the point of application of force moves through
Ft
the finite distance it does the work
2 2
𝑈 = න 𝑭 ∙ 𝑑𝒓 = න (𝐹𝑦 𝑑𝑥 + 𝐹𝑦 𝑑𝑦 + 𝐹𝑧 𝑑𝑧) dU = Ft ds
1 1

𝑆2
𝑈 = න 𝐹𝑡 𝑑𝑠 s
𝑆1 s1 s2
Comments
It is necessary to know the relations between the force
components and their respective coordinates or the relation
between Ft and s.
If the relationship is in the form of approximate or experimental
data, numerical or graphical integration techniques can be
utilized.
ENGINEERING MECHANICS : DYNAMICS
Examples of Work

• Work is calculated
2
• 𝑈 = ‫׬‬1 𝑭 ∙ 𝑑𝒓

• Insert appropriate vector expression

- the force F Integrate
- the differential displacement vector dr

• The work frequently encountered forces

• Work of a constant external force

• Work of a spring force

• Work of body force

 ENGINEERING MECHANICS : DYNAMICS
Work of a constant external force

𝑃 sin 𝛼 P
2 2 𝜶
𝑈1−2 = න 𝑭 ∙ 𝑑𝒓 = න [(𝑃 cos 𝛼) 𝒊 + 𝑃 sin 𝛼 𝒋] ∙ 𝑑𝑥𝒊 𝑃 cos 𝛼
1 1
𝑥2 mg
𝑈1−2 = න 𝑃 cos 𝛼 𝑑𝑥 = 𝑃 cos 𝛼 𝑥2 − 𝑥1 = 𝑃𝐿 cos 𝛼 Fn
𝑥1

o The W D = P cos α *L
o No work ⇒ (mg, Fn and 𝑃 sin 𝛼 ) ∵ ⫠ lar to the direction of displacement
o The friction work 𝑈𝑓 =–FkL, where Fk = μkN, (Normal force constant magnitude)

o If the normal force is variable, then a functional relationship must be integrated

 ENGINEERING MECHANICS : DYNAMICS
o The W D = P cos α *L
Work of a Spring force

F 1 2
F=kx

x
x1 x2

2 2 𝑥2
1
𝑈1−2 = න 𝑭 ∙ 𝑑𝒓 = න (−𝑘𝑥𝒊) ∙ 𝑑𝑥𝒊 = − න 𝑘𝑑𝑥 = 𝑘(𝑥12 − 𝑥22 )
1 1 𝑥 2
ENGINEERING MECHANICS : DYNAMICS
Work of a Spring force

2 2 𝑥2
1
𝑈1−2 = න 𝑭 ∙ 𝑑𝒓 = න (−𝑘𝑥𝒊) ∙ 𝑑𝑥𝒊 = − න 𝑘𝑑𝑥 = 𝑘(𝑥12 − 𝑥22
1 1 𝑥 2
1

Work by a spring is negative whenever the absolute amount of

deformation increases (x2 > x1), and positive whenever the
absolute amount of deformation decreases (x2 < x1).
The units of k and x should be consistent. If x is in meters, k must
be in N/m. Remember that 𝑥 is a deformation from unstretched
length of the spring, and not the total length of the spring.
ENGINEERING MECHANICS : DYNAMICS
Work of a body weight

• Illustration
• Calculation
2 2
𝑈1−2 = න 𝑭 ∙ 𝑑𝒓 = න 𝑚𝑔𝒋 ∙ (𝑑𝑥𝒊 + 𝑑𝑦𝒋)
1 1

𝑦2
𝑈1−2 = −𝑚𝑔 න 𝑑𝑦 = −𝑚𝑔 𝑦2 − 𝑦
𝑦1

• Conclusions
• Horizontal displacement has no bearing on the calculation
of work by weight.
• Work by weight is negative if the particle rises (y2 > y1), and
positive if the particle falls (y2 < y1).
ENGINEERING MECHANICS : DYNAMICS
Work of a body weight

• Illustration

• Calculation
2 2
𝑈1−2 = න 𝑭 ∙ 𝑑𝒓 = න 𝑚𝑔𝒋 ∙ (𝑑𝑥𝒊 + 𝑑𝑦𝒋)
1 1
𝑦2
𝑈1−2 = −𝑚𝑔 න 𝑑𝑦 = −𝑚𝑔 𝑦2 − 𝑦
𝑦1

• Conclusions
• Horizontal displacement has no bearing on the calculation
of work by weight.
• Work by weight is negative if the particle rises (y2 > y1), and
positive if the particle falls (y2 < y1).
ENGINEERING MECHANICS : DYNAMICS
Work and Curvilinear motion

• Work along a Curved Path Fn

• F = resultant of all forces acting on the particle.
𝑭 = ෍𝑭
• m = the particle mass 𝜶
• r = position vector from O to the particle location Ft
• s = path coordinate of the particle
• dr = differential displacement in a time dt

• Work Between 1 and 2:

• Substitute F = ma:

• Substitute atds = v dv:

ENGINEERING MECHANICS : DYNAMICS
Principle of Work and Kinetic energy

• Kinetic Energy of a Particle: T = ½ mv2

• Scalar Quantity
• Always Nonnegative
• Units of Work
• Substitute into Previous Equation
• U1-2 = T2 – T1 = ΔT
• Total work done by all forces acting on a particle as it moves from
point 1 to point 2 equals the corresponding change in kinetic
energy of the particle.
• Alternative Expression
• T1 + U1-2 = T2
• The initial kinetic energy T1 plus the work done U1-2 equals
the final kinetic energy T2.
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
 ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

“Work of a force”
‘F’ acting on a particle at A which moves along the path shown.

Created by free version of 2PDF

‘r’ Position vector measured from some convenient origin ‘O’
locates the particle as it passes point A,

‘dr’ Differential displacement associated with an infinitesimal

movement from A to A’.
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

“Work of a force”

Force component in the direction of

displacement – Tangential component
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

“Work of a force”

Force component in the direction

perpendicular to displacement –
Normal component
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

“Work of a force”
In the direction of the
displacement – Positive work – Active force

In the direction opposite to the

displacement – Negative work

Does not do any work

Note: Constraint forces which do no work are termed reactive forces.

ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

Unit of Work
➢ The SI units of work are those of force (N) times displacement (m) or N∙ m.

➢ This unit is given the special name joule (J), which is defined as the work done
by a force of 1 N acting through a distance of 1 m in the direction of the force.

“Work is a type of Energy transfer”

ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

Calculation of Work
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

Work associated with a constant External Force

ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

Work associated with a constant External Force

∆𝑦 is not the displacement of the point of application of ‘F’,

it is the work-absorbing component of the displacement.
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

Work associated with a Spring Force

ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

Work associated with Weight (g ‡ Constant)

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ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

Principle of Work and Kinetic Energy

Applying Newton’s second law of motion in the direction of path

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 ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

Principle of Work and Kinetic Energy

The Kinetic energy T of the particle is defined as

𝟏
𝑻= 𝒎𝒗𝟐
𝟐

Work - Energy equation for a particle.

The equation states that the total work done by all forces acting on a particle as
it moves from point 1 to point 2 equals the corresponding change in kinetic
energy of the particle.

Note: Kinetic energy is always positive, regardless of the direction of the velocity.
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

Principle of Work and Kinetic Energy

Alternatively, the work-energy relation may be expressed as the initial

kinetic energy T1 plus the work done U1-2 equals the final kinetic
energy T2, or
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Work Energy principle

POWER
The capacity of a machine is measured by the time rate at which it can do work or
deliver energy.

Created by free version of 2PDF

Accordingly, the power P developed by a force F which does an amount of work U is

𝑑𝑈 𝑑𝑟
𝑃= = 𝐹.
𝑑𝑡 𝑑𝑡 Thus, the capacity of a machine is
rated by its power, which is defined
as the time rate of doing work.

Power is clearly a scalar quantity, and in SI it has the units of N∙ m/s = J/s.
Created by free version of 2PDF
Created by free version of 2PDF
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS
Work and Work Energy Principle Numericals 1

Prof. S S Patil
Department of Mechanical Engineering
 ENGINEERING MECHANICS : DYNAMICS
Work and Work Energy Principle Numericals
The spring is unstretched at the
position x = 0. Under the action of a
force P, the cart moves from the
initial position 𝑥1 = −150mm to the
final position 𝑥2 = 80mm Determine
(a) the work done on the cart by the
spring and (b) the work done on the
cart by its weight.
(a) the work done on the cart by the spring (b) the work done on the cart by its weight
1 𝑈1−2 = 𝑚𝑔ℎ
𝑈1−2 = 𝑘(𝑥12 − 𝑥22 )
2 𝑈1−2
1 = 6 × 9.81 × (0.15 + 0.08) sin 15
𝑈1−2 = × 500 × (0.152 − 0.082 )
2
𝑈1−2 = 4.03 𝐽 𝑈1−2 =−= 3.5 𝐽
ENGINEERING MECHANICS : DYNAMICS
Work and Energy
The small cart has a speed 𝑣_𝐴 = 4 m /s as
it passes point A. It moves without
appreciable friction and passes over the
top hump of the track. Determine
the cart speed as it passes point B. Is
knowledge of the shape of the track
necessary?
The cart speed as it passes point B 2 1
𝑣𝐵 = × 42 + 9.81 × 1.8
2
𝑇𝐴 + 𝑈𝐴−𝐵 = 𝑇𝐵
𝑣𝐵 = 7.16 𝑚/𝑠

1 2
1
𝑚𝑣𝐴 + 𝑚𝑔ℎ = 𝑚𝑣𝐵2
2 2
The knowledge of the shape of the track is not necessary
ENGINEERING MECHANICS : DYNAMICS
Work and Work Energy Principle Numericals
The small 0.2-kg slider is known to move from position A to position B along the
vertical-plane slot. Determine (a) the work done on the body by its weight and (b)
the work done on the body by the spring. The distance
R = 0.8 m, the spring modulus k = 180 N/ m, and the
unstretched length of the spring is 0.6 m.
(a) The work done on the body by its weight
𝑈𝐴−𝐵 = 𝑚𝑔ℎ = 0.2 × 9.81 × 0.8 = 1.57 𝑁 − 𝑚
(b) The work done on the body by the spring
1
𝑈𝐴−𝐵 = 𝑘 𝑥𝐴2 − 𝑥𝐵2
2
The deformation of the spring at position A
𝑥𝐴 = 𝑙𝐴 − 𝑙𝑓 = 0.8 − 0.6 = 0.2m
ENGINEERING MECHANICS : DYNAMICS
Work and Work Energy Principle Numericals
The small 0.2-kg slider is known to move from position A to position B along the vertical-
plane slot. Determine (a) the work done on the body by its weight and (b) the work done on
the body by the spring. The distance R = 0.8 m, the spring modulus
k = 180 N/ m, and the unstretched length of the spring is 0.6 m.
(b) The work done on the body by the spring
The length of the spring at position B
2 2
2
𝑅 2
0.8
𝑙𝐵 = 𝑂𝐵 = 𝑅 + = 0.8 + = 0.894 𝑚
2 2
The deformation of the spring at position B
𝑥𝐵 = 𝑙𝐵 − 𝑙𝑓 = 𝑂𝐵 − 0.6 = 0.894 − 0.6 = 0.294 𝑚
1
𝑈𝐴−𝐵 = 𝑘 𝑥𝐴2 − 𝑥𝐵2
2
1
𝑈𝐴−𝐵 = × 180 (0.2)2 −(0.294)2 = −4.18 𝑁 − 𝑚
2
 ENGINEERING MECHANICS : DYNAMICS
Work and Work Energy Principle Numericals
The spring shown in Figure has the unstretched length of 0.4 m and stiffness of
180 N/m. The 3-kg slider and the attached spring are released from rest at A
and move to B in the vertical-plane. Neglect the friction. Calculate the following
as the slider reaches B (a) the work done on the body by its weight and (b) the
work done on the body by the spring. (c) velocity of the slider
(a) The work done on the body
by its weight
𝑈𝑔(𝐴−𝐵) = 𝑚𝑔ℎ

= 3 × 9.81 × 0.8

= 23.544 𝑁 − 𝑚
ENGINEERING MECHANICS : DYNAMICS
Work and Work Energy Principle Numericals
The spring shown in Figure has the unstretched
length of 0.4 m and stiffness of 180 N/m. The 3-kg
slider and the attached spring are released from
rest at A and move to B in the vertical-plane.
Neglect the friction. Calculate the following as the
slider reaches B (a) the work done on the body by
its weight and (b) the work done on the body by the
spring. (c) velocity of the slider
(b) The work done on the body by the spring
1
𝑈𝑠(𝐴−𝐵) = 𝑘 𝑥𝐴2 − 𝑥𝐵2
2
𝑥𝐴 = 𝑙𝐴 − 𝑙𝑓 = 0.8 − 0.4 = 0.4 m
𝑥𝐵 = 𝑙𝐵 − 𝑙𝑓 = 𝑂𝐵 − 0.6 = 0.82 + 0.62 − 0.4 = 0.6 𝑚
1
𝑈𝑠(𝐴−𝐵) = × 200 (0.4)2 −(0.6)2 = −20 𝑁 − 𝑚
2
ENGINEERING MECHANICS : DYNAMICS
Work and Work Energy Principle Numericals
The spring shown in Figure has the unstretched
length of 0.4 m and stiffness of 180 N/m. The 3-kg
slider and the attached spring are released from
rest at A and move to B in the vertical-plane.
Neglect the friction. Calculate the following as the
slider reaches B (a) the work done on the body by
its weight and (b) the work done on the body by the
spring. (c) velocity of the slider
c) The velocity of the slider

𝑇𝐴 + 𝑈𝐴−𝐵 = 𝑇𝐵 1
0 + 23.544 − 20 = × 3 × 𝑣𝐵2
2
1
𝑇𝐴 + 𝑈𝑔(𝐴−𝐵) + 𝑈𝑠(𝐴−𝐵) = 𝑚𝑣𝐵2 𝑽𝑩 = 𝟏. 𝟓𝟐𝟕 𝒎/𝒔
2
 ENGINEERING MECHANICS : DYNAMICS
Work and Work Energy Principle Numericals
The 15 kg collar A is released from rest in the position shown and slides with
negligible friction up the fixed rod inclined 30° from the horizontal under the action
of a constant force P = 200 N applied to the cable. Calculate the required stiffness
k of the spring so that its maximum deflection equals 180 mm. The position of the
small pulley at B is fixed.
The work done on the body by the spring
1 2 1
𝑈𝐴−𝐶 = − 𝑘𝛿 = − × 𝑘 × 0.182
2 2
= −0.0162𝑘

The work done on the body by the gravity

𝑈𝑔(𝐴−𝐶) = −𝑚𝑔ℎ = −15 × 9.81 × 1.2 × sin 30
𝑈𝑔(𝐴−𝐶) = −88.29 𝑁. 𝑚
ENGINEERING MECHANICS : DYNAMICS
Work and Work Energy Principle Numericals
The 15 kg collar A is released from rest in the position shown and slides with
negligible friction up the fixed rod inclined 30° from the horizontal under the action
of a constant force P = 200 N applied to the cable. Calculate the required stiffness
k of the spring so that its maximum deflection equals 180 mm. The position of the
small pulley at B is fixed.

𝐵𝐶 = 𝐴𝐶 2 + 𝐵𝐶 2 = 1.22 + 0.92 = 1.5 𝑚

The distance moved by the constant
force as collar moves from A and C
𝑥𝑝 = AB − 𝐵𝐶 = 1.5 − 0.9 = 0. 6 𝑚
C
The work done by the constant force

𝑈𝑝(𝐴−𝐶) = 200 × 0.6 = 120 𝑁. 𝑚

ENGINEERING MECHANICS : DYNAMICS
Work and Work Energy Principle Numericals
The 15 kg collar A is released from rest in the position shown and slides with
negligible friction up the fixed rod inclined 30° from the horizontal under the action
of a constant force P = 200 N applied to the cable. Calculate the required stiffness
k of the spring so that its maximum deflection equals 180 mm. The position of the
small pulley at B is fixed.

(b) The work done on the body by the spring

𝑈𝐴−𝐶 = ∆𝑘 = 0
𝑈𝑝(𝐴−𝐶) + 𝑈𝑠(𝐴−𝐶) + 𝑈𝑔(𝐴−𝐶) = 0
120 − 0.0162𝑘 − 88.29 = 0
120 − 88.29
𝑘− = 1957.41 𝑁/𝑚
0.0162
120 − 88.29
𝑘− = 1957.41 𝑁/𝑚
0.0162
ENGINEERING MECHANICS : DYNAMICS
Work and Energy
The 50-kg block at A is mounted on rollers so that it moves along the fixed horizontal rail with
negligible friction under the action of the constant 300-N force in the cable. The block is released
from rest at A, with the spring to which it is attached extended an initial amount x1 = 0.233 m.
The spring has a stiffness k = 80 N/m. Calculate the velocity v of the block as it reaches position B.
ENGINEERING MECHANICS : DYNAMICS
Work and Work Energy Principle Numericals

• Work by the Spring

• Work by the Tension

• Solution
ENGINEERING MECHANICS : DYNAMICS
Work and Work Energy Principle Numericals

The 2-kg collar is released from rest at A and slides down the inclined fixed
rod in the vertical plane. The coefficient of kinetic friction is 0.40. Calculate
(a) the velocity v of the collar as it strikes the spring and (b) the maximum
deflection x of the spring.
 Created by free version of 2PDF
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Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
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Created by free version of 2PDF
ENGINEERING MECHANICS:

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DYNAMICS

Mr Madhu M
Assistant Professor
Department of Mechanical Engineering
ENGINEERING MECHANICS: DYNAMICS

Kinetics of Particles
Potential Energy and Conservation of
Mechanical Energy

Madhu M
Department of Mechanical Engineering
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Potential Energy and conservative forces

Potential energy is the capacity of a conservative force to do work and a

conservative force is one whose work depends only on the initial and final
position of its point of application and not on the path of the particle.

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ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Potential Energy and conservative forces

𝑟2
If the force ‘F’ is conservative, its work 𝑈1−2 = ‫𝐹 𝑟׬‬. 𝑑𝑟 is a function of the
1
initial and final position of its point of application.

Therefore, the integral can be function of 𝑟1and 𝑟2 only if the integrand is an exact
differential of some scalar function V(r).

Therefore,

𝑭. 𝒅𝒓 = −𝒅𝑽
(-ve sign indicates the loss in the potential of the force to do work)

The function V(r) is called potential energy of the force ‘F’

ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Potential Energy and conservative forces

Therefore, the work done by a force in terms of potential function is given as,

𝒓2
𝑼1−2 = − න 𝒅𝑽 = − 𝑽2 − 𝑽1 = −∆𝑽
𝒓1

Where, 𝑉1 = 𝑉(𝑟1 ) and 𝑉2 = 𝑉(𝑟2 )

Work of a conservative force = Decrease in its potential energy.

ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Potential Energy and conservative forces

The potential energy of a conservative force ‘F’ that acts at a point with
rectangular coordinates (x,y,z) is,

𝒅𝑽 = −𝑭. 𝒅𝒓 = − 𝑭𝒙 𝒊 + 𝑭𝒚 𝒋 + 𝑭𝒛 𝒌 . (𝒅𝒙𝒊 + 𝒅𝒚𝒋 + 𝒅𝒛𝒌൯

𝒅𝑽 = − 𝑭𝒙 𝒅𝒙 + 𝑭𝒚 𝒅𝒚 + 𝑭𝒛 𝒅𝒛 ……………(a)

Since dV is an exact differential of potential energy V, it can be written as,

𝜕𝑽 𝜕𝑽 𝜕𝑽
𝒅𝑽 = 𝒅𝒙 + 𝒅𝒚 + 𝒅𝒛…………………(b)
𝜕𝒙 𝜕𝒚 𝜕𝒛

Comparing equation (a) and (b). The rectangular components of force ‘F’
becomes,

𝜕𝑽 𝜕𝑽 𝜕𝑽
𝑭𝒙 = − ; 𝑭𝒚 = − ;𝑭 = 𝑭 = −∇𝑽
𝜕𝒙 𝜕𝒚 𝒛 𝜕𝒛
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Potential Energy and conservative forces

Name Work equation Potential Energy

𝑈1−2 = 𝐹. ∆𝑥 𝑽𝒇 = −𝑭. 𝒙
Constant Force

𝑼𝟏−𝟐 = −𝑾. ∆𝒚 𝑽𝒈 = 𝑾𝒉
Weight (g=constant)

𝟏 𝟏
𝑼𝟏−𝟐 = − 𝒌. ∆𝜹𝟐 𝑽𝒄 = 𝒌. ∆𝜹𝟐
Spring force 𝟐 𝟐

𝟏 𝒎𝒈𝑹𝟐
Gravitational 𝑼𝟏−𝟐 = 𝒎𝒈𝑹𝟐 ∆ 𝑽𝒈 = −
𝒓 𝒓
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Conservation of Mechanical energy

From principle of conservation of energy, it is known that the total energy of a

closed system is constant.

Courtesy:https://www.dummies.com/education/science/physics/the-
principle-of-conservation-of-mechanical-energy/
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Conservation of Mechanical energy

In context with mechanics, the form of energy that we are concerned with is
purely mechanical energy and it is defined to be the sum of the potential and
kinetic energies.
Hence if all forces acting on a particle are conservative then the mechanical
energy is also conserved, and this concept is known as principle of conservation
of mechanical energy.
we know that work done by a conservative force is equal to decrease in its
potential energy.
𝑼1−2 = − 𝑽2 − 𝑽1 = −∆𝑽
𝑼1−2 = ∆𝑻

− 𝑽2 − 𝑽1 = 𝑻2 − 𝑻1

𝑽1 + 𝑻1 = 𝑽2 + 𝑻2
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Conservation of Mechanical energy

and letting total mechanical energy ‘E’ to be the sum of potential and kinetic
energies,
i.e. letting

𝑬=𝑻+𝑽

𝑽1 + 𝑻1 = 𝑽2 + 𝑻2 𝑬𝟏 = 𝑬𝟐 or ∆𝑬 = 𝟎

principle of conservation of mechanical energy

Madhu M
Assistant Professor, Department of Mechanical Engineering

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[email protected]
+91 9591229192
ENGINEERING MECHANICS:
DYNAMICS

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Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS: DYNAMICS

Potential Energy: Numerical Problems

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING MECHANICS: DYNAMICS
Potential Energy: Numerical Problems

The 1.2-kg slider is released from rest in position A

and slides without friction along the vertical-plane
guide shown. Determine (a) the speed 𝑣𝐵 of the
slider as it passes position B and (b) the maximum
deflection of the spring.
Set the datum at A
Between A and B
′
𝑇𝐴 + 𝑉𝐴 + 𝑈𝐴−𝐵 = 𝑇𝐵 + 𝑉𝐵
datum at A
1
0 + 0 + 0 = 𝑚𝑣𝐵2 − 𝑚𝑔ℎ𝐵
2
𝑣𝐵 = 2𝑔ℎ𝐵
= 2 × 9.81 × 4.5 = 9.4 m/s
ENGINEERING MECHANICS: DYNAMICS
Potential Energy: Numerical Problems

The 1.2-kg slider is released from rest in position A and

slides without friction along the vertical-plane guide shown.
Determine (a) the speed 𝑣𝐵 of the slider as it passes position
B and (b) the maximum deflection of the spring.
Between A and F 2 × 1.2 × 9.81 × 3
Between A and F =
24 × 1000
′
𝑇𝐴 + 𝑉𝐴 + 𝑈𝐴−𝐹 = 𝑇𝐹 + 𝑉𝐹 = 𝟎. 𝟎𝟓𝟒𝒎
datum at A 1 2
0 + 0 + 0 = 0 − 𝑚𝑔ℎ𝐹 + 𝑘𝛿
2

2𝑚𝑔ℎ𝐹
𝛿=
𝑘
 ENGINEERING MECHANICS: DYNAMICS
Potential Energy: Numerical Problems

A 0.2-kg wad of clay is released from rest and drops 2 m to a concrete floor. The
clay does not rebound, and the collision lasts 0.04 s. Determine the time
average of the force which the floor exerts on the clay during the impact.
 ENGINEERING MECHANICS: DYNAMICS
Potential Energy: Numerical Problems

The 2-kg plunger is released from rest in the position shown where the spring of
stiffness k = 500 N/m has been compressed to one-half its uncompressed
length of 200 mm. Calculate the maximum height h above the starting position reached
by the plunger.
𝑥1 = 𝑙1 − 𝑙𝑓 = 100 − 200 = −100 mm = −0.1 m

𝑥2 = 𝑙2 − 𝑙𝑓 = 150 − 200 = −50 mm = −0.05 m

′
𝑇1 + 𝑉1 + 𝑈1−2 = 𝑇2 + 𝑉2
0 0 0 0
′
𝑇1 + 𝑉1−𝑔 + 𝑉1−𝑒 + 𝑈1−2 = 𝑇2 + 𝑉2−𝑔 + 𝑉2−𝑒

1 2 1 2
0 + 0 + 𝑘𝑥1 = 0 + 𝑚𝑔ℎ + 𝑘𝑥2
2 2
1 1
0 + 0 + × 500 × (−0.1) = 0 + 2 × 9.81 × ℎ + × 500 × (−0.05)2
2
2 2
ℎ = 0.0956
 ENGINEERING MECHANICS: DYNAMICS
Potential Energy: Numerical Problems

The 2-kg plunger is released from rest in the position shown where the spring of
stiffness k = 500 N/m has been compressed to one-half its uncompressed
length of 200 mm. Calculate the maximum height h above the starting position
reached by the plunger.
𝑥1 = 𝑙1 − 𝑙𝑓 = 100 − 200 = −100 mm = −0.1 m

𝑥2 = 𝑙2 − 𝑙𝑓 = 150 − 200 = −50 mm = −0.05 m

′
𝑇1 + 𝑉1 + 𝑈1−2 = 𝑇2 + 𝑉2
0 0 0 0
′
𝑇1 + 𝑉1−𝑔 + 𝑉1−𝑒 + 𝑈1−2 = 𝑇2 + 𝑉2−𝑔 + 𝑉2−𝑒

1 2 1 2
0 + 0 + 𝑘𝑥1 = 0 + 𝑚𝑔ℎ + 𝑘𝑥2
2 2
1 1
0 + 0 + × 500 × (−0.1) = 0 + 2 × 9.81 × ℎ + × 500 × (−0.05)2
2
2 2
ℎ = 0.0956 𝑚
 ENGINEERING MECHANICS: DYNAMICS
Potential Energy: Numerical Problems

A bead with a mass of 0.25 kg is released from rest at A and slides down and around
the fixed smooth wire. Determine the force N between the wire and the bead as it
passes point B.
Set the datum at A 𝑣𝐵2
𝑵=𝒎 − 𝒎𝒈 cos 𝟒𝟓
Between A and B 𝒓
2
0 0 0 𝑣𝐵
′ 𝑵 = 𝟎. 𝟐𝟓 − 𝒈 cos 𝟒𝟓
𝑇𝐴 + 𝑉𝐴 + 𝑈𝐴−𝐵 = 𝑇𝐵 + 𝑉𝐵 𝟎. 𝟏𝟓
1
0 + 0 + 0 = 𝑚𝑣𝐵2 − 𝑚𝑔ℎ
𝟑. 𝟏𝟏𝟐
2 𝑵 = 𝟎. 𝟐𝟓 − 𝟗. 𝟖𝟏 × cos 𝟒𝟓
𝒎𝒈 𝟎. 𝟏𝟓
ℎ = 0.6 − 0.15 × sin 45 =0.494 m
𝑵 = 𝟏𝟒. 𝟒 𝑵
𝑣𝐵 = 2 × 9.81 × 0.494 = 3.11 m/s

σ 𝑭𝒏 = m𝒂𝒏

𝑣𝐵2
𝑵 + 𝒎𝒈 cos 𝟒𝟓 = 𝒎
𝒓
 ENGINEERING MECHANICS: DYNAMICS
Potential Energy: Numerical Problems

The 1.4 kg collar is released from rest at A and slides freely down the inclined rod. If
the spring constant k = 60 N/m and the unstretched length of the spring is 1250 mm,
determine the speed of the collar as it passes point B.
Set the datum at A
Between A and B
0 0
′
𝑇𝐴 + 𝑉𝐴 + 𝑈𝐴−𝐵 = 𝑇𝐵 + 𝑉𝐵
1 2 1 2
1 2
0 + 𝑘𝑥𝐴 + 0 = 𝑚𝑣𝐵 + 𝑘𝑥𝐵 − 𝑚𝑔ℎ
2 2 2
1 1 2
1
× 60 × 0.25 = × 1.4 × 𝑣𝐵 + × 60 × 0.52 − 1.4 × 9.81 × 0.5
2
2 2 2
𝑣𝐵 = 1.332 m/s

𝑥𝐴 = 1 − 1.25 = 0.25 𝑚

𝑥𝐵 = 1.52 + 0.92 − 1.25 = 0.5 𝑚

 ENGINEERING MECHANICS: DYNAMICS
Potential Energy: Numerical Problems

The 1.4 kg collar is released from rest at A and slides freely down the inclined rod. If
the spring constant k = 60 N/m. Determine the unstretched spring length which
would cause the collar to have no speed as it arrives at position B.
Set the datum at A
Between A and B
0 0
′
𝑇𝐴 + 𝑉𝐴 + 𝑈𝐴−𝐵 = 𝑇𝐵 + 𝑉𝐵
1 2 1 2
1 2
0 + 𝑘𝑥𝐴 + 0 = 𝑚𝑣𝐵 + 𝑘𝑥𝐵 − 𝑚𝑔ℎ
2 2 2
1 2 1 1
× 60 × 1 − 𝑙𝑓 = × 1.4 × 𝑣𝐵2 + × 60 × (1.75 − 𝑙𝑓 )2 −1.4 × 9.81 × 0.5
2 2 2
𝑣𝐵 = 1.332 m/s

𝑥𝐴 = 1 − 𝑙𝑓

𝑥𝐵 = 1.52 + 0.92 − 𝑙𝑓 = 1.75 − 𝑙𝑓

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THANK YOU
S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
VEHICLE DYNAMICS

Created by free version of 2PDF

Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS: DYNAMICS

Revision Class 1

Prof. S S Patil
Department of Mechanical Engineering
 ENGINEERING MECHANICS: DYNAMICS
3/159 The small bodies A and B each of mass m are connected and supported by the
pivoted links of negligible mass. If A is released from rest in the position
shown, calculate its velocity 𝑣𝐴 as it crosses the vertical centreline. Neglect
any friction.
 ENGINEERING MECHANICS: DYNAMICS
3/159 The small bodies A and B each of mass m are connected and supported by the
pivoted links of negligible mass. If A is released from rest in the position
shown, calculate its velocity 𝑣𝐴 as it crosses the vertical centreline. Neglect
any friction.
 ENGINEERING MECHANICS: DYNAMICS
3/154 The slider of mass m is released from rest in position A and slides without
friction along the vertical-plane guide shown. Determine the height h such
that the normal force exerted by the guide on the
slider is zero as the slider passes point C. For this value of h, determine the
normal force as the slider passes point B.
 ENGINEERING MECHANICS: DYNAMICS
3/154 The slider of mass m is released from rest in position A and slides without
friction along the vertical-plane guide shown. Determine the height h such
that the normal force exerted by the guide on the
slider is zero as the slider passes point C. For this value of h, determine the
normal force as the slider passes point B.
ENGINEERING MECHANICS: DYNAMICS
3/143 The 1.4 kg collar is released from rest at A and slides freely down the
inclined rod. If the spring constant k = 60 N/m and the unstretched length of
the spring is 1250 mm, determine the speed of the collar as it passes point B.

Set the datum at A

𝑥𝐴 = 1 − 1.25 = 0.25 𝑚

𝑥𝐵 = 1.52 + 0.92 − 1.25 = 0.5 𝑚

Between A and B
′
𝑇𝐴 + 𝑉𝐴 + 𝑈𝐴−𝐵 = 𝑇𝐵 + 𝑉𝐵
1 2 1 2
1 2
0 + 𝑘𝑥𝐴 + 0 = 𝑚𝑣𝐵 + 𝑘𝑥𝐵 − 𝑚𝑔ℎ
2 2 2
1 1 2
1
× 60 × 0.25 = × 1.4 × 𝑣𝐵 + × 60 × 0.52 − 1.4 × 9.81 × 0.5
2
2 2 2
𝑣𝐵 = 1.343 m/s
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS:

Created by free version of 2PDF

DYNAMICS

Mr Madhu M
Assistant Professor
Department of Mechanical Engineering
ENGINEERING MECHANICS: DYNAMICS

Kinetics of Particles
Impulse and Momentum

Madhu M
Department of Mechanical Engineering
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Impulse and Momentum

Starting with Newton’s Second law,

𝑭 = 𝒎𝒂

Integration with
time

Impulse Momentum
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Linear impulse and linear momentum

We know that the Newton’s second law of motion is given as,

𝒅𝒗
෍ 𝑭 = 𝒎𝒂 = 𝒎.
𝒅𝒕
Integrating above equation between limits 𝑣 = 𝑣1 at time 𝑡 = 𝑡1 and 𝑣 = 𝑣2 at
𝑡 = 𝑡2 , we have
𝒕𝟐 𝒗𝟐
෍ න 𝑭𝒅𝒕 = 𝒎 න 𝒅𝒗
𝒕𝟏 𝒗𝟏

𝒕𝟐
෍ න 𝑭𝒅𝒕 = 𝒎𝒗𝟐 − 𝒎𝒗𝟏
𝒕𝟏

Above equation is called as the principle of linear impulse and momentum.

ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Linear impulse and linear momentum

Equation of linear impulse-linear momentum can be written

as,
𝒕𝟐
෍ න 𝑭𝒅𝒕 = 𝒎𝒗𝟐 − 𝒎𝒗𝟏
𝒕𝟏

𝒕𝟐
෍ න 𝑭𝒅𝒕 = 𝑮𝟐 − 𝑮𝟏 = ∆𝑮
𝒕𝟏

Where, G1 is the linear momentum at time t=t1 and G2 is the linear momentum
at time t=t2.

Above equation can be rewritten as,

𝒕𝟐
𝑮𝟏 + ෍ න 𝑭. 𝒅𝒕 = 𝑮𝟐
𝒕𝟏
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Conservation of linear momentum

When there is no external impulse force acting on the particle then the final
linear momentum of the particle will be equal to the initial linear momentum and
therefore the linear momentum of the particle is said to be conserved.

𝒕𝟐
𝑮𝟏 + ෍ න 𝑭. 𝒅𝒕 = 𝑮𝟐
𝒕𝟏

=0
Therefore,

𝑮𝟏 = 𝑮𝟐
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Angular Impulse and Angular Momentum

Angular impulse and angular momentum are simply the moments of linear
impulse and linear momentum, respectively.

The angular impulse of ‘F’ about point ‘O’ during the

time interval t1 to t2 is defined as,

𝒕𝟐 𝒕𝟐
න 𝒓 × 𝑭𝒅𝒕 = න 𝑴𝒐 𝒅𝒕
𝒕𝟏 𝒕𝟏

Where 𝑴𝟎 = 𝒓 × 𝑭 is the moment of force ‘F’ about ‘O’

ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Angular Impulse and Angular Momentum

𝒕𝟐 𝒕𝟐
න 𝒓 × 𝑭𝒅𝒕 = න 𝑴𝒐 𝒅𝒕
𝒕𝟏 𝒕𝟏

If the direction and magnitude of 𝑴𝟎 are constants then

angular impulse about ‘O’ becomes

𝒕𝟐
න 𝑴𝒐 𝒅𝒕 = 𝑴𝟎 𝒕𝟐 − 𝒕𝟏 = 𝑴𝟎 ∆𝒕
𝒕𝟏
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Angular Impulse and Angular Momentum

Angular Momentum of a particle

Angular momentum is just the moment of the momentum about point ‘O’.

Similar to moment of a force, 𝑴𝟎 = 𝒓 × 𝑭

The angular momentum is given as,

𝑯𝟎 = 𝒓 × (𝒎𝒗)
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Angular Impulse and Angular Momentum

𝑯𝟎 = 𝒓 × (𝒎𝒗)

Vector Magnitude

𝑯𝟎 = 𝒓 × (𝒎𝒗) 𝑯𝟎 = 𝒎𝒗𝒅
ENGINEERING MECHANICS : DYNAMICS
Kinetics of particles: Angular Impulse and Angular Momentum

Note the sense of H0 is determined by the right – hand rule.

Using the rectangular coordinates
𝒓 = 𝒙𝒊 + 𝒚𝒊 + 𝒛𝒌
And
𝒗 = 𝒗𝒙 𝒊 + 𝒗𝒚 𝒋 + 𝒗𝒛 𝒌

The equation of angular momentum becomes,

𝒊 𝒋 𝒌
𝑯𝟎 = 𝒙 𝒚 𝒛
𝒎𝒗𝒙 𝒎𝒗𝒚 𝒎𝒗𝒛

Therefore, 𝑯𝟎 = 𝑯𝒙 𝒊 + 𝑯𝒚 𝒋 + 𝑯𝒛 𝒌

Where,

𝑯𝒙 = 𝒎 𝒚𝒗𝒛 − 𝒛𝒗𝒚 ; 𝑯𝒚 = 𝒎 𝒛𝒗𝒙 − 𝒙𝒗𝒛 ; 𝑯𝒛 = 𝒎 𝒙𝒗𝒚 − 𝒚𝒗𝒙

Madhu M
Assistant Professor, Department of Mechanical Engineering

Created by free version of 2PDF

[email protected]
+91 9591229192
ENGINEERING MECHANICS:
DYNAMICS

Created by free version of 2PDF

Prof. S S Patil
Department of Mechanical Engineering
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+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS: DYNAMICS

Linear Impulse and Momentum

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING MECHANICS: DYNAMICS
Linear Impulse and Momentum
INTRODUCTION
The applied forces act during extremely short periods of time (as in impact
problems) or over specified intervals of time.
Integration of the equation of motion with respect to time rather than
displacement leads to the equations of impulse and momentum.
These equations greatly facilitate the solution of many problems

Linear momentum
The product of the mass and velocity is defined as the linear momentum
G = mv of the particle.
o G = mv
o Vector Quantity
o SI Unit: kg·m/s or N·s
ENGINEERING MECHANICS: DYNAMICS
Linear Momentum
Linear momentum
The Newton’s law can be written as given below
𝑑𝑣 𝑑 𝑑
෍ 𝑭𝒙 = 𝑚𝒂 = 𝑚𝒗ሶ = 𝑚 = 𝑚𝒗 = 𝑮 = 𝑮ሶ
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑
෍ 𝑭𝒙 = 𝑮 𝟏
𝑑𝑡
This equation states that the resultant of all forces acting on
a particle equals its time rate of change of linear momentum.

The direction of the σ 𝑭𝒙 , 𝑮ሶ and 𝒗ሶ

The three scalar components of equation (1)
𝑭𝒙 = 𝑚𝐺ሶ𝑥 𝑭𝒚 = 𝑚𝐺ሶ𝑦 𝑭𝒛 = 𝑚𝐺ሶ𝑧
These equations may be applied independently of one another.
ENGINEERING MECHANICS: DYNAMICS
Principle of Linear Momentum
Linear Impulse
The product of force and time is defined as the linear impulse of the force
The Newton’s law earlier written as
𝑑
෍ 𝑭𝒙 = 𝑮
𝑑𝑡
Multiplying both sides by dt
෍ 𝑭𝒙 𝑑𝑡 = 𝑑 𝑮

Integration of this gives

𝑡2 𝐺2
න ෍ 𝑭𝒙 𝑑𝑡 = න 𝑑 𝑮 = 𝑮2 − 𝑮1
𝑡1 𝐺1

This equation states that the total linear impulse on m equals

the corresponding change in linear momentum of m.
ENGINEERING MECHANICS: DYNAMICS
Principle of Linear Momentum
𝑡2 𝐺2
න ෍ 𝐹𝑥 𝑑𝑡 = න 𝑑 𝑮 = 𝑮2 − 𝑮1
𝑡1 𝐺1

Alternatively,
𝑡2
𝐺1 + න ෍ 𝐹𝑥 𝑑𝑡 = 𝐺2
1
which says that the initial linear momentum of the body plus the linear impulse applied to it
equals its final linear momentum.
Scalar Form
ENGINEERING MECHANICS: DYNAMICS
Linear Impulse and Momentum

o Scalar Form

o Impulse-Momentum Diagram
• Similar to Free-Body Diagram
• Figure 1 shows initial momentum.
• Figure 2 shows external impulses.
• Figure 3 shows final momentum.
 ENGINEERING MECHANICS: DYNAMICS
Linear Impulse and Momentum
• Impulsive Forces
• Impulsive forces are very large and of short duration, e.g., a sharp
impact.
• They are typically assumed constant over their time duration and
are brought outside of the linear-impulse integral.
• Non-impulsive forces
• Nonimpulsive forces are typically much smaller than impulsive
forces and are usually neglected in comparison with impulsive
forces.
• An example of a nonimpulsive force is the weight of a baseball
during its collision with a bat. The weight of the ball (about 1.4 N)
is small compared with the force exerted on the ball by the bat
(which could be several hundred newtons in magnitude).
ENGINEERING MECHANICS: DYNAMICS
Linear Impulse and Momentum

• Illustration
• Common with experimental data.

• Graphical or numerical integration is utilized.

• Impulse corresponds to the area under the curve.

 ENGINEERING MECHANICS: DYNAMICS
Linear Impulse and Momentum

• Single Particle
• If the resultant force on a particle is zero during an interval of time, the
linear momentum G remains constant, or is conserved, and…

• Interacting Particles, a and b

• Forces of interaction between particles a and b are equal and opposite.
• If the interactive forces F (on a) and –F (on b) are the only unbalanced
forces acting on the particles during the time interval in question, then,
for the pair of particles a and b…
ΔG = ΔGa + ΔGb = ∫F dt + ∫-F dt = 0
and linear momentum is conserved for the pair of particles.
 ENGINEERING MECHANICS: DYNAMICS
Momentum
A 0.2-kg wad of clay is released from rest and drops 2 m to a concrete floor. The clay
does not rebound, and the collision lasts 0.04 s. Determine the time average of the
force which the floor exerts on the clay during the impact.

Source
Problem 3/187
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
 ENGINEERING MECHANICS: DYNAMICS
Momentum
A 0.2-kg wad of clay is released from rest and drops 2 m to a concrete floor. The clay
does not rebound, and the collision lasts 0.04 s. Determine the time average of the
force which the floor exerts on the clay during the impact.
mg(t2-t1)

+ =

mv1 N(t2-t1) mv2=0

Impulse Momentum Diagram
𝑡2
𝑣12 = 𝑣02 + 2𝑎(𝑠 − 𝑠0 ) 𝑚𝑣1 + න ෍ 𝐹 𝑑𝑡 = 𝑚𝑣2
1
𝑣12 = 0 + 2𝑔(ℎ)
0.2 × 6.26 + 0.2 × 9.81 × 0.04 − 𝑁 × 0.04 = 0
𝑣1 = 2𝑔 ℎ = 2 × 9.81 × 2
𝑁 = 33.3 N
= 6.26 𝑚/𝑠
 ENGINEERING MECHANICS: DYNAMICS
Momentum
Careful measurements made during the impact of the 200-g metal cylinder with the
spring-loaded plate reveal a semielliptical relation between the contact force F and
the time t of impact as shown. Determine the rebound velocity v of the cylinder if it
strikes the plate with a velocity of 6 m/s.

Source
Problem 3/179
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
 ENGINEERING MECHANICS: DYNAMICS
Momentum
Careful measurements made during the impact of the 200-g metal cylinder with the
spring-loaded plate reveal a semielliptical relation between the contact force F and
the time t of impact as shown. Determine the rebound velocity v of the cylinder if it
strikes the plate with a velocity of 6 m/s.
𝑡2
𝑚𝑣1 + න ෍ 𝐹 𝑑𝑡 = 𝑚𝑣2
𝑡1

𝑚𝑣1 − 𝐴𝑟𝑒𝑎 𝑢𝑛𝑑𝑒𝑟 𝑡ℎ𝑒 𝑐𝑢𝑟𝑣𝑒 = 𝑚𝑣2

𝜋𝑎𝑏 𝜋 × 30 × 0.04
𝐴𝑟𝑒𝑎 𝑜𝑓 𝑡ℎ𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑒𝑚𝑖𝑒𝑙𝑙𝑖𝑝𝑠𝑒 = =
2 2
𝜋 × 30 × 0.04
0.2 × 6 − = 0.2 × (−𝑣)
2
𝑣 = 3.425 𝑚/𝑠
 ENGINEERING MECHANICS: DYNAMICS
Momentum
The tow truck with attached 1200-kg car accelerates uniformly from 30 km/h to
70 km/h over a 15-s interval. The average rolling resistance for the car over this
speed interval is 500 N. Assume that the 60° angle shown represents the time average
configuration and determine the average tension in the tow cable.

Source
Problem 3/173
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
 ENGINEERING MECHANICS: DYNAMICS
Momentum
The tow truck with attached 1200-kg car accelerates uniformly from 30 km/h to over a 15-s
interval. The average rolling resistance for the car over this speed interval is 500 N. Assume
that the 60° angle shown represents the time average configuration and determine the average
tension in the tow cable.
mg(t2-t1) Tsin60(t2-t1)
mv1= 1200x30/3.6
Tcos60(t2-t1)
+ =

500(t2-t1) mv2=1200x70/3.6
N(t2-t1)
𝑡2
𝑚𝑣𝑥1 + න ෍ 𝐹𝑥 𝑑𝑡 = 𝑚𝑣x2
𝑡1

30 70
1200 − 500 × 15 + (𝑇 cos 60 × 15) = 1200
3.6 3.6

𝑇 = 2780 𝑁
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS:
DYNAMICS

Created by free version of 2PDF

Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS: DYNAMICS

Linear Impulse and Momentum Problems

Prof. S S Patil
Department of Mechanical Engineering
 ENGINEERING MECHANICS: DYNAMICS
Linear Impulse and Momentum Problems
A 0.2-kg wad of clay is released from rest and drops 2 m to a concrete floor. The clay
does not rebound, and the collision lasts 0.04 s. Determine the time average of the
force which the floor exerts on the clay during the impact.

Source
Problem 3/187
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
 ENGINEERING MECHANICS: DYNAMICS
Linear Impulse and Momentum Problems
A 0.2-kg wad of clay is released from rest and drops 2 m to a concrete floor. The clay
does not rebound, and the collision lasts 0.04 s. Determine the time average of the
force which the floor exerts on the clay during the impact.
mg(t2-t1)

+ =

mv1 N(t2-t1) mv2=0

Impulse Momentum Diagram
𝑡2
𝑣12 = 𝑣02 + 2𝑎(𝑠 − 𝑠0 ) 𝑚𝑣1 + න ෍ 𝐹 𝑑𝑡 = 𝑚𝑣2
1
𝑣12 = 0 + 2𝑔(ℎ)
0.2 × 6.26 + 0.2 × 9.81 × 0.04 − 𝑁 × 0.04 = 0
𝑣1 = 2𝑔 ℎ = 2 × 9.81 × 2
𝑁 = 33.3 N
= 6.26 𝑚/𝑠
 ENGINEERING MECHANICS: DYNAMICS
Linear Impulse and Momentum Problems
Careful measurements made during the impact of the 200-g metal cylinder with the
spring-loaded plate reveal a semielliptical relation between the contact force F and
the time t of impact as shown. Determine the rebound velocity v of the cylinder if it
strikes the plate with a velocity of 6 m/s.

Source
Problem 3/179
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
 ENGINEERING MECHANICS: DYNAMICS
Linear Impulse and Momentum Problems
Careful measurements made during the impact of the 200-g metal cylinder with the
spring-loaded plate reveal a semielliptical relation between the contact force F and
the time t of impact as shown. Determine the rebound velocity v of the cylinder if it
strikes the plate with a velocity of 6 m/s.
𝑡2
𝑚𝑣1 + න ෍ 𝐹 𝑑𝑡 = 𝑚𝑣2
𝑡1

𝑚𝑣1 − 𝐴𝑟𝑒𝑎 𝑢𝑛𝑑𝑒𝑟 𝑡ℎ𝑒 𝑐𝑢𝑟𝑣𝑒 = 𝑚𝑣2

𝜋𝑎𝑏 𝜋 × 30 × 0.04
𝐴𝑟𝑒𝑎 𝑜𝑓 𝑡ℎ𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑒𝑚𝑖𝑒𝑙𝑙𝑖𝑝𝑠𝑒 = =
2 2
𝜋 × 30 × 0.04
0.2 × 6 − = 0.2 × (−𝑣)
2
𝑣 = 3.425 𝑚/𝑠
 ENGINEERING MECHANICS: DYNAMICS
Linear Impulse and Momentum Problems
The tow truck with attached 1200-kg car accelerates uniformly from 30 km/h to
70 km/h over a 15-s interval. The average rolling resistance for the car over this
speed interval is 500 N. Assume that the 60° angle shown represents the time average
configuration and determine the average tension in the tow cable.

Source
Problem 3/173
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
 ENGINEERING MECHANICS: DYNAMICS
Linear Impulse and Momentum Problems
The tow truck with attached 1200-kg car accelerates uniformly from 30 km/h to over a 15-s
interval. The average rolling resistance for the car over this speed interval is 500 N. Assume
that the 60° angle shown represents the time average configuration and determine the average
tension in the tow cable.
mg(t2-t1) Tsin60(t2-t1)
mv1= 1200x30/3.6
Tcos60(t2-t1)
+ =

500(t2-t1) mv2=1200x70/3.6
N(t2-t1)
𝑡2
𝑚𝑣𝑥1 + න ෍ 𝐹𝑥 𝑑𝑡 = 𝑚𝑣x2
𝑡1

30 70
1200 − 500 × 15 + (𝑇 cos 60 × 15) = 1200
3.6 3.6

𝑇 = 2780 𝑁
ENGINEERING MECHANICS: DYNAMICS
Linear Impulse and Momentum Problems
The third and fourth stages of a rocket are coasting in space with a velocity of 18000
km/h when a small explosive charge between the stages separates them. Immediately
after separation the fourth stage has increased its velocity to v4 = 18060 km/h. What
is the corresponding velocity v3 of the third stage? At separation the third and fourth
stages have masses of 400 and 200 kg, respectively.
𝐺1 = 𝐺2

(𝑚3 +𝑚4 )𝑣c = 𝑚3 𝑣3 + 𝑚4 𝑣4

(400 + 200)18000 ×= 400𝑣3 + 200 × 18060

400 + 200 × 18000 − (200 × 18060)
𝑣3 =
400

Source 𝑣3 = 17970 𝑘𝑚/ℎ

Problem 3/193
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
ENGINEERING MECHANICS: DYNAMICS
Linear Impulse and Momentum Problems

The initially stationary 20-kg block is subjected to the time-varying horizontal

force whose magnitude P is shown in the plot. Note that the force is zero for all
times greater than 3 s. Determine the time ts at which the block comes to rest.

Source
Problem 3/194
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
ENGINEERING MECHANICS: DYNAMICS
Linear Impulse and Momentum Problems

The initially stationary 20-kg block is subjected to the time-varying horizontal

force whose magnitude P is shown in the plot. Note that the force is zero for all
times greater than 3 s. Determine the time ts at which the block comes to rest.

න mgdt
mv2= 0
mv1= 0
= න Pdt =
𝑡2
න μNdt 𝑚𝑣1 + න ෍ 𝐹 𝑑𝑡 = 𝑚𝑣2
𝑡1
න Ndt

𝑆𝑡𝑎𝑟𝑡 𝑡𝑖𝑚𝑒 ? 150 + 50 2.35

𝑦 = 𝑚𝑥 + 𝑐 0+ 3 − 2.35 − [0.4
෍ 𝐹𝑦 = 0 𝑃 = 𝐹𝑚𝑎𝑥 = 𝜇𝑠 𝑁 2
150 − 0 × 20 × 9.81 × 𝑡𝑠 − 2.35 = 0
𝑃= 𝑡+0 50𝑡 = 0.6(20 ∗ 9.81)
3−0 𝑁 − 𝑚𝑔 = 0
𝑁 = 𝑚𝑔 𝑡 = 2.35 s 𝑡𝑠 = 3.46 𝑠
𝑃 = 50𝑡
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS:
DYNAMICS

Created by free version of 2PDF

Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS: DYNAMICS

Angular Impulse and Angular Momentum

Prof. S S Patil
Department of Mechanical Engineering
 ENGINEERING MECHANICS: DYNAMICS
Angular Momentum

• Angular Momentum
• HO = r × mv

• Vector Quantity

• Moment made by Linear Momentum

• Cross-Product Expansion
 ENGINEERING MECHANICS: DYNAMICS
Angular Momentum

• Scalar Form

• View in Plane A

• Unit
• SI: kg·(m/s)·m = N·m·s
ENGINEERING MECHANICS: DYNAMICS
Angular Impulse and Angular Momentum

• Time Rate of Change of Angular Momentum (constant mass)

• dHO/dt = d(r × mv)/dt = 𝐫ሶ × mv + r × m𝐯ሶ

• 𝐫ሶ × mv = v × mv = 0

• r × m𝐯ሶ = r × ma = r × F = ΣMO

• Scalar Form
 ENGINEERING MECHANICS: DYNAMICS
Angular Impulse and Angular Momentum
• Angular Impulse
• Integrate the Equation ΣMO = dHO/dt

• Integral term is angular impulse.

• Dimensions are (moment) × (time)

• Unit: are N·m·s (SI)

• Angular Impulse-Momentum Principle
 ENGINEERING MECHANICS: DYNAMICS
Angular Impulse and Angular Momentum

• Scalar Form (x-Component)

• Impulsive and Nonimpulsive Forces

• Impulsive forces are large in magnitude and short in duration.
• See Art. 3/9 on their treatment.
ENGINEERING MECHANICS: DYNAMICS
Angular Impulse and Angular Momentum

• Illustration

• Simplify to Scalar Form (z-Component)

 ENGINEERING MECHANICS: DYNAMICS
Conservation of Angular Momentum
• Single Particle
• If the resultant moment about a fixed point O of all forces acting on a particle is
zero during an interval of time, the angular momentum HO remains constant, or is
conserved, and…

• Interacting Particles, a and b

• Forces of interaction between particles a and b are equal, opposite, and collinear.
• If the interactive forces F (on a) and –F (on b) are the only unbalanced forces acting
on the particles during the time interval in question, then, for the pair of particles a
and b…
ΔHO = (ΔHO)a + (ΔHO)b = ∫F × r dt + ∫-F × r dt = 0
and angular momentum is conserved for the pair of particles.

• This is equivalent to saying the equal and opposite forces will produce equal and
opposite moments about the same point.
 ENGINEERING MECHANICS: DYNAMICS
Angular Impulse and Angular Momentum

• Problem Statement
The assembly of the light rod and two end masses is at rest when it is struck by the falling wad of putty
traveling with speed v1 as shown. The putty adheres to and travels with the right-hand end mass. Determine
the angular velocity 𝜃ሶ 2 of the assembly just after impact. The pivot at O is frictionless, and all three masses
may be assumed to be particles.
ENGINEERING MECHANICS: DYNAMICS
Angular Impulse and Angular Momentum
• Solution
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS

Kinematics of Rigid Bodies: Introduction

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING Mechanics : DYNAMICS
Kinematics of Rigid Bodies: Introduction
Particle Kinematics
Need for Rigid Body Kinematics

1. Need to generate, transmit, or control certain motions by the use of cams, gears, and
linkages of various types.
Analysis of displacement, velocity and acceleration of motion to determine the
design geometry of mechanical parts
As a result of motion generation, the forces are developed. These forces must be
accounted in the design of parts.
2. Determination of motion of a rigid body resulting from the
application of forces.
Examples: Motion of rocket – thrust and gravitational
attraction
ENGINEERING MECHANICS : DYNAMICS
Rigid-Body Assumption
Rigid-Body Assumption
Defined as a system of particles for which the distances between the particles remain
unchanged.

Ideal case
if each particle of rigid a body is located by a position vector from reference axes attached to and
rotating with the body, there will be no change in any position vector as measured from these axes.
All solid materials change shape to some extent when forces are applied to them.

if the movements associated with the changes in shape are very small
compared with the movements of the body as a whole

The displacements due to the flutter of an aircraft wing, for instance,

do not affect the description of the flight path of the aircraft as a whole

The internal wing stress due to wing flutter

ENGINEERING MECHANICS : DYNAMICS
Plane Motion

• Plane Motion
• The plane containing the mass center itself is considered as a plane of motion

• The body treated as a thin slab whose motion is confined to the plane of the slab.

• This plane motion idealization adequately describes a very large category of rigid-body
motions enc
• Categories of plane motion
• Translation
• Rectilinear translation
• Curvilinear Translation
• Rotation
• General Plane Motion
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Rectilinear Translation

Rectilinear Translation
All points move in straight lines. There is no rotation.
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Curvilinear Translation

Curvilinear Translation
all points move in congruent curves. There is no rotation.
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Fixed Axis Rotation

Fixed Axis Rotation

all points move in circular paths about the rotation axis.
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: General Plane Motion

General Plane Motion

motion of the body is a combination of translation and rotation.
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: General Plane Motion
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: General Plane Motion
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: General Plane Motion
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: General Plane Motion
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: General Plane Motion
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: General Plane Motion
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Introduction
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS

Kinematics of Rigid Bodies: Angular Motion

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Rotation

• Rotation Angular Motion

• Angular Position, θ
• θ2 = θ1 + β
• β is a constant
• Mathematics
• 𝜃ሶ 2 = 𝜃ሶ 1
• 𝜃ሷ 2 = 𝜃ሷ 1
• In a finite interval… Δθ1 = Δθ2
• All lines on a rigid body in its plane of motion have the same
angular displacement, the same angular velocity, and the same
angular acceleration.
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Rotation

Angular Position

Consider the rigid body as shown in

Figure. It is moving in the xy-plane.
Let AB be a line that is embedded in
and lies in the plane of motion.

The angle θ (t) between AB and a

fixed reference line, such as the
x-axis, is known as the angular
position coordinate of line AB.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Angular Displacement

Angular Displacement
During the time interval ∆t, the angular position coordinate of AB changes
from θ (t) to θ (t + ∆t), as shown in Fig
The angular displacement of line AB during this time interval is defined as
∆θ = θ (t + ∆t) − θ (t)
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Angular Displacement
Because AB and CD can be
chosen arbitrarily in the plane
of the motion, we conclude that all lines in
the plane of the motion have the same
angular displacement.
Therefore, ∆θ is also called the angular
displacement of body.

Angular Displacement
𝞫= θ2(t) − θ1(t) = θ2(t + ∆t) − θ1(t + ∆t)
θ1(t + ∆t) − θ1(t) = θ2(t + ∆t) − θ2(t)

∆θ1 = ∆θ2
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Angular Velocity

Angular Velocity
The angular velocity ω of line AB is defined as the time derivative of
its angular position coordinate θ:
∆θ 𝑑𝜃
𝜔 = lim = = 𝜃ሶ
∆𝑡→0 ∆t 𝑑𝑡
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Angular Acceleration

Angular Acceleration
The angular acceleration α of line AB is defined to be the time
derivative of its angular velocity:
𝑑𝜔 𝑑2𝜃
𝛼= = 𝜔ሶ 𝛼 = 2 = 𝜃ሷ
𝑑𝑡 𝑑𝑡
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Angular Acceleration

Angular Acceleration
The angular acceleration α of line AB is defined to be the time
derivative of its angular velocity:
𝑑𝜔
𝛼= = 𝜔ሶ
𝑑𝑡
The time t in the above Equation can be eliminated as an
explicit variable by using the chain rule for differentiation:
𝑑𝜔 𝑑𝜃 𝑑𝜔
𝛼= =𝜔
𝑑𝜃 𝑑𝑡 𝑑𝜃
𝛼 𝑑𝜃= 𝜔𝑑𝜔

ሷ
𝜃𝑑𝜃= ሶ 𝜃ሶ
𝜃𝑑
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Differential Equation of Linear and Angular Motion
∆θ 𝑑𝜽 ∆𝒓 𝑑𝒓
Velocity: 𝜔 = lim = = 𝜃ሶ 𝑣 = lim = = 𝑠ሶ
∆𝑡→0 ∆t 𝑑𝑡 ∆𝑡→0 ∆t 𝑑𝑡

𝑑𝜔 𝑑𝒗
Acceleration: 𝛼= = 𝜔ሶ 𝒂= = 𝑣ሶ
𝑑𝑡 𝑑𝑡

𝛼 𝑑𝜃= 𝜔𝑑𝜔 a 𝑑𝑠= v𝑑𝑣

ሷ
𝜃𝑑𝜃= ሶ 𝜃ሶ
𝜃𝑑 𝑠𝑑𝑠=
ሷ 𝑠𝑑
ሶ 𝑠ሶ
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS

Kinematics of Rigid Bodies: Angular Motion

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING MECHANICS: DYNAMICS
Constant Acceleration Motion

At time t = t0 = 0, the particle has velocity ω = ω0 and is at position 𝞱 = 𝞱 0.

Substitute into a = d ω/dt and integrate once to obtain velocity as a function of time.
𝜔 𝑡

න 𝑑𝜔 = 𝛼 න 𝑑𝑡 𝜔 − 𝜔0 = 𝛼𝑡 ω = ω𝟎 + 𝜶𝒕
𝝎𝟎 0

Substitute the previous result into ω = d𝜽/dt and integrate a second time to obtain position as
a function of time.
𝜃 𝑡
𝑑𝜃 = 𝜔𝑑𝑡 න 𝑑𝜃 = න 𝜔0 + 𝛼𝑡 𝑑𝑡
𝜽𝟎 0
𝜃 𝑡
න 𝑑𝜃 = න 𝜔𝑑𝑡 𝟏 𝟐
𝜃 = 𝜃𝟎 +𝜔𝟎 𝒕 + 𝜶𝒕
𝜃𝟎 0 𝟐
ENGINEERING MECHANICS: DYNAMICS
Constant Angular Acceleration Motion
Consider ωdω = αd𝞱 and integrate once with respect to position to
obtain a different relationship.
ω 𝜃

න ωdω = 𝛼 න 𝑑𝜃
𝜔0 𝜃0

1
ω2 ω
ω𝟎 = 𝛼(𝜃 − 𝜃0 )
2

𝜔2 − 𝜔02 = 2𝛼(𝜃 − 𝜃0 )

𝜔2 = 𝜔02 + 2𝛼(𝜃 − 𝜃0 )
ENGINEERING MECHANICS: DYNAMICS
Constant Angular and Linear Acceleration Motion

Constant Angular Acceleration Motion Constant Linear Acceleration Motion

ω = ω𝟎 + 𝜶𝒕 𝒗 = 𝒗𝟎 + 𝒂𝒕
𝟏 𝟐 𝟏 𝟐
𝜽 = 𝜃𝟎 +𝜔𝟎 𝒕 + 𝜶𝒕 𝒔 = 𝒔𝟎 + 𝒗𝟎 𝒕 + 𝒂𝒕
𝟐 𝟐
2 2
𝜔 = 𝜔0 + 2𝛼(𝜔 − 𝜔0 ) 𝑣 2 = 𝑣02 + 2𝑎(𝑠 − 𝑠0 )
ENGINEERING MECHANICS: DYNAMICS
Constant Angular velocity Motion

Constant Angular velocity Motion

𝑑𝜃 = 𝜔𝑑𝑡
𝜃 𝑡
න 𝑑𝜃 = 𝜔 න 𝑑𝑡
𝜽𝟎 0

𝜽 − 𝜽𝟎 = 𝝎𝒕
𝜽 = 𝜽𝟎 + 𝝎𝒕
ENGINEERING MECHANICS: DYNAMICS
Graphical Relationship for Angular Motion: 𝜽−𝒕 𝒄𝒖𝒓𝒗𝒆
𝜽

The slope of 𝜽 − 𝒕 𝒄𝒖𝒓𝒗𝒆 gives the angular acceleration

𝜔=
𝑑𝜃
= 𝜃ሶ 𝒅𝜽
𝑑𝑡
𝝎= = 𝜽ሶ
𝒅𝒕
ENGINEERING MECHANICS: DYNAMICS
Graphical Relationship for Angular Motion: 𝝎 − 𝒕 𝒄𝒖𝒓𝒗𝒆

𝝎 𝜽𝟐 𝒕𝟐
න 𝑑𝜃 = න 𝜔𝑑𝑡
𝜽𝟏 𝒕𝟏
𝒅𝝎
𝜶= = 𝝎ሶ
𝒅𝒕
𝜽𝟐 − 𝜽𝟏 = 𝑨𝒓𝒆𝒂 𝒖𝒏𝒅𝒆𝒓 𝒕𝒉𝒆 𝝎 − 𝒕 𝒄𝒖𝒓𝒗𝒆
𝝎
The slope of 𝝎 − 𝒕 𝒄𝒖𝒓𝒗𝒆 gives the angular acceleration
𝒅𝝎
𝜶= = 𝝎ሶ
𝒅𝒕
ENGINEERING MECHANICS: DYNAMICS
Graphical Relationship for Angular Motion: 𝜶−𝒕 𝒄𝒖𝒓𝒗𝒆

𝜶
𝝎𝟐 𝒕𝟐
න 𝑑𝜔 = න 𝛼𝑑𝑡
𝝎𝟏 𝒕𝟏

𝜶 𝝎𝟐 − 𝝎𝟏 = 𝑨𝒓𝒆𝒂 𝒖𝒏𝒅𝒆𝒓 𝒕𝒉𝒆 𝜶 − 𝒕 𝒄𝒖𝒓𝒗𝒆

 ENGINEERING MECHANICS: DYNAMICS
Graphical Relationship for Angular Motion

• Functions of Position
The area under the a-s curve between the
positions 𝞱1 and 𝞱2 is one-half the
difference of the squared velocities of the
particle at the two positions.
𝜔2 𝜽𝟐

න ωdω = න 𝛼𝑑𝜃
𝜔1 𝜃1

𝝎𝟐𝟐 − 𝝎𝟐𝟏 = 𝑨𝒓𝒆𝒂 𝒖𝒏𝒅𝒆𝒓 𝒕𝒉𝒆 𝜶 − 𝜽 𝒄𝒖𝒓𝒗𝒆

ENGINEERING MECHANICS: DYNAMICS
Graphical Relationship for Angular Motion

• Functions of Position
– A line drawn perpendicular to the slope of
the ω-𝞱 curve at a position 𝞱, can be
extended to the position axis to give the
acceleration of the particle at that
position.

𝐶𝐵/ω = dω /d𝞱

𝐶𝐵 = ωdω/d𝞱 = α
 ENGINEERING MECHANICS: DYNAMICS
Constant Angular velocity Motion

Prob5/6. The small cart is released from rest in position 1 and requires 0.638
seconds to reach position 2 at the bottom of the path, where its center G has a
velocity of 4.33 m/s. Determine the angular velocity ω of line AB in position 2 and
the average angular velocity ωav of AB during the interval.
 ENGINEERING MECHANICS: DYNAMICS
Constant Angular velocity Motion

Prob5/6. The small cart is released from rest in position 1 and requires 0.638 seconds to reach position 2 at
the bottom of the path, where its center G has a velocity of 4.33 m/s. Determine the angular velocity ω of line
AB in position 2 and the average angular velocity ωav of AB during the interval.

B A
vA’B’ A’
B’ G
 ENGINEERING MECHANICS: DYNAMICS
Constant Angular velocity Motion

Prob5/7. The flywheel has a diameter of 600 mm and rotates with increasing
speed about its z-axis shaft. When point P on the rim crosses the y-axis with
θ = 90°, it has an acceleration given by a = −1.8i − 4.8j m /s2. For this instant,
determine the angular velocity ω and the angular acceleration α of the flywheel.
 ENGINEERING MECHANICS: DYNAMICS
Constant Angular velocity Motion

Prob5/19. A variable torque is applied to a rotating wheel at time t = 0 and causes

the clockwise angular acceleration to increase linearly with the clockwise angular
displacement θ of the wheel during the next 30 revolutions. When the wheel has
turned the additional 30 revolutions, its angular velocity is 90 rad/s. Determine its
angular velocity ω0 at the start of the interval at t = 0.
Type equation here.
 ENGINEERING MECHANICS: DYNAMICS
Constant Angular velocity Motion
Prob5/19. A variable torque is applied to a rotating wheel at time t = 0 and causes the clockwise angular
acceleration to increase linearly with the clockwise angular displacement θ of the wheel during the next 30
revolutions. When the wheel has turned the additional 30 revolutions, its angular velocity is 90 rad /s.
Determine its angular velocity ω0 at the start of the interval at t = 0.
 ENGINEERING MECHANICS: DYNAMICS
Constant Angular velocity Motion

Prob5/3. The angular velocity of a gear is controlled according to ω = 12 − 3t2

where , in radians per second, is positive in the clockwise sense and where t is the
time in seconds. Find the net angular displacement from the time t = 0 to t = 3 s.
Also find the total number of revolutions N through which the gear turns during
the 3 seconds.
 ENGINEERING MECHANICS: DYNAMICS
Constant Angular velocity Motion

Prob5/3. The angular velocity of a gear is controlled according to ω = 12 − 3t2

where , in radians per second, is positive in the clockwise sense and where t is the
time in seconds. Find the net angular displacement from the time t = 0 to t = 3 s.
Also find the total number of revolutions N through which the gear turns during
the 3 seconds.
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
 Created by free version of 2PDF
ENGINEERING MECHANICS
DYNAMICS

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING MECHANICS : DYNAMICS

Kinematics of Rigid Bodies: Fixed Axis Rotation

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING MECHANICS: DYNAMICS
Kinematics of Rigid Bodies: Fixed Axis Rotation

Circular Motion

Scalar Relationships
ENGINEERING MECHANICS: DYNAMICS
Fixed Axis Rotation: Vector formulation

By the definition of the vector cross product

𝒗 = 𝒓ሶ = 𝝎 × 𝒓

The order of the vectors to be crossed must be retained.

The reverse order gives 𝒓 × 𝝎 = −𝒗

The acceleration of point A

𝒂 = 𝒗ሶ = 𝝎 × 𝒓ሶ + 𝝎ሶ × 𝒓
= 𝝎 × (𝝎 × 𝒓) + 𝜶 × 𝒓
Here 𝜶 = 𝝎ሶ stands for the angular
acceleration of the body.
 ENGINEERING MECHANICS: DYNAMICS
Fixed Axis Rotation: Scalar and Vector Relationships

Scalar Relationships Vector Relationships

 ENGINEERING MECHANICS: DYNAMICS
Kinematics of Rigid Bodies: Fixed Axis Rotation - Numericals
1.(Sample Prob 5/1)
The pinion A of the hoist motor drives gear B, which is attached
to the hoisting drum. The load L is lifted from its rest position and
acquires an upward velocity of 2 m/s in a vertical rise of 0.8 m
with constant acceleration. As the load passes this position,
compute
(a) the acceleration of point C on the
cable in contact with the drum &
(b) the angular velocity and angular
acceleration of the pinion A.
 ENGINEERING MECHANICS: DYNAMICS
Kinematics of Rigid Bodies: Fixed Axis Rotation - Numericals

The cable does not slip on the drum

The vertical velocity & acceleration
of the load L are the same as the
tangential velocity v and tangential
acceleration at of point C.
The acceleration of the mass L

𝑣 2 = 𝑣02 + 2𝑎 𝑦 − 𝑦0
𝑣2
𝑎=
2 𝑦 − 𝑦0
22
= = 2.5 𝑚/𝑠 2
2 0.8 − 0
 ENGINEERING MECHANICS: DYNAMICS
Kinematics of Rigid Bodies: Fixed Axis Rotation - Numericals

The acceleration of point C

𝑎 = 𝑎𝑡 = 2.5 𝑚/𝑠 2
𝑣 2 22
𝑎𝑛 = = = 10 𝑚/𝑠 2
𝑅 0.4

𝑎= 𝑎𝑛2 + 𝑎𝑡2

𝑎= 102 + 2.52
𝑎 = 10.31 𝑚/𝑠 2
 ENGINEERING MECHANICS: DYNAMICS
Kinematics of Rigid Bodies: Fixed Axis Rotation - Numericals

The angular velocity of point A

𝑣1 = 𝜔𝐴 𝑟𝐴 = 𝜔𝐵 𝑟𝐵
𝑟𝐵
𝜔𝐴 = 𝜔𝐵
𝑟𝐴
𝑣𝐶
𝜔𝐵 = 𝜔𝑐 =
𝑟𝐶
𝑣𝐶 𝑟𝐵 2 0.3
𝜔𝐴 = = × = 15 𝑟𝑎𝑑/𝑠
𝑟𝐶 𝑟𝐴 0.4 0.1
The acceleration of point A
𝑟𝐵
𝛼𝐴 = 𝛼𝐵 2.5 0.3
𝑟𝐴 𝛼𝐴 = ×
0.4 0.1
𝑎𝑡𝐶 2.5
𝛼𝐵 = 𝛼 𝐶 = = = 18.75 𝑟𝑎𝑑/𝑠 2
𝑟 0.4
 ENGINEERING MECHANICS: DYNAMICS
Kinematics of Rigid Bodies: Fixed Axis Rotation - Numericals

Prob5/5 When switched on, the grinding machine accelerates from rest to
its operating speed of 3450 rev /min in 6 seconds. When switched off, it
coasts to rest in 32 seconds. Determine the number of revolutions turned
during both the startup and shutdown periods. Assume uniform angular
acceleration in both cases.
 ENGINEERING MECHANICS: DYNAMICS
Kinematics of Rigid Bodies: Fixed Axis Rotation - Numericals

The startup
𝜔 = 𝜔𝑜 + 𝛼𝑡
2𝜋𝑁
= 0 + 𝛼𝑡
60
2 × 𝜋 × 3450
=0+𝛼×6
60
𝛼 = 60. 2𝑟𝑎𝑑/𝑠 2
𝜔2 = 𝜔02 + 2𝛼(𝜃 − 𝜃𝑜 )
2 × 𝜋 × 3450 2
𝜔2 − 𝜔02 −0
60
𝜃 − 𝜃0 = =
2𝛼 2 × 60. 2
(𝜃 − 𝜃𝑜 ) = 1084.1 𝑟𝑎𝑑 = 172.54 𝑟𝑒𝑣
 ENGINEERING MECHANICS: DYNAMICS
Kinematics of Rigid Bodies: Fixed Axis Rotation - Numericals

The shutdown
𝜔 = 𝜔𝑜 + 𝛼𝑡
2𝜋𝑁
𝜔= + 𝛼𝑡
60
2 × 𝜋 × 3450
0= + 𝛼 × 32
60
𝜶 = −𝟏𝟏. 𝟑 𝒓𝒂𝒅/𝒔𝟐

𝜔2 = 𝜔02 + 2𝛼(𝜃 − 𝜃𝑜 )
2
2 × 𝜋 × 3450
2
𝜔 − 𝜔02 0 −
60
𝜃 − 𝜃0 = =
2𝛼 2 × (−11.3)
(𝜃 − 𝜃𝑜 ) = 5775.5 𝑟𝑎𝑑 = 919.2 𝑟𝑒𝑣
THANK YOU

Created by free version of 2PDF

Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 6666 3333 Extn 834
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS

Kinematics of rigid Body: Absolute Motion

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion
• Introduction

• Utilizes time derivatives of the geometric relationships which define

the configuration of a body to obtain expressions for velocities and
accelerations.

• Method is straight forward provided the configuration lends itself to

a geometric description which is not overly complex.

• It is absolutely essential to be consistent with the mathematics of

the description, e.g., the sign convention for positive rotation of a
line.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion

Prob5/32. At the instant under consideration, the

hydraulic cylinder AB has a length L = 0.75 m, and this
length is momentarily increasing at a constant rate of 0.2 y
m/s. If vA = 0.6 m/s and 𝜃 = 35°, determine the velocity
of slider B

Source
Problem 5/32
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion

Prob5/32. At the instant under consideration, the

hydraulic cylinder AB has a length L = 0.75 m, and this
length is momentarily increasing at a constant rate of 0.2 y
m/s. If vA = 0.6 m/s and 𝜃 = 35°, determine the velocity
of slider B
Geometric Description 𝑦 = 𝐿2 − 𝑥 2
x
𝐿2 = 𝑥 2 + 𝑦 2 = 0.752 −.432
𝐷𝑖𝑓𝑓𝑒𝑟𝑛𝑡𝑖𝑎𝑡𝑖𝑛𝑔, 2𝐿𝐿ሶ = 2𝑥 𝑥ሶ + 2𝑦𝑦ሶ
= 0.614 𝑚
L𝐿ሶ − 𝑥 𝑥ሶ
𝑦ሶ = 0.75 × 0.2 − 0.43 × 0.6
𝑦
𝑦ሶ =
𝑥 = 𝐿𝑠𝑖𝑛𝜃 0.614

= 0.75 × 𝑠𝑖𝑛35 = 0.43 𝑚 𝑦ሶ = −0.176 𝑚/𝑠

 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion

Prob5/33. The hydraulic cylinder D is causing the distance OA to

increase at the rate of 50 mm/s. Calculate the velocity of the pin at C in
its horizontal guide for the instant when 𝜃= 500.
y Source
Problem 5/33
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.

x
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion

The hydraulic cylinder D is

causing the distance OA to
D 𝜃
𝜃 increase at the rate of 50
B mm/s. Calculate the
velocity of the pin at C in its
𝜃 𝜃
horizontal guide for the
O C
instant when 𝜃= 500.

𝑂𝐴 = 2𝑂𝐵 sin 𝜃 𝑂𝐶 = 𝑂𝐵 cos 𝜃 + 𝐵𝐶 cos 𝜃

𝑦 = 300 sin 𝜃 𝑥 = 300 cos 𝜃
𝑦ሶ = 300𝜃ሶ cos 𝜃 𝑥ሶ = −300𝜃ሶ sin 𝜃
50 = 300 × 𝜃ሶ × cos 50 𝑥ሶ = −300 × 0.26 × sin 50
𝜃ሶ = 0.26 𝑥ሶ = −59.75 𝑚𝑚/𝑠
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion

Prob5/34. A Scotch-yoke mechanism converts rotational motion of the disk to

oscillatory translation of the shaft. For given values of θ, ω, α, r, and d, determine
the velocity and acceleration of point P of the shaft.
Source
Problem 5/34
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion

Prob5/34. A Scotch-yoke mechanism converts rotational motion of the disk to

oscillatory translation of the shaft. For given values of θ, ω, α, r, and d, determine
the velocity and acceleration of point P of the shaft.
y

𝑂𝑃 = 𝑂𝐴 cos 𝜃 + 𝑑

𝑥𝑝 = 𝑟 cos 𝜃 + 𝑑

x
𝑥𝑝ሶ = −𝑟 𝜃ሶ sin 𝜃

𝑥𝑝ሶ = −𝑟 𝜔 sin 𝜃

𝑥𝑝ሷ = −𝑟 𝜔 𝜃ሶ cos 𝜃 − 𝑟𝜔ሶ sin 𝜃

𝑂𝐴 cos 𝜃
OP 𝑥𝑝ሷ = −𝑟 𝜔2 cos 𝜃 − 𝑟𝛼 sin 𝜃
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion

Prob5/38. Determine the acceleration of the shaft B for θ = 60° if the

crank OA has an angular acceleration 𝜃ሷ = 8 rad/s2 and an angular
ሶ 4 rad/s at this position. The spring maintains contact
velocity 𝜃=
between the roller and the surface of the plunger.
Source
Problem 5/38
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion

Prob5/38. Determine the acceleration of the shaft B for θ = 60° if the

crank OA has an angular acceleration 𝜃ሷ = 8 rad/s2 and an angular
velocity 𝜃ሶ = 4 rad/s at this position. The spring maintains contact
between the roller and the surface of the plunger.

𝑦 = 80 sin 𝜃 + 20

𝑦ሶ = 80𝜃ሶ 𝑐𝑜𝑠 𝜃

𝑦ሷ = 80𝜃ሷ 𝑐𝑜𝑠 𝜃 − 80𝜃ሶ 𝜃ሶ sin 𝜃

20
𝑦ሷ = 80 × 8 × 𝑐𝑜𝑠 60 − 80 × 42 × sin 60

80 sin 𝜃 𝑦 𝑦ሷ = −788.5 𝑚/𝑠 2

 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion 2

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion
• Introduction

• Utilizes time derivatives of the geometric relationships which define

the configuration of a body to obtain expressions for velocities and
accelerations.

• Method is straight forward provided the configuration lends itself to

a geometric description which is not overly complex.

• It is absolutely essential to be consistent with the mathematics of

the description, e.g., the sign convention for positive rotation of a
line.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion 2

Prob5/43. Vertical motion of the work platform

is controlled by the horizontal motion of pin A.
If A has a velocity v0 to the left, determine the
vertical velocity v of the platform for any value
of 𝜃.

Source
Problem 5/43
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion 2

Prob5/43. Vertical motion of the work platform is controlled by the horizontal

motion of pin A. If A has a velocity v0 to the left, determine the vertical velocity
v of the platform for any value of 𝜃.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion 2
Prob5/49. Derive an expression for the upward velocity v of the car hoist in
terms of 𝜃. The piston rod of the hydraulic cylinder is extending at the rate 𝑠.ሶ

Source
Problem 5/49
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion 2
Prob5/49. Derive an expression for the upward velocity v of the car hoist in
terms of 𝜃. The piston rod of the hydraulic cylinder is extending at the rate 𝑠.ሶ
𝑠 2 = 𝑏 2 + 𝐿2 − 2𝑏𝐿 cos 𝜃
𝐷𝑖𝑓𝑓𝑒𝑟𝑒𝑛𝑡𝑖𝑎𝑡𝑖𝑛𝑔,

2𝑠𝑠ሶ = 0 + 0 + 2𝑏𝐿𝜃ሶ sin 𝜃

𝑠𝑠ሶ
𝜃ሶ =
𝑏𝐿 sin 𝜃
Substi𝑡𝑢𝑡𝑖𝑛𝑔 𝑡ℎ𝑖𝑠 𝑖𝑛 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 (1),
𝑠𝑠ሶ
𝑦 = 2𝑏 sin 𝜃 𝑣 = 2𝑏 cos 𝜃
𝑏𝐿 sin 𝜃
𝑦ሶ = 2𝑏𝜃ሶ cos 𝜃 = 𝑣 (1)
𝑏 2 + 𝐿2 − 2𝑏𝐿 cos 𝜃
𝑣=2 𝑠ሶ
𝐿 tan 𝜃
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion 2

Prob5/42. The hydraulic cylinder imparts a constant upward velocity vA = 0.2 m /s

to corner A of the rectangular container during an interval of its motion. For the
instant when = 20°, determine the velocity and acceleration of roller B. Also,
determine the corresponding angular velocity of edge CD.
Source
Problem 5/39
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion 2

Prob5/42. The hydraulic cylinder imparts a constant upward velocity vA = 0.2 m /s

to corner A of the rectangular container during an interval of its motion. For the
instant when = 20°, determine the velocity and acceleration of roller B. Also,
determine the corresponding angular velocity of edge CD.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion 2

Prob5/42. The hydraulic cylinder imparts a constant upward velocity vA = 0.2 m /s

to corner A of the rectangular container during an interval of its motion. For the
instant when = 20°, determine the velocity and acceleration of roller B. Also,
determine the corresponding angular velocity of edge CD.
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS

Kinematics of rigid Body: Absolute Motion 2

Prof. S S Patil
Department of Mechanical Engineering
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion

Prob5/37. Link OA rotates with a clockwise angular velocity 𝜔 = 7 rad /s.

Determine the velocity of point B for the posi𝑡𝑖on 𝜃 = 30°. Use the
values b = 80 mm, d = 100 mm, and h = 30 mm.
Prob5/37. Link OA rotates with a clockwise angular velocity 𝜔 = 7 rad /s. Determine the velocity of point B
for the posi𝑡𝑖on 𝜃 = 30°. Use the values b = 80 mm, d = 100 mm, and h = 30 mm.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion

Prob5/54. Angular oscillation of the slotted link is achieved by the crank OA, which
rotates clockwise at the steady speed N = 120 rev/min. Determine an expression
for the angular velocity 𝛽ሶ of the slotted link in terms of 𝜃.

Source
Problem 5/54
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
Prob5/54. Angular oscillation of the slotted link is achieved by the crank OA, which rotates clockwise at the
steady speed N = 120 rev/min. Determine an expression for the angular velocity 𝛽ሶ of the slotted link in terms
of 𝜃.
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS

Kinematics of rigid Body: Relative Velocity

Prof. S S Patil
Department of Mechanical Engineering
 ENGINEERING Mechanics : DYNAMICS
Kinematics of rigid Body: Relative Velocity

o Motion Relative to Translating Axes (Art. 2/8)

o vA = vB + vA/B

o Relative Velocity due to Rotation

o Choose two points on the same body, A and B,
separated by a distance r.
o Motion of one point, as seen by an observer
translating with the other point, must be circular
since the radial distance between the two points
is constant.
ENGINEERING Mechanics : DYNAMICS
Kinematics of rigid Body: Relative Velocity due to Rotation

o During an interval of motion, Δt…

o Point A moves to A′ through the displacement ΔrA.
o Point B moves to B′ through the displacement ΔrB.
o Motion can be considered in two stages…
o Stage 1:
The body translates to the parallel configuration
AʺB′ through the displacement ΔrB.
o Stage 2:
The body rotates about B′ through the angular
displacement Δθ. This is fixed-axis rotation of the
body about point B′ and rotates the body into
configuration A′B′.
ENGINEERING Mechanics : DYNAMICS
Kinematics of rigid Body: Relative Velocity due to Rotation

o With B as the reference point…

ΔrA = ΔrB + ΔrA/B
where ΔrA/B = r Δθ as Δθ approaches 0, and we see
that the relative linear motion ΔrA/B is accompanied
by the absolute angular motion Δθ as seen from the
translating axes x′-y′.
o Divide both sides of the equation by Δt and take a
limit…
vA = vB + vA/B
which appears to be the same equation as before,
except now the term vA/B results from rotation of the
body.
 ENGINEERING Mechanics : DYNAMICS
Kinematics of rigid Body: Relative Velocity due to Rotation

o Magnitude of vA/B

• Vector Form of vA/B

• Note that the relative velocity component is always

perpendicular to the line joining the two points in
question, and that the position vector r proceeds
from point B and goes toward point A.
ENGINEERING Mechanics : DYNAMICS
Kinematics of rigid Body: Relative Motion

o Motion Relative to B

o Motion Relative to A

o Comment
• ΔrB/A = -ΔrA/B
• The same equations would result since the
position vector written from A to B would be the
negative of the position vector written from B to A.
• Rotation of the body is absolute for either
perspective, and is counterclockwise in the
derivation shown.
• Therefore… vB/A = -vA/B
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Interpretation of Relative Velocity Equation

• Separate Translation and Rotation Components

• Comments
• Relative linear velocity term is always perpendicular to the line joining the two
points in question.
• The relative velocity equation can also be used to analyze constrained sliding
contact between two links in a mechanism. Choose two points, A and B, as
coincident points, one on each link, for the instant under consideration. In this
case, the distance between the two points is not constant.
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Solution of Relative Motion Equations

o Three Solution Categories

1. Scalar Algebra and Geometry

2. Vector Algebra

3. Graphical Construction

Sketch the vector polygon paying close attention to the

head-to-tail combination of the vectors to ensure it agrees
with the equation. From this sketch, you can write scalar
component equations by projecting the vectors along
convenient directions. Simultaneous equations can be
avoided by a careful choice of the projections.
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Solution of Relative Motion Equations
• Alternatively, each term in the relative-motion equation may be
written in terms of its i- and j-components, from which you will
obtain two scalar equations when the equality is applied,
separately, to the coefficients of the i- and j-terms.
• Graphical solutions are particularly useful when the given
geometry results in awkward mathematical expressions. First,
construct the known vectors in their correct positions using a
convenient scale. Then, construct the unknown vectors which
complete the polygon and satisfy the vector equation. Finally,
measure the unknown vectors directly from the drawing.
• Note that a vector equation in two dimensions is equivalent to
two scalar equations so that at most two scalar unknowns can be
determined. The unknowns might be the magnitude of one
vector and the direction of another
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS

Kinematics of rigid Body: Relative Velocity

Prof. S S Patil
Department of Mechanical Engineering
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion
Prob5/70. The rider of the bicycle shown pumps steadily to maintain a constant
speed of 16 km/h against a slight head wind. Calculate the maximum and minimum
magnitudes of the absolute velocity of the pedal A.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion
Prob5/70. The rider of the bicycle shown pumps steadily to maintain a constant
speed of 16 km/h against a slight head wind. Calculate the maximum and minimum
magnitudes of the absolute velocity of the pedal A.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion
Prob5/70. The rider of the bicycle shown pumps steadily to maintain a constant
speed of 16 km/h against a slight head wind. Calculate the maximum and minimum
magnitudes of the absolute velocity of the pedal A.
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion

Prob5/83. In the design of a produce-processing plant, roller trays of produce are

to be oscillated under water spray by the action of the connecting link AB and
crank OB. For the instant when 𝜃 = 15°, the angular velocity of AB is 0.086 rad/s
clockwise. Find the corresponding angular velocity 𝜃ሶ of the crank and the velocity
vA of the tray. Solve the relative velocity equation by either vector algebra or
vector geometry.

Source
Problem 5/69
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
Prob5/83. In the design of a produce-processing plant, roller trays of produce are to be oscillated
under water spray by the action of the connecting link AB and crank OB. For the instant when 𝜃 =
15°, the angular velocity of AB is 0.086 rad/s clockwise. Find the corresponding angular velocity 𝜃ሶ
of the crank and the velocity vA of the tray. Solve the relative velocity equation by either vector
algebra or vector geometry.

0.9 0.3 𝑣𝐵 = 𝜔𝑜𝐵 × 𝑟0𝐵

=
𝑠𝑖𝑛75 𝑠𝑖𝑛 ∝
0.3 𝑠𝑖𝑛75
𝑣𝐵 = 0.3 𝜔𝑂𝐵
∝ = sin−1 = 18.8° 0.0774 0.3𝜔𝑂𝐵 75
0.9 ∝
=
𝑣𝐴/𝐵 = 𝜔𝐴/𝐵 × 𝑟𝐴𝐵 𝑠𝑖𝑛15 sin(90 − 18.8)
vA
𝑣𝐴/𝐵 = 0.86 × 0.9 = 0.0774 𝑚/𝑠 ∝ 15
vA/B
vB

0.0774 × sin(90 − 18.8)

𝜔𝑂𝐵 = = 0.0944 𝑟𝑎𝑑/𝑠
0.3 × 𝑠𝑖𝑛15
𝑣𝐴 = 𝑣𝐴/𝐵 sin ∝ + 𝑣𝐵 cos 15

𝑣𝐴 = 0.0774 × sin 18.8 + 0.3 × 9.44 × cos 15 = 0.298 𝑚/𝑠

 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS

Kinematics of rigid Body: Relative Motion

Prof. S S Patil
Department of Mechanical Engineering
 ENGINEERING Mechanics : DYNAMICS
Kinematics of rigid Body: Relative Motion

• Motion Relative to Translating Axes (Art. 2/8)

vA = vB + vA/B

• Relative Velocity due to Rotation

• Choose two points on the same body, A and B,
separated by a distance r.
• Motion of one point, as seen by an observer
translating with the other point, must be circular
since the radial distance between the two points
is constant.
• Illustration
ENGINEERING Mechanics : DYNAMICS
Kinematics of rigid Body: Relative Motion

• During an interval of motion, Δt…

• Point A moves to A′ through the displacement ΔrA.
• Point B moves to B′ through the displacement ΔrB.

• Motion can be considered in two stages…

• Stage 1: the body translates to the parallel
configuration AʺB′ through the displacement ΔrB.
• Stage 2: the body rotates about B′ through the
angular displacement Δθ. This is fixed-axis rotation
of the body about point B′ and rotates the body
into configuration A′B′.
ENGINEERING Mechanics : DYNAMICS
Kinematics of rigid Body: Relative Motion

• With B as the reference point…

ΔrA = ΔrB + ΔrA/B
where ΔrA/B = rΔθ as Δθ approaches 0, and we see
that the relative linear motion ΔrA/B is accompanied
by the absolute angular motion Δθ as seen from the
translating axes x′-y′.
• Divide both sides of the equation by Δt and take a
limit…
vA = vB + vA/B
which appears to be the same equation as before,
except now the term vA/B results from rotation of the
body.
 ENGINEERING Mechanics : DYNAMICS
Kinematics of rigid Body: Relative Motion

• Magnitude of vA/B

• Vector Form of vA/B

• Note that the relative velocity component is always perpendicular

to the line joining the two points in question, and that the position
vector r proceeds from point B and goes toward point A.
ENGINEERING Mechanics : DYNAMICS
Kinematics of rigid Body: Relative Motion

• Motion Relative to B

• Motion Relative to A

• Comment
• ΔrB/A = -ΔrA/B
• The same equations would result since the
position vector written from A to B would be the
negative of the position vector written from B to A.
• Rotation of the body is absolute for either
perspective, and is counterclockwise in the
derivation shown.
• Therefore… vB/A = -vA/B
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion
• Separate Translation and Rotation Components

• Comments
• Relative linear velocity term is always perpendicular to the line joining the two
points in question.
• The relative velocity equation can also be used to analyze constrained sliding
contact between two links in a mechanism. Choose two points, A and B, as
coincident points, one on each link, for the instant under consideration. In this case,
the distance between the two points is not constant.
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion

• Three Solution Categories

1. Scalar Algebra and Geometry

2. Vector Algebra

3. Graphical Construction
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion
• Sketch the vector polygon paying close attention to the head-to-tail combination of
the vectors to ensure it agrees with the equation. From this sketch, you can write
scalar component equations by projecting the vectors along convenient directions.
Simultaneous equations can be avoided by a careful choice of the projections.
• Alternatively, each term in the relative-motion equation may be written in terms of its
i- and j-components, from which you will obtain two scalar equations when the
equality is applied, separately, to the coefficients of the i- and j-terms.
• Graphical solutions are particularly useful when the given geometry results in
awkward mathematical expressions. First, construct the known vectors in their
correct positions using a convenient scale. Then, construct the unknown vectors
which complete the polygon and satisfy the vector equation. Finally, measure the
unknown vectors directly from the drawing.
• Note that a vector equation in two dimensions is equivalent to two scalar equations
so that at most two scalar unknowns can be determined. The unknowns might be the
magnitude of one vector and the direction of another
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion

Prob5/65. The circular disk of radius 0.2 m is released very

near the horizontal surface with a velocity of its center
vO = 0.7 m/s to the right and a clockwise angular velocity
ω = 2 rad/sec. Determine the velocities of points A and P of
the disk. Describe the motion upon contact with the
ground.

Source
Problem 5/65
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion

Prob5/72. For the instant represented, point B crosses the horizontal axis through
point O with a downward velocity v = 0.6 m/s. Determine the corresponding value
of the angular velocity ωOA of link OA.

Source
Problem 5/72
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion

Prob5/68. The magnitude of the absolute velocity of point A on the automobile tire
is 12 m/s when A is in the position shown. What are the corresponding velocity vO of
the car and the angular velocity ω of the wheel? (The wheel rolls without slipping.)

Source
Problem 5/34
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion

Prob5/69. The two pulleys are riveted together to form

single rigid unit, and each of the two cables is securely
wrapped around its respective pulley. If point A on the
hoisting cable has a velocity v=0.3 m/s, determine the
magnitudes of the velocity of point O and the velocity of
point B on the larger pulley for the position shown.
Source
Problem 5/69
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion
ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion

Prob5/83. In the design of a produce-processing plant, roller trays of produce are

to be oscillated under water spray by the action of the connecting link AB and
crank OB. For the instant when 𝜃 = 15°, the angular velocity of AB is 0.086 rad/s
clockwise. Find the corresponding angular velocity 𝜃ሶ of the crank and the velocity
vA of the tray. Solve the relative velocity equation by either vector algebra or
vector geometry.

Source
Problem 5/69
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
Prob5/83. In the design of a produce-processing plant, roller trays of produce are to be oscillated under
water spray by the action of the connecting link AB and crank OB. For the instant when 𝜃 = 15°, the
angular velocity of AB is 0.086 rad/s clockwise. Find the corresponding angular velocity 𝜃ሶ of the crank and
the velocity vA of the tray. Solve the relative velocity equation by either vector algebra or vector geometry.

0.9 0.3 𝑣𝐵 = 𝜔𝑜𝐵 × 𝑟0𝐵

=
𝑠𝑖𝑛75 𝑠𝑖𝑛 ∝
0.3 𝑠𝑖𝑛75
𝑣𝐵 = 0.3 𝜔𝑜/𝐵 ∝ 75
−1
∝ = sin = 18.8° 0.774 0.3𝜔𝑜𝐵
0.9
=
𝑣𝐴/𝐵 = 𝜔𝐴/𝐵 × 𝑟𝐴𝐵 𝑠𝑖𝑛15 sin(90 − 18.8)
vA
𝑣𝐴/𝐵 = 0.86 × 0.9 = 0.0774 𝑚/𝑠 ∝ 15
vA/B
vB

0.774 × sin(90 − 18.8)

𝜔𝑜𝐵 = = 0.944 𝑟𝑎𝑑/𝑠
0.3 × 𝑠𝑖𝑛15
𝑣𝐴 = 𝑣𝐴/𝐵 sin ∝ + 𝑣𝐵 cos 15

𝑣𝐴 = 0.774 × sin 18.8 + 0.3 × 9.44 × cos 15 = 0.298 𝑚/𝑠

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Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS

Kinematics of rigid Body: Relative Velocity 3

Prof. S S Patil
Department of Mechanical Engineering
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion

Prob5/59. The right-angle link AB has a clockwise angular velocity ω = 2 rad/sec

when in the position shown. Determine the velocity of B with respect to A for
this instant.

Source
Problem 5/59
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
Prob5/59. The right-angle link AB has a clockwise angular velocity ω = 2 rad/sec when in the
position shown. Determine the velocity of B with respect to A for this instant.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion
Prob5/66. For a short interval, collars A and B are sliding along the fi xed vertical
shaft with velocities vA = 2 m/s and vB = 3 m/s in the directions shown. Determine
the magnitude of the velocity of point C for the position = 60°.

Source
Problem 5/66
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
Prob5/66. For a short interval, collars A and B are sliding along the fi xed vertical shaft with
velocities vA = 2 m/s and vB = 3 m/s in the directions shown. Determine the magnitude of the
velocity of point C for the position = 60°.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion

Prob5/67. The right-angle link has a counterclockwise angular velocity of 3 rad /s

at the instant represented, and point B has a velocity vB = 2i − 0.3j m/s. Determine
the velocity of A using vector notation. Sketch the vector polygon which
corresponds to the terms in the relative-velocity equation and estimate or
measure the magnitude of vA.
Prob5/67. The right-angle link has a counterclockwise angular velocity of 3 rad /s at the instant
represented, and point B has a velocity vB = 2i − 0.3j m/s. Determine the velocity of A using vector
notation. Sketch the vector polygon which corresponds to the terms in the relative-velocity
equation and estimate or measure the magnitude of vA.
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS

Kinematics of rigid Body: Relative Velocity 4

Prof. S S Patil
Department of Mechanical Engineering
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion
Prob5/74. At the instant represented, the velocity of point A of the 1.2-m bar is
3 m/s to the right. Determine the speed vB of point B and the angular velocity ω
of the bar. The diameter of the small end wheels may be neglected.

Source
Problem 5/74
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
Prob5/74. At the instant represented, the velocity of point A of the 1.2-m bar is 3 m/s to the right.
Determine the speed vB of point B and the angular velocity ω of the bar. The diameter of the small
end wheels may be neglected.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion
Prob5/86. A four-bar linkage is shown in the figure (the ground “link” OC is
considered the fourth bar). If the drive link OA has a counterclockwise angular
velocity ω0 = 10 rad/s, determine the angular velocities of links AB and BC.

Source
Problem 5/36
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
Prob5/86. A four-bar linkage is shown in the figure (the ground “link” OC is considered the fourth
bar). If the drive link OA has a counterclockwise angular velocity ω0 = 10 rad/s, determine the
angular velocities of links AB and BC.
Prob5/86. A four-bar linkage is shown in the figure (the ground “link” OC is considered the fourth
bar). If the drive link OA has a counterclockwise angular velocity ω0 = 10 rad/s, determine the
angular velocities of links AB and BC.
Prob5/86. A four-bar linkage is shown in the figure (the ground “link” OC is considered the fourth
bar). If the drive link OA has a counterclockwise angular velocity ω0 = 10 rad/s, determine the
angular velocities of links AB and BC.
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Relative Motion

Prob5/87. The mechanism is part of a latching device where rotation of link AOB is
controlled by the rotation of slotted link D about C. If member D has a clockwise
angular velocity of 1.5 rad/s when the slot is parallel to OC, determine the
corresponding angular velocity of AOB. Solve graphically or geometrically

Source
Problem 5/87
J. L. Meriam, L. G. Kraige and J. N. Bolton, “Engineering
Mechanics: Dynamics” SI VERSION, Wiley India, 8th
Edition, 2017.
Prob5/87. The mechanism is part of a latching device where rotation of link AOB is controlled by
the rotation of slotted link D about C. If member D has a clockwise angular velocity of 1.5 rad/s
when the slot is parallel to OC, determine the corresponding angular velocity of AOB. Solve
graphically or geometrically
Prob5/87. The mechanism is part of a latching device where rotation of link AOB is controlled by
the rotation of slotted link D about C. If member D has a clockwise angular velocity of 1.5 rad/s
when the slot is parallel to OC, determine the corresponding angular velocity of AOB. Solve
graphically or geometrically
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: Mass Moment of Inertia

Prof. S S Patil
Department of Mechanical Engineering
 ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: Mass Moment of Inertia
Consider an element of mass dm in a body of mass m, which is rotating
about an axis O-O with an angular acceleration .
Acceleration tangent to circular path of elemental mass = r
The tangential force on this element = r dm
The moment of this force about the axis O-O = Force x Distance = r2 dm
The sum of the moments of these forces for all elements
𝑴 = ‫ ׬‬r2 dm
In a rigid body, . is the same for all the elements in the body and we
may take it outside the integral sign.
𝑴 =  ‫ ׬‬r2 dm
The remaining integral is called the mass moment of inertia I of the
body about the axis O-O and is
𝑰 = ‫ ׬‬r2 dm
ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: Mass Moment of Inertia

𝑰𝒙𝒙 = න 𝒓𝟐𝒙 dm = න 𝒚𝟐 + 𝒛𝟐 dm

𝑰𝒚𝒚 = න 𝒓𝟐𝒚 dm = න 𝒛𝟐 + 𝒙𝟐 dm

𝑰𝒛𝒛 = න 𝒓𝟐𝒛 dm = න 𝒙𝟐 + 𝒚𝟐 dm

• In SI units, 𝑰 = ‫ ׬‬r2 dm = (𝒌𝒈𝒎𝟐 )

As the mass m of a body is a measure of the resistance to

translational acceleration, the moment of inertia I is a
measure of resistance to rotational acceleration of the body.
ENGINEERING MECHANICS : DYNAMICS
Radius of Gyration

The radius of gyration k can be thought of as the distance

away from an axis at which all the mass of a body may be
concentrated and not change the mass moment of inertia
about that axis

𝑰 = න k2 m

𝑰
𝒌=
𝒎

The radius of gyration k is a measure of the distribution of

mass of a given body about the axis in question.
ENGINEERING MECHANICS : DYNAMICS
PARALLEL-AXIS THEOREM

• Overview
• Illustration with an Axis through C

– First term is IO = IG = 𝐼.ҧ

– Second term is md2, where d is the distance between the two
parallel axes.
– Third term is zero since it gives the u-coordinate for the mass
center with respect to the axis through G, which is the mass
center.
• Result
 ENGINEERING MECHANICS : DYNAMICS
PARALLEL-AXIS THEOREM

If the moment of inertia IG of a body about an axis passing through the body’s
mass center G is known, then the moment of inertia I about any other parallel
axis is given by

OR

where
m = mass of body
d = perpendicular distance between the parallel axes
 ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: Mass Moment of Inertia
The parallel-axis theorem for obtaining the radius of gyration k
about an axis which is a distance d from a parallel axis through the
mass center is obtained by substituting the expression for radii of
gyration in the above equation

Remember that the transfer cannot be made unless one axis

passes through the center of mass and unless the axes are parallel.
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical
Use the mass element, dm = 𝝆𝒅𝒙, where 𝝆 is the mass per unit length, and
determine the mass moments of inertia 𝑰𝒚𝒚 and 𝑰𝒚′𝒚′ of the homogeneous
slender rod of mass and length 𝒍.

𝝆 𝒍𝟑 −𝒍𝟑
𝒎𝒂𝒔𝒔, 𝒎 = 𝝆𝒍 𝑰𝒚𝒚 = −
𝟑 𝟖 𝟖
𝒅𝑰𝒚𝒚 = 𝒙𝟐 𝒅𝒎 = 𝝆𝒙𝟐 𝒅𝒙 𝟏 𝟑
𝑰𝒚𝒚 = 𝝆𝒍
𝟏𝟐
𝒍/𝟐 𝒍/𝟐
𝒙𝟑 𝟏 𝟑 𝒎 𝟏
𝑰𝒚𝒚 = න 𝒅𝑰𝒚𝒚 = න 𝝆𝒙𝟐 𝒅𝒙 = 𝝆 𝑰𝒚𝒚 = 𝝆𝒍 × = 𝒎𝒍𝟐
𝟑 𝟏𝟐 𝝆𝒍 𝟏𝟐
−𝒍/𝟐 −𝒍/𝟐
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical
Use the mass element, dm = 𝝆𝒅𝒙, where 𝝆 is the mass per unit length, and
determine the mass moments of inertia 𝑰𝒚𝒚 and 𝑰𝒚′𝒚′ of the homogeneous
slender rod of mass and length 𝒍.

𝒎𝒂𝒔𝒔, 𝒎 = 𝝆𝒍 𝝆 𝒎
𝑰𝒚′𝒚′ = 𝒍𝟑 − 𝟎 ×
𝟑 𝝆𝒍
𝒅𝑰𝒚′𝒚′ = 𝒙𝟐 𝒅𝒎 = 𝝆𝒙𝟐 𝒅𝒙
𝟏 𝟐
𝒍 𝒍 𝑰𝒚′𝒚′ = 𝒎𝒍
𝒙𝟑 𝟑
𝑰𝒚′𝒚′ = න 𝒅𝑰𝒚′𝒚′ = න 𝝆𝒙𝟐 𝒅𝒙 = 𝝆
𝟑 𝟎
𝟎
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical
Use the mass element, dm = 𝝆𝒅𝒙, where 𝝆 is the mass per unit length, and
determine the mass moments of inertia 𝑰𝒚𝒚 and 𝑰𝒚′𝒚′ of the homogeneous
slender rod of mass and length 𝒍.

𝑰𝒚′𝒚′ = 𝑰𝒚𝒚 + 𝒎𝒅𝟐 𝟏 𝟐

𝑰𝒚′𝒚′ = 𝒎𝒍
𝟑
𝟐
𝟏 𝟐
𝒍
𝑰𝒚′𝒚′ = 𝒎𝒍 + 𝒎
𝟏𝟐 𝟐
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Department of Mechanical Engineering
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+91 80 2672 6622 Extn 252
 Created by free version of 2PDF
ENGINEERING MECHANICS DYNAMICS

Jyothsna K Moorthy
Department of Mechanical Engineering

1
ENGINEERING MECHANICS DYNAMICS

Mass Moments of Inertia

Jyothsna K Moorthy
Department of Mechanical Engineering
2
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

• Mass Moment of Inertia about an axis

• Radius of gyration
• Transfer theorems
• Mass Moments of Inertia of Composite bodies.
Reference: Appendix B
Engineering Mechanics Dynamics by J L Meriam, L G Kraige , J N Bolton
8th edition

3
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

A disc is accelerating from ω1 to ω2 with an angular acceleration α.

The elemental masses at locations 1 &2 are ‘dm’
@ t  t1 : v1  ω1 r1 ; v 2  ω1 r2 ;
v1, a1,F1 1 v2, a2,F2

r1
@ t  t 2 : v  ω 2 r1 ; v  ω 2 r2 ;
'
1
'
2

r2
2 a1  r1α ; a 2  r2 α
F1  dm.r1α; F2  dm.r2 α
ω1 T1  dm. r α ; T2  dm. r α
1
2 2
2

4
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

v1, a1,F1 1
• The torque required to accelerate the entire v2, a2,F2
r1
disc T   dm. r .α
2
2
r2
• α is independent of the radial distance of the elemental mass.
ω1
Therefore T  α  dm. r 2

 α I where I   dm. r 2

I is the Mass Moment of inertia of the disc about its axis.

5
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

• If ‘m’ is the mass of the disc, k  I

is the Radius of Gyration.
m
• k is a measure of the distribution of mass w.r.t the axis of rotation.
• If the entire mass of the is concentrated at a point at a distance ‘k’ from
the axis of rotation, the MMI would be the same.

6
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia- Transfer of Axis

 If the MMI of a body is known about its mass- centre, its MMI
about a parallel axis can be determined.

I   ro2 dm - MMI about mass-centre axis

   
2 2 2
d dm d dm md

 u dm  0 - By the definition of centre of mass

I  I  md 2 7
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia – Transfer of Axis

MI about the x-, y- and z- axes are labeled as Ixx, Iyy and
Izz

I xx   rx2 dm   (y2  x 2 ) dm
I yy   ry2 dm   (z 2  x 2 ) dm
I zz   rz2 dm   (x 2  y 2 ) dm

For a thin plate of thickness ‘t’ and density ρ

I zz   r 2 dm  ρt  r 2 dA  ρtI z

Iz is the Polar Moment of Inertia of the plate

area about z-axis 8
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia- Transfer of Axis

If ‘t’ is small compared to the dimensions of

the plate in its plane

I xx   r 2dm  ρt  y 2 dA  ρtI x
I yy   r 2dm  ρt  x 2 dA  ρtI y
and
I zz  I xx  I yy

9
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia- Composite Bodies

• The MMI of a composite body about

an axis is the sum of the MMI of the
individual parts about the same axis.

• The composite body is defined by

positive and negative volumes where
negative volume is the region where
the material is removed to form a hole.

10
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia- Problems

L
I xx  2  ρ.dz .z 2
0

mL2

3
I x1 x 1   dm.rx21
m - mass of slender rod rx1 here is the
2L- Length of the rod distance of dm from
ρ - m/2L – mass per unit length x1-x1
2L
dm - elemental mass at a distance z from x-x
I x1x1   ρ.dz .z 2
= ρ.dz
0

I xx   dm.r
2
x 
4mL2
11
3
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia- Problems

dm = ρ.L. a da. dθ
m = πr2.ρL

I zz   dm.rz2
r 2π
 ρL   a.da.d θ.d 2
0 0
dA = (a.dθ)da - Elemental area
r4
 ρL.2π.
dV = (a.dθ)da.L - Elemental volume 4
L- Length of the rod mr 2

2
ρ - m/L - mass per unit length
12
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia- Problems

dm  x.dy.ρ.d I xx   dm.y 2
b
a 4aρt 2 2
 b 2  y 2 dy.ρy.   y b  y 2
dy
b b 0
b
a 2 b2
m   dm  4 b  y 2 dy.ρy  π.ρ.a.b.t
0
b 4
x 2 y2  π.ab.t.ρ mb 2
2
 2 1 
a b 4
a 2
x b  y2 ma 2
b I yy 
4
b 2
y a  x2 I zz  I xx  I yy
a
m(a 2  b 2 )

4 13
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia - Problems

For a circular disc a=b=r

mr 2
I xx  I yy 
4
mr 2
I zz 
2

14
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia- Problems

I xx   dm.rx2 I zz   dm.r 2
π/2
 r 2  dm
 4ρr  sin θ.dθ
3 2

0
 m.r 2
 πρr 3
m- mass of the ring mr 2

ρ = m/2πr 2
mr 2
dm = ρ.r.dθ I xx  I yy 
2
rx = y = r.sinθ

15
THANK YOU

Jyothsna K oorthy
Department of Mechanical Engineering
[email protected]
+91 80 6666 3333 Extn 252

16
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

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DYNAMICS

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Department of Mechanical Engineering
[email protected]
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ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: Mass Moment of Inertia 2

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical
Use the mass element, dm = 𝝆𝒅𝒙, where 𝝆 is the mass per unit length, and
determine the mass moments of inertia 𝑰𝒚𝒚 and 𝑰𝒚′𝒚′ of the homogeneous
slender rod of mass and length 𝒍.

𝝆 𝒍𝟑 −𝒍𝟑
𝒎𝒂𝒔𝒔, 𝒎 = 𝝆𝒍 𝑰𝒚𝒚 = −
𝟑 𝟖 𝟖
𝒅𝑰𝒚𝒚 = 𝒙𝟐 𝒅𝒎 = 𝝆𝒙𝟐 𝒅𝒙 𝟏 𝟑
𝑰𝒚𝒚 = 𝝆𝒍
𝟏𝟐
𝒍/𝟐 𝒍/𝟐
𝒙𝟑 𝟏 𝟑 𝒎 𝟏
𝑰𝒚𝒚 = න 𝒅𝑰𝒚𝒚 = න 𝝆𝒙𝟐 𝒅𝒙 = 𝝆 𝑰𝒚𝒚 = 𝝆𝒍 × = 𝒎𝒍𝟐
𝟑 𝟏𝟐 𝝆𝒍 𝟏𝟐
−𝒍/𝟐 −𝒍/𝟐
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical
Use the mass element, dm = 𝝆𝒅𝒙, where 𝝆 is the mass per unit length, and
determine the mass moments of inertia 𝑰𝒚𝒚 and 𝑰𝒚′𝒚′ of the homogeneous
slender rod of mass and length 𝒍.

𝒎𝒂𝒔𝒔, 𝒎 = 𝝆𝒍 𝝆 𝒎
𝑰𝒚′𝒚′ = 𝒍𝟑 − 𝟎 ×
𝟑 𝝆𝒍
𝒅𝑰𝒚′𝒚′ = 𝒙𝟐 𝒅𝒎 = 𝝆𝒙𝟐 𝒅𝒙
𝟏 𝟐
𝒍 𝒍 𝑰𝒚′𝒚′ = 𝒎𝒍
𝒙𝟑 𝟑
𝑰𝒚′𝒚′ = න 𝒅𝑰𝒚′𝒚′ = න 𝝆𝒙𝟐 𝒅𝒙 = 𝝆
𝟑 𝟎
𝟎
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical
Use the mass element, dm = 𝝆𝒅𝒙, where 𝝆 is the mass per unit length, and
determine the mass moments of inertia 𝑰𝒚𝒚 and 𝑰𝒚′𝒚′ of the homogeneous
slender rod of mass and length 𝒍.

𝑰𝒚′𝒚′ = 𝑰𝒚𝒚 + 𝒎𝒅𝟐 𝟏 𝟐

𝑰𝒚′𝒚′ = 𝒎𝒍
𝟑
𝟐
𝟏 𝟐
𝒍
𝑰𝒚′𝒚′ = 𝒎𝒍 + 𝒎
𝟏𝟐 𝟐
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical
Determine the moment of inertia and radius of Gyration of a
homogeneous right-circular cylinder of mass m and radius r
about its central axis O-O.
Prob5/72. Determine the moment of inertia and radius of Gyration of a homogeneous right-
circular cylinder of mass m and radius r about its central axis O-O.
Mass of an element in cylindrical coordinates, 𝑑𝑚 = 𝜌 𝑑𝑣 = 𝜌 t 𝑟𝑜 𝑑𝑟𝑜 𝑑𝜃
The moment of inertia of an element about the axis of the cylinder i.e., O-O axis

𝑑𝐼𝑜𝑜 = 𝑟𝑜2 𝑑𝑚
The moment of inertia about the axis of the cylinder
2𝜋 𝑟
𝐼𝑜𝑜 = න 𝑟𝑜2 𝑑𝑚 = න 𝑟𝑜2 𝜌 t 𝑟𝑜 𝑑𝑟𝑜 𝑑𝜃 = 𝜌 t න න 𝑟𝑜3 𝑑𝑟𝑜 𝑑𝜃
0 0
𝑟 4 2𝜋 𝑟4 𝑟4 𝑟4 𝑚
=𝜌t න 𝑑𝜃 =𝜌t × 2𝜋 = 𝜋𝜌 t = 𝜋𝜌 t ×
4 0 4 2 2 𝜌𝜋𝑟 2 𝑡

1
= 𝑚𝑟 2
2
1
𝐼 𝑚𝑟 2 𝑟
The radius of gyration, 𝑘 = = 2 =
𝑚 𝑚 2
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical
Show that the mass moment inertia of right circular homogeneous cylinder
shown in Figure about its central axis O-O is 𝐼 = 𝑚𝑟 2 . The differential
element to be used is shown in the figure.
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical

Mass of an element, 𝑑𝑚 = 𝜌 𝑑𝑣 = 𝜌 2𝜋 𝑟𝑜 𝑑𝑟𝑜 𝑡

The moment of inertia of an element about the axis of the cylinder i.e., O-O axis
𝑑𝐼𝑜𝑜 = 𝑟𝑜2 𝑑𝑚 = 𝑟𝑜2 𝜌 2𝜋 𝑟𝑜 𝑑𝑟𝑜 𝑡 = 2𝜋𝜌𝑡𝑟𝑜3 𝑑𝑟𝑜
The moment of inertia about the axis of the cylinder
𝑟
𝐼𝑜𝑜 = න 𝑟𝑜2 𝑑𝑚 = න 2𝜋𝜌𝑡𝑟𝑜3 𝑑𝑟𝑜 = 2𝜋𝜌𝑡 න 𝑟𝑜3 𝑑𝑟𝑜
0
𝑟4
𝐼𝑜𝑜 = 2𝜋𝜌𝑡
4
𝑟4 𝑚
𝐼𝑜𝑜 = 2𝜋𝜌𝑡 ×
4 𝜌𝜋𝑟 2 𝑡
1
𝐼𝑜𝑜 = 𝑚𝑟 2
2
 ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical

Determine the mass moment of inertia about the x-axis of the

solid spherical segment of mass m.
 ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical

Determine the mass moment of inertia about the x-axis of the solid
spherical segment of mass m.
𝒅𝒎 = 𝝆𝝅𝒚𝟐 ⅆ𝒙

𝒅𝒎 = 𝝆𝝅 𝑹𝟐 − 𝒙𝟐 ⅆ𝒙
𝑹

𝒎 = 𝝆𝝅 න 𝑹𝟐 − 𝒙𝟐 ⅆ𝒙
𝑹/𝟐
𝟑 𝑹
𝒙
𝒎 = 𝝆𝝅 𝑹𝟐 𝒙 −
𝟑 𝑹/𝟐
𝟑
𝑹
𝟑
𝑹 𝑹 𝟐
𝒎 = 𝝆𝝅 𝑹𝟑 − − 𝑹𝟐 −
𝟑 𝟐 𝟑
𝟓
𝒎= 𝝆𝝅𝑹𝟑
𝟐𝟒
Prob B/16. Determine the mass moment of inertia about the x-axis of the solid spherical
segment of mass m.
Mass Moment of inertia of element is given by
𝟏 𝟏
𝒅𝑰𝒙𝒙 = 𝒅𝒎𝒚𝟐 = 𝝆𝝅 𝑹𝟐 − 𝒙𝟐 𝒅𝒙 𝑹𝟐 − 𝒙𝟐
𝟐 𝟐
𝑹
𝟏 𝟐
𝑰𝒙𝒙 = 𝝆𝝅 න 𝑹𝟐 − 𝒙𝟐 ⅆ𝒙
𝟐
𝑹/𝟐

𝑹 𝑹
𝟏 𝟏 𝒙𝟓 𝟐𝑹𝟐 𝒙𝟑
𝟐
𝑰𝒙𝒙 = 𝝆𝝅 න 𝑹𝟒 + 𝒙𝟒 − 𝟐𝑹𝟐 𝒙𝟐 ⅆ𝒙 = 𝝆𝝅 𝑹𝟒 𝒙 + −
𝟐 𝟐 𝟓 𝟑 𝑹/𝟐
𝑹/𝟐

𝟑
𝑹
𝟏 𝑹𝟓
𝟐𝑹 𝟓
𝑹 𝟓
(𝑹/𝟐) 𝟐𝑹𝟐
𝟐
𝑰𝒙𝒙 = 𝝆𝝅 𝑹𝟓 + − − 𝑹𝟒 + −
𝟐 𝟓 𝟑 𝟐 𝟓 𝟑

𝟏 𝟓𝟑 𝟓
𝟏 𝟓𝟑 𝟓
𝒎 𝟓𝟑
𝑰𝒙𝒙 = 𝝆𝝅𝑹 = 𝝆𝝅𝑹 × = 𝒎𝑹𝟐
𝟐 𝟒𝟖𝟎 𝟐 𝟒𝟖𝟎 𝟓
𝝆𝝅𝑹𝟑 𝟐𝟎𝟎
𝟐𝟒
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
 Created by free version of 2PDF
ENGINEERING MECHANICS DYNAMICS

Jyothsna K Moorthy
Department of Mechanical Engineering

1
ENGINEERING MECHANICS DYNAMICS

Mass Moments of Inertia- Problems

Session-2

Jyothsna K Moorthy
Department of Mechanical Engineering
2
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

Figures and Problems are taken from Engineering Mechanics Dynamics , 8th
edition by J L Meriam, L G Kraige , J N Bolton

Session 1
• Mass moment of inertia, Radius of gyration, Transfer of axes
• MMI of a slender rod about its own axis is negligible
• Its MMI about other its other centroidal axis is (ml2)/12 where m,l are its mass and length
• MMI of a cylindrical rod of radius r about its own axis is (mr2)/2
3
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia- Problems
y b
dm  ρt.xdy I xx  4 dm.y 2
x 2 y2 0
b  2 1 b
a 2
b 4aρt 2 2
  
a x 2
y b y dy
a b 0
x b2  y2
b
z b2
b 2  π.ρ.a.b.t
y a  x2 4
a
mb 2

a 2 4
dm  ρt b  y 2 dy. ma 2
b I yy 
b 4
- mass density m   dm  4 dm I zz  I xx  I yy
0
t - Plate thickness
 π.ab.t.ρ m(a 2  b 2 )
 4
4
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia - Problems

y For a circular disc a=b=r

mr 2
I xx  I yy 
x 4
mr 2
z
I zz 
2
r
k
2

5
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia - Problems

Determine the length L of each of

I xx  I xx disc  I xx slender rod
the slender rods of mass m/2
which must be centrally attached mr 2 mL2
 
to the faces of the thin 4 3
homogeneous disk of mass m in
order to make the mass moments I zz  I zz disc  I zz slender rod
of inertia of the unit about the x- mr 2
and z-axes equal.  0
2
r 3
I xx  I zz  L 
2

6
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia- Problems
y
dm  ρr.dθ r
k
I xx   dm. rx2 2
x
rx  y  r.sinθ I zz   dm.rz2
π/2
 r 2  dm
z
I xx  4ρr 3  sin 2θ.dθ
0  m.r 2
 πρr 3 kr
mr 2

2
mr 2
m- mass of the ring I yy  I xx 
2
ρ = m/2πr 7
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia - Problems

A badminton racket is I yy  I yyrod  I yyring m  2π ρ

L
constructed of uniform 
I yy rod  I yy rod  md 2 4
slender rods bent into the L L  L
shape shown. Estimate the
 mL2 r  ;d   L  
m  Lρ; I yy rod  4 4  8
mass moment of inertia 12
83
about the y-axis through O, L L 3L
d   I yyring  L3
2 8 8 128
which is the location of the
player’s hand. The mass I yy  I yyrod  I yyring
 L  3L 
2 2
 43 3
per unit length of the rod I yyrod  ρL     ρL
 12  8   192  43 83 
material is ρ.    ρL3   
 192 128 
d d
I yy ring  I yy-ring  md 2
mr 2
  md 2
2 8
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia - Problems

To find Ixx
1 1 2
dI xx  dm.y  π(r  x 2 ) 2 ρ.dx.
2

2 2
r
1 8
I xx   dm.y 2  πρr 5
r
2 15
2 2
 mr
5
2
kx  r
dm  ρ.πy 2 dx  πρ(r 2  x 2 )dx 5
4
m  ρ. πr 3
3
9
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia - Problems
y
dm  b.dy.t.ρ
mb 2
h/2 I yy 
h m  2  dm  bhtρ 12
x 0

I zz  I xx  I yy
z b I xx   dm.y 2 m 2
 (h  b 2 )
dy h/2 12
 2btρ  y 2 dy
y 0
x x mh 2
I xx 
12
10
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia - Problems

Determine the moments of MMI about z axis MMI about xo axis

inertia of the homogeneous dm  ρ.ab.dz
rectangular parallelepiped of 2 3 dI x x  dI x'x'  dm.z 2
dm.b ab o o

mass m about the centroidal dI y'y'   ρdz. ρ.dz.a 3

b
12 12   ρab.dz.z 2
z- and x0-axes and about the 12
dm.a 2 a 3b
x-axis through one end. dI x'x'   ρdz. l/2
ρ.dz.a 3 b
12 12 Ixoxo  ( 12
 ρab.dz.z 2 )
dI zz  dI x'x'  dI y'y' l / 2

m 2 2
ab
 ρdz. (a 2  b 2 )
 (a  l )
12 12
l
ab
I zz  ρ (a 2  b 2 )  dz
m  ρabl 12 0

where ρ is mass density m(a 2  b 2 )


12 11
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia - Problems

l/ 2
Rod of radius r Ixoxo   (dI xoxo )
m  ρπr 2l l / 2

dm  ρπr dz ρ.r 4 .l ρr 2 l3

 
2
.
4 3 4
MMI about z - axis  r 2 l2 
MMI about x - axis  m  
mr 2  4 12 
l
2 I zz 
I xx  I x o x o  m  2 MMI about x - axis
2 2
MMI about x o - axis l
m 2 I xx  I x o x o  m 
 (a  4l2 ) 2
12 dI x o x o  dI x'x'  dm.z 2
 r 2 l2 
ρ.r 4dz  m  
  ρr 2 .dz.z 2  4 3
4 12
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia - Problems

Calculate the moment of inertia of the Let the axis of rotation be z - z

steel control wheel, shown in section,
about its central axis. There are eight I zz  I hub  8I spoke  I rim
spokes, each of which has a constant
cross-sectional area of 200 mm2. What
I hub
percent n of the total moment of
2 2
inertia is contributed by the outer rim? m o ro mi ri ρπ.502.120 ρπ.25 2
.120
I hub    x50 
2
x252
2 2 2 2
 1103906250.ρ

3 13
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia - Problems

I zz spoke

I zz spoke  I spoke  md 2
L spoke  100; m  ρ.200.100  20000ρ
L spoke
d  50   100
1

2 2

mL2 3
I spoke   16666666.7
12
md 2  20000ρ x 1002
I zz spoke  216666666.7ρ
8Izz spoke  1733333333ρ 14
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

I rim
2 2
m o ro m i ri
I rim  
2 2
ρπ.2002.75 ρπ.1502.75
 x200 
2
x1502
1 2 2
2  1.29e11.ρ
3 I zz  I hub  8Ispoke  I rim
 1.31e11.
Percentage contribution by rim
1.29e11
n x100
1.31e11
n  98% 15
THANK YOU

Jyothsna K Moorthy
Department of Mechanical Engineering
[email protected]
+91 80 6666 3333 Extn 252

16
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

The welded assembly is made of a I yy  Isemi circular plate  Isemi circular ring  2I rod
uniform rod which weighs 0.6kg/m and
the semicircular plate which weighs
.1002
40kg per square meter. Determine the m plate  40x  628000kg
mass moments of inertia of the 2
assembly about the y- axis m ring  0.6 *  *100  188.4kg
m rod  0.6x100  60kg

mr 2 628000x1002
I plate  
8 8
 785e6kgm 2

17
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

mr 2 628000x1002
I ring  
8 8
 785000000kgm 2

18
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

Created by free version of 2PDF

19
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Perpendicular Axis Theorem

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING MECHANICS : DYNAMICS
PERPENDICULAR-AXIS THEOREM
For plane-motion problems where rotation
occurs about an axis normal to the plane
of motion
𝑰𝒛𝒛 = 𝑰𝒙𝒙 + 𝑰𝒚𝒚

which holds good only for a thin flat plate

This equation is very useful when dealing
with a differential mass element taken as a
flat slice of differential thickness, say, dz.
For such a case, it holds and becomes
𝒅𝑰𝒛𝒛 = d𝑰𝒙𝒙 + 𝒅𝑰𝒚𝒚
for axes x and y in the plane of the plate.
ENGINEERING MECHANICS : DYNAMICS
PERPENDICULAR-AXIS THEOREM
An exact relationship between the two moment-of-inertia
expressions exists in the case of flat plates.
The mass moment of inertia 𝑰𝒛𝒛 of the plate about the z-axis
normal to the plate is
𝑰𝒛𝒛 = 𝒓𝟐 𝒅𝒎 = 𝝆𝒕 ‫𝒛𝑰𝒕𝝆 = 𝑨𝒅 𝟐𝒓 ׬‬
𝑰𝒛 = 𝑨𝒓𝒆𝒂 𝒎𝒐𝒎𝒆𝒏𝒕 𝒐𝒇 𝒊𝒏𝒆𝒓𝒕𝒊𝒂 𝒂𝒃𝒐𝒖𝒕 z−axis
Thus, the mass moment of inertia about the z-axis equals
the mass per unit area 𝝆𝒕 times the area moment of
inertia 𝑰𝒛𝒛 of the plate area about the z-axis.
For small t, compared with dimensions of plate in the plane

and
ENGINEERING MECHANICS : DYNAMICS
PERPENDICULAR-AXIS THEOREM: Application

• For the principal centroidal axes on a rectangular plate,

( )
I AA =  t I AA,area =  t 12
1 a 3b = 1 ma 2
12

I BB =  t I BB,area =  t (12

1 ab 3 ) = 1 mb 2
12

I CC  = I AA,mass + I BB,mass = 121 m(a 2 + b 2 )

• For centroidal axes on a circular plate,

( )
I AA = I BB =  t I AA,area =  t 14  r 4 = 14 mr 2

I CC  = I AA + I BB = 12 mr 2
Determine the moment of inertia of the thin ring about the z -axis. The ring has a mass m.
Also, determine the moment of inertia of the thin ring about the x –axis and y – axis.
 ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical

Determine the mass moment of inertia about the x-axis of the thin
elliptical plate of mass m.
Determine the mass moment of inertia about the x-axis of
the thin elliptical plate of mass m.

𝑥2 𝑦2
+ =1
𝑎2 𝑏2
𝑥2
𝑦2 = 𝑏2 1− 2
𝑎

ⅆ𝑚 = 𝜌 ⅆ𝐴 = 𝜌 × 2𝑦 × ⅆ𝑥 𝑎 3ൗ
2 𝑥2 2
1 𝐼𝑥𝑥 = න 𝑑𝐼𝑥𝑥 = 𝜌𝑏3 න 1 − 2 ⅆ𝑥
𝑑𝐼𝑥𝑥 = 𝑑𝑚 2𝑦 2 3 𝑎
12 −𝑎
1 2
= (2𝜌𝑦 ⅆ𝑥) 2𝑦 𝑎
12 2 𝑏3
= 𝜌 3 න 𝑎2 − 𝑥 2 3/2 ⅆ𝑥
2 3 𝑎
3 ⅆ𝑥 −𝑎
= 𝜌 𝑦
3
3ൗ 2 𝑏3 3𝜋𝑎4 1
2 3 𝑥2 2 = 𝜌 3× = 𝜌𝜋𝑎𝑏3
= 𝜌𝑏 1 − 2 ⅆ𝑥 3 𝑎 8 4
3 𝑎
𝟏 𝒎 𝟏
𝑰𝒙𝒙 = 𝝆𝝅𝒂𝒃𝟑 × = 𝒎𝒃𝟐
𝟒 𝝆𝝅𝒂𝒃 𝟒
 ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical
𝑎 𝑎 𝑎 𝑎

න 𝑎2 − 𝑥 2 3/2 ⅆ𝑥 = න 𝑎2 − 𝑥 2 𝑎2 − 𝑥 2 ⅆ𝑥 = න 𝑎2 𝑎 2 − 𝑥 2 ⅆ𝑥 − න 𝑥 2 𝑎2 − 𝑥 2 ⅆ𝑥
−𝑎 −𝑎 −𝑎 −𝑎
𝒂
𝑎2 𝑎4 −1 𝑥 𝑥 𝑎 2
2 −1
𝑥
= 𝑥 𝑎2 − 𝑥 2 + sin − − 𝑎2 − 𝑥 2 3 + 𝑥 𝑎2 − 𝑥 2 + 𝑎 sin
2 2 𝑎 4 8 𝑎 −𝒂
𝒂
𝑎2 𝑎4 −1 𝑥 𝑥 𝑎 2
𝑎4 −1 𝑥
= 𝑥 𝑎2 − 𝑥 2 + sin + 𝑎2 − 𝑥 2 3 − 𝑥 𝑎2 − 𝑥 2 − sin
2 2 𝑎 4 8 8 𝑎 −𝒂

𝒂
𝑎2 1 2 𝑎2
𝑥 𝑎4
= 𝑥 𝑎2 − 𝑥 2 + 𝑎 − 𝑥2 − + sin−1 4 − 1
2 4 8 8 𝑎
−𝒂
𝒂
𝑥 3𝑎4 𝑥
= 5𝑎2 − 2𝑥 2 𝑎2 − 𝑥2 + sin−1
8 8 𝑎 −𝒂

3𝑎4 𝜋 𝜋 3𝜋𝑎4
= − − =
8 2 2 8
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical

Page 664
ENGINEERING MECHANICS :
DYNAMICS
Prof S S Patil
Department of Mechanical Engineering
[email protected]
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Prof. S S Patil
Department of Mechanical Engineering
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+91 80 2672 6622 Extn 252
 Created by free version of 2PDF
ENGINEERING MECHANICS DYNAMICS

Jyothsna K Moorthy
Department of Mechanical Engineering

1
ENGINEERING MECHANICS DYNAMICS

Mass Moments of Inertia

Jyothsna K Moorthy
Department of Mechanical Engineering
2
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

Figures and Problems are taken from Engineering Mechanics Dynamics , 8th
edition by J L Meriam, L G Kraige , J N Bolton

3
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia - Problems
y
dm  b.dy.t.ρ
mb 2
h/2 I yy 
h m  2  dm  bhtρ 12
x 0

I zz  I xx  I yy
z b I xx   dm.y 2 m 2
 (h  b 2 )
dy h/2 12
 2btρ  y 2 dy
y 0
x x mh 2
I xx 
12
4
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia - Problems

Determine the moments of MMI about z axis MMI about xo axis

inertia of the homogeneous dm  ρ.ab.dz
rectangular parallelepiped of 2 3 dI x x  dI x'x'  dm.z 2
dm.b ab o o

mass m about the centroidal dI y'y'   ρdz. ρ.dz.a 3

b
12 12   ρab.dz.z 2
z- and x0-axes and about the 12
dm.a 2 a 3b
x-axis through one end. dI x'x'   ρdz. l/2
ρ.dz.a 3 b
12 12 Ixoxo  ( 12
 ρab.dz.z 2 )
dI zz  dI x'x'  dI y'y' l / 2

m 2 2
ab
 ρdz. (a 2  b 2 )
 (a  l )
12 12
l
ab
I zz  ρ (a 2  b 2 )  dz
m  ρabl 12 0

where ρ is mass density m(a 2  b 2 )


12 5
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia - Problems

l/ 2
Rod of radius r Ixoxo   (dI xoxo )
m  ρπr 2l l / 2

dm  ρπr dz ρ.r 4 .l ρr 2 l3

 
2
.
4 3 4
MMI about z - axis  r 2 l2 
MMI about x - axis  m  
mr 2  4 12 
l
2 I zz 
I xx  I x o x o  m  2 MMI about x - axis
2 2
MMI about x o - axis l
m 2 I xx  I x o x o  m 
 (a  4l2 ) dI x o x o  dI x'x'  dm.z 2 2
12
 r 2 l2 
ρ.πr 4 dz  m  
  ρπr 2 .dz.z 2  4 3
4 6
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia - Problems

Calculate the moment of inertia of the Let the axis of rotation be z - z

steel control wheel, shown in section,
about its central axis. There are eight I zz  I hub  8I spoke  I rim
spokes, each of which has a constant
cross-sectional area of 200 mm2. What
I hub
percent n of the total moment of
2 2
inertia is contributed by the outer rim? m o ro mi ri ρπ.502.120 ρπ.25 2
.120
I hub    x50 
2
x252
2 2 2 2
 1103906250.ρ

3 7
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia - Problems

I zz spoke

I zz spoke  I spoke  md 2
L spoke  100; m  ρ.200.100  20000ρ
L spoke
d  50   100
2
1
mL2
I spoke   16666666.7 2
12
md 2  20000ρ x 1002 3
I zz spoke  216666666.7ρ
8Izz spoke  1733333333ρ

8
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

I rim
2 2
m o ro m i ri
I rim  
2 2
ρπ.2002.75 ρπ.1502.75
 x200 
2
x1502
1 2 2
2  1.29e11.ρ
3 I zz  I hub  8Ispoke  I rim
 1.31e11.
Percentage contribution by rim
1.29e11
n x100
1.31e11
n  98% 9
THANK YOU

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Department of Mechanical Engineering
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DYNAMICS

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Department of Mechanical Engineering
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+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Composite Bodies

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Composite Bodies
If a body consists of a number of simple shapes such as disks, spheres,
and rods, the moment of inertia of the body about any axis can be
determined by adding algebraically the moments of inertia of all the
composite shapes computed about the axis.
Algebraic addition is necessary since a composite part must be considered
as a negative quantity if it has already been counted as a piece of another
part—for example, a “hole” subtracted from a solid plate.
The parallel axis theorem is needed for the calculations if the center of
mass of each composite part does not lie on the axis.
For the calculation, then, I = (IG + md2).
 ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Composite Bodies

Prob B/38. Determine the length L of each of the slender rods of mass m/2
which must be centrally attached to the faces of the thin homogeneous disk of
mass m in order to make the mass moments of inertia of the unit about the
x- and z-axes equal.
Prob B/38. Determine the length L of each of the slender rods of mass m/2 which must be
centrally attached to the faces of the thin homogeneous disk of mass m in order to make the
mass moments of inertia of the unit about the x- and z-axes equal.

Disk
1 1
𝐼𝑧𝑧 = 𝑚𝑟 2 𝐼𝑥𝑥 = 𝑚𝑟 2
2 4
Two Rods
1 𝑚 2 1
𝐼𝑧𝑧 = 𝑜 and 𝐼𝑥𝑥 = 2 × × 𝐿 = × 𝑚𝐿2
3 2 3

𝐼𝑧𝑧 = 𝐼𝑥𝑥
𝟏 1 1
𝒎𝒓𝟐 +𝟎= 𝑚𝑟 2 + × 𝑚𝐿2
𝟐 4 3
𝟑
𝒎𝒓𝟐 = 𝑳𝟐
𝟒
𝟑
𝑳= r
𝟐
 ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Composite Bodies

Prob B/31. The two small spheres of mass m each are connected by the light
rigid rod which lies in the x-z plane. Determine the mass moments of inertia of
the assembly about the x-, y-, and z-axes.
 ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Composite Bodies

Prob B/31. The two small spheres of mass m each are connected by the light
rigid rod which lies in the x-z plane. Determine the mass moments of inertia of
the assembly about the x-, y-, and z-axes.
 ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Composite Bodies

If the plate shown in figure has density of 8000 kg/m3 and a thickness of 10 mm
determine its moment of inertia about an axis directed perpendicular to the
page and passing through point O.
If the plate shown in figure has density of 8000 kg/m3 and a thickness of 10 mm
determine its moment of inertia about an axis directed perpendicular to the
page and passing through point O.
 ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Composite Bodies

Prob B/46. The clock pendulum consists of the slender rod of length l and mass
m and the bob of mass 7m. Neglect the effects of the radius of the bob and
determine Io in terms of the bob position x. Calculate the ratio R of Io evaluated
for x = 3/4l to Io evaluated for x = l .
Prob B/38. The clock pendulum consists of the slender rod of length l and mass
m and the bob of mass 7m. Neglect the effects of the radius of the bob and
determine Io in terms of the bob position x. Calculate the ratio R of Io evaluated
for x = 3/4l to Io evaluated for x = l .
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
 Created by free version of 2PDF
ENGINEERING MECHANICS DYNAMICS

Jyothsna K Moorthy
Department of Mechanical Engineering

1
ENGINEERING MECHANICS DYNAMICS

Mass Moments of Inertia

Jyothsna K Moorthy
Department of Mechanical Engineering
2
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

Figures and Problems are taken from Engineering Mechanics Dynamics , 8th
edition by J L Meriam, L G Kraige , J N Bolton

3
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

The welded assembly is made of a I yy  Isemi circular plate  2Irod  Isemi circular ring
uniform rod which weighs 0.6kg/m and
the semicircular plate which weighs
π.1002
40kg per square meter. Determine the m plate  40x  0.628kg
mass moments of inertia of the 2
assembly about the y- axis m ring  0.6 * π * 0.1  0.1884kg
m rod  0.6x0.15  0.09kg

mr 2 0.628x0.12
I plate  
4 4
 1.57x103 kgm 2

4
 ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

I yyrod  2.
ml 2 2x0.09x0.152
 I yy  Isemi circular plate  2Irod  Isemi circular ring
3 3
 1.57x103  1.35x103  5.18x103
 1.35x103 kgm 2
 8.10x103 kgm 2
MMI of semicircular ring about y axis
π
I yyring   dm.r 2
0
r
r 2  z 2  l 2 where l  0.15m dm
π π z l
I yyring   dm.z   dm.l
2 2

0 0

mr 2
  ml 2
2
 5.18x10-3 kgm 2
5
THANK YOU

Jyothsna K Moorthy
Department of Mechanical Engineering
[email protected]
+91 80 6666 3333 Extn 252

6
ENGINEERING MECHANICS DYNAMICS
Mass Moment of Inertia

Created by free version of 2PDF

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Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical Problems 1

Prof. S S Patil
Department of Mechanical Engineering
 ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Composite Bodies

Prob B/9. Determine the mass moment of inertia of the homogeneous solid of
revolution of mass m about the x-axis.
Prob B/9. Determine the mass
moment of inertia of the
homogeneous solid of revolution of
mass m about the x-axis.
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical Problems
But ,
Mass moment of inertia about
an axis perpendicular to axis of
the cylinder and passing through
the mass center
 ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical Problems

Prob B/56. Compute the moment of inertia of the mallet about the O-O axis.
The mass of the head is 0.8 kg, and the mass of the handle is 0.5 kg.
Prob B/56. Compute the moment of inertia of the mallet about the O-O axis.
The mass of the head is 0.8 kg, and the mass of the handle is 0.5 kg.
 MMI of head about OO 𝐼𝑜𝑜 = 𝐼𝑦′𝑦′ + 𝑚𝑥ҧ 2
4𝑟 4 × 0.06
𝑥ҧ = = = 0.0255 𝑚 𝐼𝑜𝑜 = 11.6 × 10−4 + 0.8 × (0.24 + 0.0255)2
3𝜋 3𝜋
1 1 𝐼𝑜𝑜 = 0.05755 𝑘𝑔 − 𝑚2
𝐼𝑦𝑦 = 𝑚𝑟 + 𝑚𝑙 2
2
4 12
MMI of handle about OO
1 2
1
𝐼𝑦𝑦 = × 0.8 × 0.06 + × 0.8 × 0.122 1 2
1 2
4 12 𝐼𝑜𝑜 = 𝑚𝑟 + 𝑚𝑙
4 3
𝐼𝑦𝑦 = 16.8 × 10−4 𝑘𝑔 − 𝑚2 1 1
𝐼𝑜𝑜 = × 0.5 × 0.022 + × 0.5 × 0.242
𝐼𝑦𝑦 = 𝐼𝑦′𝑦′ + 𝑚𝑥ҧ 2 4 3
𝐼𝑜𝑜 = 0.00965 𝑘𝑔 − 𝑚2
𝐼𝑦′𝑦′ = 𝐼𝑦𝑦 − 𝑚𝑥ҧ 2
Total MMI of hammer about OO
𝐼𝑦′𝑦′ = 16.8 × 10−4 − 0.8 × 0.02552
𝐼𝑜𝑜 = 0.05755 + 0.00965
𝐼𝑦′𝑦′ = 11.6 × 10−4 𝑘𝑔 − 𝑚2 𝐼𝑜𝑜 = 0.0672 𝑘𝑔 − 𝑚2
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical Problems 2

Prof. S S Patil
Department of Mechanical Engineering
 ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical Problems

Prob B/45. The body is constructed of a uniform square plate, a uniform straight
rod, a uniform quarter-circular rod, and a particle (negligible dimensions). If
each part has the indicated mass, determine the mass moments of inertia of the
body about the x-, y-, and z-axes.
𝑚1 = 0.5𝑚 𝑘𝑔 𝑚3 = 0.1𝑚 𝑘𝑔
𝑚2 = 0.15𝑚 𝑘𝑔 𝑚4 = 0.25𝑚 𝑘𝑔
1 1
𝐼𝑥𝑥 = 𝑚1 (𝑏2 +𝑏2 ) + 𝑚2 𝑏2
3 2
1 1
𝐼𝑥𝑥 = × 0.5𝑚 × (𝑏2 +𝑏2 ) + × 0.15𝑚 × 𝑏2
3 2
𝑰𝒙𝒙 = 𝟎. 𝟒𝟎𝟖𝒎𝒃𝟐 𝒌𝒈 − 𝒎𝟐

1 1
𝐼𝑦𝑦 = 𝑚1 𝑏2 + 𝑚2 𝑏2 + 𝑚3 𝑏2 + 𝑚4 × 𝑏2
3 3
1 1 Prob B/45. The body is
𝐼𝑦𝑦 = × 0.5𝑚 × 𝑏2 + 0.15𝑚 × 𝑏2 + × 0.1𝑚 × 𝑏2 + 0.25𝑚 × 𝑏2 constructed of a uniform square
3 3
plate, a uniform straight rod, a
𝑰𝒚𝒚 = 𝟎. 𝟔𝒎𝒃𝟐 𝒌𝒈 − 𝒎𝟐 uniform quarter-circular rod,
and a particle (negligible
1 1 1 dimensions). If each part has
𝐼𝑧𝑧 = 𝑚1 𝑏 + 𝑚2 𝑏 + 𝑚3 𝑏2 + 𝑚4 𝑏2
2 2
the indicated mass, determine
3 2 3
1 1 1 the mass moments of inertia of
𝐼𝑧𝑧 = × 0.5𝑚 × 𝑏2 + × 0.15𝑚 × 𝑏2 + × 0.1𝑚 × 𝑏2 + 0.25𝑚 × 𝑏2 the body about the x-, y-, and
3 2 3
z-axes.
𝑰𝒛𝒛 = 𝟎. 𝟓𝟐𝟓𝒎𝒃𝟐 𝒌𝒈 − 𝒎𝟐
 ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical Problems

Prob B/40. Calculate the moment of inertia of the steel control wheel, shown in
section, about its central axis. There are eight spokes, each of which has a
constant cross-sectional area of 200 mm2. What percent n of the total moment
of inertia is contributed by the outer rim?
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical Problems
ENGINEERING MECHANICS : DYNAMICS
Mass Moment of Inertia: Numerical Problems
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS

Kinetics of Rigid bodies: Translation

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING Mechanics : DYNAMICS
Kinetics of Rigid bodies: Translation

• Pure translation of a rigid body means there is no angular acceleration and no

angular velocity. The body remains parallel to its original configuration always.
• Equations of Interest

• ΣFx = m𝑎ത x = m𝑎ത

• ΣFy = m𝑎ത y = 0
• ΣMP = m𝑎d ത (CW)
• Rectilinear Translation
• All points move in straight lines.
• Use x-y coordinates for simplicity.
• Other moment centers, e.g., P, A, or B, are permitted.
ENGINEERING Mechanics : DYNAMICS
Kinetics of Rigid bodies: Translation
• Equations of Interest

• As Shown…
• ΣFn = m𝑎ത n = m𝑟ω
ҧ 2

• ΣFt = m𝑎ത t = m𝑟α

ҧ

• ΣMA = m𝑎ത ndA (CW)

• ΣMB = m𝑎ത tdB (CCW)

• Curvilinear Translation
• All points move along congruent paths.
• Use n-t coordinates for simplicity.
• Other moment centers, e.g., P, A, or B are permitted.
ENGINEERING Mechanics : DYNAMICS
Kinetics of Rigid bodies: Translation

Prob/18. (Engineering Mechanics – Dynamics, Meriam, Kraige and Bolten)

The four-wheel-drive all-terrain vehicle has a mass of 300 kg with center of mass
G2. The driver has a mass of 85 kg with center of mass G1. If all four wheels are
observed to spin momentarily as the driver attempts to go forward, what is the
forward acceleration of the driver and ATV? The coefficient of friction between the
tires and the ground is 0.40.
ENGINEERING Mechanics : DYNAMICS
Kinetics of Rigid bodies: Translation

∑𝐹𝑥 = 𝑚𝑎𝑥 ∶
𝐹𝑥𝑓 = 𝜇𝐹𝑧𝑓
𝐹𝑥𝑓 + 𝐹𝑥𝑟 = 𝑚1 + 𝑚2 𝑎𝑥
𝐹𝑥𝑟 = 𝜇𝐹𝑧𝑟
𝜇𝐹𝑧𝑓 + 𝜇𝐹𝑧𝑟 = 𝑚1 + 𝑚2 𝑎𝑥
0.4 𝐹𝑧𝑓 + 𝐹𝑧𝑟 = 85 + 300 𝑎𝑥 (1)
∑𝐹𝑧 = 𝑚𝑎𝑧 = 0
𝑭𝒙𝒓 𝑭𝒙𝒇
𝐹𝑧𝑓 + 𝐹𝑧𝑟 − 𝑚1 𝑔 − 𝑚2 𝑔 = 0
𝐹𝑧𝑓 + 𝐹𝑧𝑟 = (𝑚1 +𝑚2 )𝑔 = 3776.85 𝑁 (2)
𝒎𝟏 𝒈 𝒎𝟐 𝒈
Substituting this in the equation (1), we get 𝒂𝒙 = 3.924 m/s2 𝑭𝒛𝒓 𝑭𝒛𝒇

∑𝑀𝐴 = ∑𝑚𝑎𝑥 d
∑𝑀𝐴 = −425𝑚1 𝑔 − 805𝑚2 𝑔 + 1245𝐹𝑧𝑓 = − 950 𝑚1 𝑎𝑥 −500 𝑚2 𝑎𝑥
𝑭𝒛𝒇 = 1460.27 N and from eqn. (2) 𝑭𝒛𝒓 = 2316.58 N
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS

Kinetics of Rigid bodies: Fixed Axis Rotation

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: Fixed Axis Rotation

• Description
– Fixed-axis rotation of a rigid body means all points in the body
move in circles about the rotation axis, and all lines in the body
have the same angular velocity ω and the same angular
acceleration α.

• Illustration

• Comments
– Acceleration components are easily expressed in n-t
coordinates.
ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: Fixed Axis Rotation
• Equations of Interest
∑𝑭 = 𝒎𝒂

∑𝑴𝑮 = 𝑰𝜶

∑𝑴𝑶 = 𝑰𝑶 𝜶

• As Shown…
– ΣFn = m𝑎n = m𝑟ω
ҧ 2
– ΣFt = m𝑎t = m𝑟α
ҧ
– ΣMO = 𝐼α + m𝑟𝑎
ҧ t = 𝐼α + m𝑟ҧ 2α = (𝐼 + m𝑟ҧ 2)α = IOα
 ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: Fixed Axis Rotation

Prob6/57. Each of the two grinding wheels has a diameter of 150 mm , a

thickness of 18 mm, and a specific weight of 6800 kg/m3. When
switched on, the machine accelerates from rest to its operating speed of
3450 rev/min in 5 sec. When switched off, it comes to rest in 35 sec.
Determine the motor torque and frictional moment, assuming that each
is constant. Neglect the effects of the inertia of the rotating motor
armature.
𝜔 = 𝜔𝑜 + 𝛼𝑡 𝜔 = 𝜔𝑜 + 𝛼𝑡
2𝜋𝑁
𝜔= + 𝛼𝑡 2𝜋𝑁
60 = 0 + 𝛼𝑡
60
2 × 𝜋 × 3450
0= + 𝛼 × 35 2 × 𝜋 × 3450
60 =0+𝛼×5
60
𝛼 = −10.32 𝑟𝑎𝑑/𝑠 2
𝛼 = 72. 26 𝑟𝑎𝑑/𝑠 2
ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: Fixed Axis Rotation
Prob6/57. Each of the two grinding wheels has a diameter of 150 mm , a thickness of 18
mm, and a specific weight of 6800 kg/m3. When switched on, the machine accelerates
from rest to its operating speed of 3450 rev/min in 5 sec. When switched off, it comes
to rest in 35 sec. Determine the motor torque and frictional moment, assuming that
each is constant. Neglect the effects of the inertia of the rotating motor armature.
𝑀𝑎𝑠𝑠 𝑜𝑓 𝑡ℎ𝑒 𝑔𝑟𝑖𝑛𝑑𝑖𝑛𝑔 𝑤ℎ𝑒𝑒𝑙, 𝑚 = 𝜋 𝒓𝟐 t ρ
𝑚 = 𝜋 × 𝟎. 𝟎𝟕𝟓𝟐 × 0.018 × 6800 = 2.163 kg
𝟏
IG =𝟐 𝒎𝒓𝟐 = 2.163 × 0.0752 = 0.01217 kg/m2
𝟐

The spin down The spin up

∑ 𝑴𝑮 = IG 𝜶
∑ 𝑴𝑮 = IG 𝜶
−𝑴𝒇 = 0.01217× −𝟏𝟎. 𝟑𝟐 𝑴𝒎𝒐𝒕 −𝑴𝒇 = 0.01217× 𝟕𝟐. 𝟐𝟔
𝑴𝒇 = 0.1256 Nm
𝑴𝒎𝒐𝒕 = 1.005 N-m
 ENGINEERING MECHANICS : DYNAMICS
Kinematics of rigid Body: Absolute Motion
Prob6/68. The robotic device consists of the stationary pedestal OA, arm AB pivoted at A, and arm
BC pivoted at B. The rotation axes are normal to the plane of the figure. Estimate (a) the moment
MA applied to arm AB required to rotate it about joint A at 4 rad/s2. counterclockwise from the
position shown with joint B locked and (b) the moment MB applied to arm BC required to rotate it
about joint B at the same rate with joint A locked. The mass of arm AB is 25 kg and that of BC is 4 kg,
with the stationary portion of joint A excluded entirely and the mass of joint B divided equally
between the two arms. Assume that the centers of mass G1 and G2 are in the geometric centers of
the arms and model the arms as slender rods.
𝟏 𝟐 𝟏
𝑰𝑩 = 𝒎𝟐 𝒍𝟐 = × 𝟒 × 𝟎. 𝟑𝟓𝟐 = 𝟎. 𝟏𝟔𝟑𝟑 𝒌𝒈 𝒎𝟐
𝟑 𝟑
𝟏 𝟏
𝑰𝑨 = 𝒎𝟏 𝒍𝟐 + 𝒎𝟐 𝒍𝟐𝟐 + 𝒎𝟐 𝒅𝟐
𝟐
𝑩𝒖𝒕 𝒅𝟐 = 𝟎. 𝟕𝟐 + 𝟎. 𝟏𝟕𝟓𝟐
𝟏𝟐 𝟑

𝟏 𝟏
𝑰𝑨 = × 𝟐𝟓 × 𝟎. 𝟕𝟐 + × 𝟒 × 𝟎. 𝟑𝟓𝟐 + 𝟒 × 𝟎. 𝟕𝟐 + 𝟎. 𝟏𝟕𝟓𝟐
𝟏𝟐 𝟏𝟐

𝑰𝑨 = 𝟔. 𝟐𝟏 𝒌𝒈 𝒎𝟐
Prob6/68. The robotic device consists of the stationary pedestal OA, arm AB pivoted at A, and arm
BC pivoted at B. The rotation axes are normal to the plane of the figure. Estimate (a) the moment
MA applied to arm AB required to rotate it about joint A at 4 rad/s2. counterclockwise from the
position shown with joint B locked and (b) the moment MB applied to arm BC required to rotate it
about joint B at the same rate with joint A locked. The mass of arm AB is 25 kg and that of BC is 4 kg,
with the stationary portion of joint A excluded entirely and the mass of joint B divided equally
between the two arms. Assume that the centers of mass G1 and G2 are in the geometric centers of
the arms and model the arms as slender rods.
∑ 𝑴𝑨 = IA 𝜶

𝑴𝑨 − 𝟐𝟓 × 𝟗. 𝟖𝟏 × 0.35 cos 𝟒𝟓 − 𝟒 × 𝟗. 𝟖𝟏 × 0. 𝟕 + 𝟎. 𝟏𝟕𝟓 cos 𝟒𝟓 = 𝟔. 𝟐𝟓 × 𝟒

𝑴𝑨 = 109.8 kg 𝑚2

∑ 𝑴𝑩 = IB 𝜶

𝑴𝑩 − 𝟒 × 𝟗. 𝟖𝟏 × 𝟎. 𝟏𝟕𝟓 × 𝐜𝐨𝐬 𝟒𝟓 𝟒 = 𝟎. 𝟏𝟔𝟑𝟑 × 𝟒

𝑴𝑨 = 109.8 kg 𝑚2
ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: Fixed Axis Rotation
Sample Problem 6/3
The 300 kg concrete block is elevated by the hoisting mechanism shown, where the cables are
securely wrapped around the respective drums. The drums, which are fastened together and
turn as a single unit about their mass center at O, have a combined mass of 150 kg and a
radius of gyration about O of 450 mm. If a constant tension P = 1.8 kN is maintained by the
power unit at A, determine the vertical acceleration of the block and the resultant force on the
bearing at O.
ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: Fixed Axis Rotation
The 300 kg concrete block is elevated by the hoisting mechanism shown, where the cables are securely wrapped around
the respective drums. The drums, which are fastened together and turn as a single unit about their mass center at O, have
a combined mass of 150 kg and a radius of gyration about O of 450 mm. If a constant tension P = 1.8 kN is maintained by
the power unit at A, determine the vertical acceleration of the block and the resultant force on the bearing at O.

Taking moments about the mass center O for the pulley in the sense of the angular
acceleration 𝛼 gives
[ ∑ 𝑴𝑮 = I𝜶] 1800× 0.6 − T × 0.3 = 30.375 𝛼 (a)
The acceleration of the 300 kg block is described by
[ ∑ 𝑭𝒚 = m𝒂𝒚 ] T− 300 × 9.81 = 300 𝑎 = 300×0.3𝛼 (b)
With this substitution, Eqs. (a) and (b) are combined to give
T= 3252.18 N 𝛼 = 3.44 rad/s2 𝑎 = 1.032 m/s2
ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: Fixed Axis Rotation
The 300 kg concrete block is elevated by the hoisting mechanism shown, where the cables are securely wrapped around
the respective drums. The drums, which are fastened together and turn as a single unit about their mass center at O, have
a combined mass of 150 kg and a radius of gyration about O of 450 mm. If a constant tension P = 1.8 kN is maintained by
the power unit at A, determine the vertical acceleration of the block and the resultant force on the bearing at O.

The bearing reaction is computed from its components.

Since a = 0, we use the equilibrium equations

[ ∑ 𝑭𝒙 = 0] Ox −1800 𝑐𝑜𝑠 450 = 0

Ox = 𝟏𝟐𝟕𝟐. 𝟖 N
[ ∑ 𝑭𝒚 = 0] Oy −150 × 9.81 − 3252.18 − 1800 𝑠𝑖𝑛 450 = 0
Oy = 𝟓𝟗𝟗𝟔.47 N
The resultant bearing reaction
𝑶= 𝑶𝟐𝒙 + 𝑶𝟐𝒚 = 𝟏𝟐𝟕𝟐. 𝟖𝟐 + 𝟓𝟗𝟗𝟔. 𝟒𝟕𝟐 = 6129.94 N
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: General Plane Motion

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: General Plane Motion

Description
General plane motion of a rigid body combines translation and
rotation.
Equations of Interest
VEHICLE DYNAMICS
Kinetics of Rigid bodies : General Plane Motion

Description
General plane motion of a rigid body combines translation and rotation.
Equations of motion

∑𝑭 = 𝒎𝒂
𝒂𝒏𝒅
∑𝑴𝑮 = 𝑰𝜶
 ENGINEERING MECHANICS : DYNAMICS
Solution of Rigid body Plane Motion Problems
1. Choice of Coordinate System
The force equation should be expressed in whatever coordinate system most readily
describes the acceleration of the mass center. You should consider rectangular, normal-
tangential, and polar coordinates.

2. Choice of Moment Equation

You should be comfortable taking moments about several types of points, e.g., the mass
center, convenient moment centers, accelerating points, based on the needs of the
problem. The various moment equations are listed below as a reminder.

Mass Center: ΣMG = 𝐼α ҧ

ҧ + m𝑎d
Arbitrary Point (scalar): ΣMP = 𝐼α ത
Arbitrary Point (vector): ΣMP = IPα + ρ × maP
Fixed Point: ΣMO = IOα
ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: General Plane Motion
3. Constrained versus Unconstrained Motion
If the motion is constrained, you must account for the kinematic relationship between
the linear and the angular accelerations and incorporate it into the force and moment
equations of motion. If the motion is unconstrained, the accelerations can be
determined independently of one another by direct application of the three motion
equations.

4. Number of Unknowns
The number of unknowns cannot exceed the number of independent equations
available to describe them, and a check on the sufficiency of the relationships should
always be made. At the most, for plane motion we have three scalar equations of
motion and two scalar components of the vector relative-acceleration equation for
constrained motion. Thus, we can handle as many as five unknowns for each rigid
body.

5. Identification of the Body or System

We emphasize the importance of clearly choosing the body to be isolated and
representing this isolation by a correct free-body diagram. Only after this vital step has
been completed can we properly evaluate the equivalence between the external
forces and their resultants.
 ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: General Plane Motion
6. Kinematics
Of equal importance in the analysis of plane motion is a clear
understanding of the kinematics involved. Very often, the difficulties
experienced at this point have to do with kinematics, and a thorough
review of the relative-acceleration relations for plane motion will be most
helpful.

7. Consistency of Assumption
In formulating the solution to a problem, we recognize that the directions
of certain forces or accelerations may not be known at the outset, so that
it may be necessary to make initial assumptions whose validity will be
proved or disproved when the solution is carried out. It is essential,
however, that all assumptions made be consistent with the principle of
action and reaction and with any kinematic requirements, which are also
called conditions of constraint.
 ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: General Plane Motion

Prob6/71. The uniform slender bar rests on a smooth horizontal surface when a
force F is applied normal to the bar at point A. Point A is observed to have an
initial acceleration aA of 20 m/s2, and the bar has a corresponding angular
aG aA
acceleration 𝛼 of 18 rad/s2. Determine the distance b.
aG aA
α G
b
IG 𝜶 G 1.6 m
b
F
F

F
F
Prob6/71. The uniform slender bar rests on a smooth horizontal surface when a force F is applied
normal to the bar at point A. Point A is observed to have an initial acceleration aA of 20 m/s2, and
the bar has a corresponding angular acceleration 𝛼 of 18 rad/s2. Determine the distance b.

aA = aG + aA/G aA = aG + (0.8 - b)α

aG = aA - (0.8 - b) α aG = 20 - (0.8 - b)18
aG = 5.6 +18b
aG

∑ 𝑭 = m aG 𝑭 = 𝒎 5.6 +18b
α G
𝟏
∑ 𝑴 𝑮 = IG 𝜶 𝑭(0.8 − b) = 𝒎 × 𝟏. 𝟔𝟐 × 𝟏𝟖 b
𝟏𝟐
𝟏
𝒎 5.6 +18b (0.8 − b) = 𝒎 × 𝟏. 𝟔𝟐 × 𝟏𝟖
𝟏𝟐 F
𝟏𝟖𝒃𝟐 − 𝟖. 𝟖𝒃 − 𝟎. 𝟔𝟒 = 𝟎
𝒃 = −𝟎. 𝟎𝟔𝟒𝟑 𝒐𝒓 𝟎. 𝟓𝟓𝟑
𝒃 = 𝟎. 𝟓𝟓𝟑 𝒎 ( 𝑷𝒉𝒚𝒔𝒊𝒄𝒂𝒍 𝑫𝒊𝒎𝒆𝒏𝒔𝒊𝒐𝒏 𝒄𝒂𝒏𝒏𝒐𝒕 𝒃𝒆 𝒏𝒆𝒈𝒂𝒕𝒊𝒗𝒆)
 ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: General Plane Motion

Prob6/85. During a test, a car travels in horizontal circle of radius R and

has a forward tangential acceleration a. Determine the lateral reactions
at the front and rear wheel pairs if (a) the car speed v = 0 and (b) the
speed v ≠ 0. The car mass is m and its polar moment of inertia (about a
vertical axis through G) is IG. Assume that R ≫ d.
VEHICLE DYNAMICS
Kinetics of Rigid bodies : General Plane Motion

∑𝐹𝑛 = 𝑚𝑎𝑛 : 𝒗

𝐹𝑦𝑓 + 𝐹𝑦𝑟 = 0 (1)

𝒂𝒕
ҧ
∑𝑀𝐺 = 𝐼𝛼
𝑭𝒚𝒇
𝑎
𝑭𝒚𝒇 d − 𝑭𝒚𝒓 d = 𝐼 ҧ
𝑅 𝒂𝒏 d
𝑎 𝑹
𝑭𝒚𝒇 − 𝑭𝒚𝒓 𝑑 = 𝐼 ҧ
𝑅 d
𝑭𝒚𝒓
𝑎
𝑭𝒚𝒇 − 𝑭𝒚𝒓 = 𝐼 ҧ (2)
𝑅𝑑
Adding 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 1 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 2
𝐼𝑎ҧ
𝟐𝑭𝒚𝒇 = 𝐹𝑟𝑜𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 1
𝑅𝑑
𝐼𝑎 ҧ ҧ
𝐼𝑎
𝑭𝒚𝒇 = 𝑭𝒚𝒓 = −𝑭𝒚𝒇 =−
2𝑅𝑑 2𝑅𝑑
VEHICLE DYNAMICS
Kinetics of Rigid bodies : General Plane Motion
∑𝐹𝑛 = 𝑚𝑎𝑛 : 𝒗
𝑣2
𝐹𝑦𝑓 + 𝐹𝑦𝑟 =𝑚 (1)
𝑅 𝒂𝒕
ҧ
∑𝑀𝐺 = 𝐼𝛼
𝑎 𝑭𝒚𝒇
𝑭𝒚𝒇 d − 𝑭𝒚𝒓 d = 𝐼 ҧ
𝑅
𝑎 𝒂𝒏 d
𝑭𝒚𝒇 − 𝑭𝒚𝒓 𝑑=𝐼 ҧ 𝑹
𝑅
𝑎
𝑭𝒚𝒇 − 𝑭𝒚𝒓 = 𝐼ҧ (2) 𝑭𝒚𝒓
d
𝑅𝑑
Adding 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 1 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 2
ҧ
𝑣 2 𝐼𝑎
𝟐𝑭𝒚𝒇 =𝑚 + 𝐹𝑟𝑜𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 1
𝑅 𝑅𝑑

𝑣2 ҧ
𝐼𝑎 𝑣2 𝑎
𝑭𝒚𝒇 =𝑚 + 𝑭𝒚𝒓 =𝑚 − 𝐼ҧ
2𝑅 2𝑅𝑑 2𝑅 𝑅𝑙
 Created by free version of 2PDF
THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS :
DYNAMICS

Created by free version of 2PDF

Prof S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252
ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: General Plane Motion - Problems

Prof. S S Patil
Department of Mechanical Engineering
ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: General Plane Motion

Prob6/77. The body consists of a uniform slender bar and a uniform disk, each of
mass m/2. It rests on a smooth surface. Determine the angular acceleration 𝛼 and the
acceleration of the mass center of the body when the force P = 6 N is applied as
shown. The value of the mass m of the entire body is 1.2 kg.
Prob6/77. The body consists of a uniform slender bar and a uniform disk, each of mass m/2. It rests on a
smooth surface. Determine the angular acceleration 𝛼 and the acceleration of the mass center of the body
when the force P = 6 N is applied as shown. The value of the mass m of the entire body is 1.2 kg.
100
𝑚 500 mm
𝑚/2 250 + 2 (500 + 100)
𝑥𝑑 = A
𝑚/2 + 𝑚/2 G
175 mm 175 mm
𝑥𝑑 = 425 𝑚𝑚 𝑥𝑑

∑𝐹𝑦 = 𝑚𝑎𝐺𝑦 : 6N
6 = 1.2𝑎𝐺𝑦 𝟏 𝒎 𝟐 𝒎 𝟏 𝒎 𝟐 𝒎
ത𝑰 = 𝒍 + × 𝒅𝒙𝟏𝟐 + 𝒓 + × 𝒅𝒙𝟐𝟐
𝑎𝐺𝑦 = 5 𝑚/𝑠 2 𝟏𝟐 𝟐 𝟐 𝟐 𝟐 𝟐
𝟏 𝟏. 𝟐 𝟏. 𝟐 𝟏 𝟏. 𝟐 𝟏. 𝟐
ത𝑰 = 𝟎. 𝟓𝟐 + × 𝟎. 𝟏𝟕𝟓𝟐 + 𝟎. 𝟏𝟐 + × 𝟎. 𝟏𝟕𝟓𝟐
𝟏𝟐 𝟐 𝟐 𝟐 𝟐 𝟐

ത𝑰 = 𝟎. 𝟎𝟓𝟐𝟐𝟓 𝒌𝒈𝒎𝟐

ҧ
∑𝑀𝐺 = 𝐼𝛼
−6×0.425
𝛼= = −48.8 𝑟𝑎𝑑/𝒔𝟐
0.05225
−6 × 0.425 = 0.05225𝛼
 ENGINEERING MECHANICS : DYNAMICS
Kinetics of Rigid bodies: General Plane Motion

Prob6/85. During a test, a car travels in horizontal circle of radius R and

has a forward tangential acceleration a. Determine the lateral reactions
at the front and rear wheel pairs if (a) the car speed v = 0 and (b) the
speed v ≠ 0. The car mass is m and its polar moment of inertia (about a
vertical axis through G) is IG. Assume that R ≫ d.
VEHICLE DYNAMICS
Kinetics of Rigid bodies : General Plane Motion

∑𝐹𝑛 = 𝑚𝑎𝑛 : 𝒗

𝐹𝑦𝑓 + 𝐹𝑦𝑟 = 0 (1)

𝒂𝒕
ҧ
∑𝑀𝐺 = 𝐼𝛼
𝑭𝒚𝒇
𝑎
𝑭𝒚𝒇 d − 𝑭𝒚𝒓 d = 𝐼 ҧ
𝑅 𝒂𝒏 d
𝑎 𝑹
𝑭𝒚𝒇 − 𝑭𝒚𝒓 𝑑 = 𝐼 ҧ
𝑅 d
𝑭𝒚𝒓
𝑎
𝑭𝒚𝒇 − 𝑭𝒚𝒓 = 𝐼 ҧ (2)
𝑅𝑑
Adding 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 1 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 2
𝐼𝑎ҧ
𝟐𝑭𝒚𝒇 = 𝐹𝑟𝑜𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 1
𝑅𝑑
𝐼𝑎 ҧ ҧ
𝐼𝑎
𝑭𝒚𝒇 = 𝑭𝒚𝒓 = −𝑭𝒚𝒇 =−
2𝑅𝑑 2𝑅𝑑
VEHICLE DYNAMICS
Kinetics of Rigid bodies : General Plane Motion
∑𝐹𝑛 = 𝑚𝑎𝑛 : 𝒗
𝑣2
𝐹𝑦𝑓 + 𝐹𝑦𝑟 =𝑚 (1)
𝑅 𝒂𝒕
ҧ
∑𝑀𝐺 = 𝐼𝛼
𝑎 𝑭𝒚𝒇
𝑭𝒚𝒇 d − 𝑭𝒚𝒓 d = 𝐼 ҧ
𝑅
𝑎 𝒂𝒏 d
𝑭𝒚𝒇 − 𝑭𝒚𝒓 𝑑=𝐼 ҧ 𝑹
𝑅
𝑎
𝑭𝒚𝒇 − 𝑭𝒚𝒓 = 𝐼ҧ (2) 𝑭𝒚𝒓
d
𝑅𝑑
Adding 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 1 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 2
ҧ
𝑣 2 𝐼𝑎
𝟐𝑭𝒚𝒇 =𝑚 + 𝐹𝑟𝑜𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 1
𝑅 𝑅𝑑

𝑣2 ҧ
𝐼𝑎 𝑣2 𝑎
𝑭𝒚𝒇 =𝑚 + 𝑭𝒚𝒓 =𝑚 − 𝐼ҧ
2𝑅 2𝑅𝑑 2𝑅 𝑅𝑙
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THANK YOU
Prof. S S Patil
Department of Mechanical Engineering
[email protected]
+91 80 2672 6622 Extn 252