MCEN1000 Engineering Mechanics

DYNAMICS

Basic Concepts and

Rectilinear Motion
of Particles

Dr Marcin Wolski
Slides by: Dr Yu(Roger) Dong
School of Civil and Mechanical Engineering
Email: [email protected] L1-2
1
 Statics VS. Dynamics

Bodies at REST Bodies in MOTION

Dynamics of Dynamics of
Solid Bodies Liquids

Why Dynamics
So Important?
e.g. Robotics e.g. Hydrodynamics

Dynamics of
Gasses/Air

e.g. Aerodynamics 2
1.0 Introduction

Mechanics: The action and effects of forces on bodies

Statics Bodies at rest,

or in equilibrium
Mechanics Chaos Pendulum
Video

Dynamics Bodies in motion,

or out of equilibrium

In Equilibrium Be static or move with constant velocity

v=0 v=0.2 m/s

m m

Static Move with v=constant

Out of Equilibrium Accelerate with the change of velocity

m
a=0.5 m/s2
3
θ
 Study of motion without reference to the
Kinematics forces producing motion: Relations applied
only between position, velocity, acceleration
Dynamics and time
Relation between unbalanced forces and the
Kinetics change in motion they produce

v
a ▪Kinematics: how fast, how far and how long
B
the motion takes
Kinematics:
A e.g. Motion of rocket
from position A to B
▪Kinetics: What forces were involved to
produce the motion?

θ - Weight
- Friction
- Tension
F - Spring Force
Kinetics: - Support Force
e.g. Motion of pendulum
How about the resulting acceleration? 4
ball applied by F
1.1 Basic Concepts

1) Vectors (magnitude +direction) and Scalars (magnitude only)

position – “s” (or “s”) distance –“s”
velocity – “v” (or “v”) speed – “v”
force – “F” (or “F”) moment – “M”

2) Space: Geometric region occupied by bodies which is used to

determine the position relative to the reference system.
Time: Measure of the succession of events with an absolute
quantity in Newtonian mechanics
Mass: Quantitative measure of the inertia
Force: Vector action of one body to another

3) SI Units

Basic
units
5
1.1 Basic Concepts (cont’)
4) Particles: - a body of negligible dimensions
- a body with dimensions irrelevant to the motion or
the action of forces upon it
Equivalent B
B Particle

A
5) Rigid Body:
= A

- important overall dimensions of the body or changes

in position of the body
- negligible deformation (change in shape) of the body

Negligible spring
deformation

= Rigid body

6) Flexible Body: - deformed body under loads

- beyond the scope of this course and about to cover
in Year 2 Strength of Materials 232 6
1.2 Newton’s Laws of Motion

These are fundamental laws relating forces and motion.

Law I. A particle remains at rest or continues to move in a straight

line with a constant velocity if there is no unbalanced force Sir Isaac Newton
acting on it. (1643-1727)

∑F=0 In equilibrium

Law II. The acceleration of a particle is proportional to the resultant

force acting on it and is in the direction of this force.

∑F=ma Out of equilibrium

Law III. The forces of action and reaction between interacting bodies
are equal in magnitude, opposite in direction, and collinear.
F F'
F= F'

Laws I and II are strictly true only in an absolute frame of reference (i.e.
A particle does not accelerate for Law I and does not rotate for Law II)
7
Law II (Most commonly used in dynamics)

∑F=ma

Where ∑F: resultant force acting on a body (vector)

m: mass of the body (scalar)
a: the resulting acceleration of the body (vector)

This equation relates applied forces (∑F) to the motion of a body (a).

Fn F1 ∑F

Fn-1

F4
m

F3
F2

= m

∑F=F1+F2+F3+F4+…..Fn-1+Fn=ma

8
1.3 Topics to Cover
Section Topic Covered Num. Lectures
1. Basic Concepts and Rectilinear • Introduction to dynamics
Motion of Particles • Kinematic equations, derivation and application 2
• Linear motion with variable acceleration

2. Plane Curvilinear Motion • Projectile motion in x-y rectangular coordinate

of Particles system 2
• Curvilinear motion in n-t coordinate system
3. Relative Motion of Particles • Relative motion analysis of two particles using
translating axes 1

4. Kinetics of Particles: Force • Application of equation of motion (∑F=ma)

and Acceleration using x-y coordinate system 2
• Application of equation of motion (∑F=ma)
using n-t coordinate system
5. Impulse and Momentum • Principle of linear impulse and momentum
• Conservation of linear momentum 2

6. Principle of Work and Energy • Work down by forces, power

• Principle of work and kinetic energy 2
• Kinetic energy, potential energy,
gravitational/elastic potential energy
• Work and energy equation
• Energy conservation
7. Plane Kinematics and kinetics • Kinematics of angular motion
of Rigid Bodies • Kinetics of rigid bodies, translation motion of 2
rigid bodies
• Fixed axis motion of rigid bodies
8. Dynamics Module Revision • Revision of Dynamics topics/contents
• Revision of past-semester Dynamics exam 2 9
questions
 1.4 Reference Books and Online Materials

◼J.L.Meriam, L.G. Kraige (2006),

Engineering Mechanics: Dynamics,
SI Version, 6th ed., Wiley.

◼R.C.Hibbeler (2010), Engineering

Mechanics: Dynamics,12th ed.,
Pearson.

Lecture Notes

Lecture Slides

Tutorials Problems
/Solutions

Lab Sheets

Login from OASIS 10

iLectures
(www.oasis.curtin.edu.au)
2. Rectilinear Kinematics: Continuous Motion
2.1 Introduction

Kinematics ─ “Geometry of motion” to describe the motion without reference

to the forces producing it.
─ Only relations between position, velocity, acceleration and time.

Kinematics Examples

Motion of Gears Flight Trajectory of Rocket Car Route Planning

11
Motion can be constrained (forced to follow a specific path: e.g. car trip, train
on tracks)
or unconstrained (can move in any direction: e.g. aircraft flight path, trajectory
of a ball after it is thrown)

Train Running on Tracks Tennis Ball Bouncing

Constrained Motion Unconstrained Motion
y P
2-D Coordinate Systems to Describe Motion: r
t
• Rectangular coordinate (x, y)
θ
• Polar coordinate (r,θ) n
x
• Normal (perpendicular) and Tangent (along the path) coordinates
12
2.2 General Notions for Velocity and Acceleration

Consider a particle moving along a straight line. Let point O be the origin, or
reference point.

-s o P P' +s
s Δs

t t+Δt

Displacement of the Particle

s p ' − s p = ( s + s ) − s = s

Average Velocity of v ave =

s p' − s p
=
( s + s ) − s = s
the Particle t p' − t p (t + t ) − t t

Limit of vave as Δt→0

Instantaneous
 s  ds v=
ds
= s
Velocity of the v = lim   = or 1
t → 0  t
Particle   dt dt 13
 -s o P P' +s
v v+Δv

Average Acceleration aave =

v p' − v p
=
(v + v ) − v = v
of the Particle t p' − t p (t + t ) − t t

Limit of aave as Δt→0

 ds 
Instantaneous
 v  dv d 
a = lim   = = v
2
Acceleration of the
t → 0  t
2 or a = dv =  dt  = d s = s
Particle   dt dt dt dt 2

Alternatively, acceleration and velocity can be related based on the chain rule

dv dv ds dv
a= =
dt ds dt
=v
ds
3 or vdv = ads or sds = sds
14
 2.3 Rectilinear Motion with Constant Acceleration

ds (v-s-t)
1 =v
dt

dv (a-v-t)
2 =a
dt

3 vdv = ads (a-v-s)

Integration Limits

Initial Conditions (Lower Limit) & Final Conditions (Upper Limit)

Time= t0 t
Position= s0 s
Velocity= v0 v

15
(a) Velocity as a Function of Time (v=v(t))
dv
=a
 dv =  adt = a  dt v vv = at t 0
v t t
2 t
dt v0 t0 t0 0

v − v0 = a( t − t 0 )

(b) Position as a Function of Time (s=s(t))

   v + a ( t − t 0 )dt
ds s t t
1 =v ds = vdt = 0
dt s0 t0 t0

1
s − s0 = v 0 ( t − t 0 ) + a ( t − t 0 ) 2
2

(c) Velocity as a Function of Position (v=v(s))

3 vdv = ads
 vdv =  ads
v s
v 2 − v02 = 2a( s − s0 )
v0 s0

In special cases
1
t0=0 v − v0 = at s − s0 = v 0 t + at 2 v 2 − v02 = 2a( s − s0 )
2

t0=0, s0=0 and v0=0 v = at 1

s = at 2 v 2 = 2as
2 16
Graphical Interpretation

a
Assuming t0=0
a =Const.
a –t Curve

O t
v
v=v0+at
at
v –t Curve v0
v
v0
O t
s
1
s = s0 + v0 t + at 2
2 1
s –t Curve v 0 t + at 2
2 s
s0
s0
O t t
17
WORKED EXAMPLE # 1.1

A high speed train is travelling along a straight level road bed at a speed
of 240 km/hr. Determine its stopping distance if the deceleration is
constant and equal to 7.0 m/s2. How much time elapsed during which the
brakes were applied to stop this train?
The motion of train is subjected to constant deceleration until it stops.
Using v 2 − v02 = 2as , the stopping distance can be calculated as

2
 240  103 
0 −  
v − v0
2 2
 3600  = 317.5m
s = =
2a 2  (− 7.0 )

v − v0
For the elapsing time, using a = , thus
t

 240  103 
0 −  
v − v0  3600  = 9.52 s
t = =
a −7

18
WORKED EXAMPLE # 1.2
A car passes you at point 1 travelling at an initial velocity of 6 m/s, and then accelerates
at a constant rate to reach a velocity of 30 m/s at point 2. This occurs over an 8
second period.

1 2

(a) What is the required constant acceleration during the initial 8 sec period?

(b) Calculate the distance covered by the car in this 8 sec period.

(c) Once the car passes point 2 at t= 8 s, the acceleration becomes a function of time

given by a( t ) = − 1 t + 4 . Determine an equation for the velocity of the car as a function of

8
time v(t) for t>8 s.

19
 v 2 − v1 30 − 6
(a) Using v 2 − v1 = a ( t 2 − t1 ) a= = = 3m / s 2
t 2 − t1 8

1 1
(b) Using s = s2 − s1 = v0 ( t 2 − t1 ) + a( t 2 − t1 ) 2 s = 6  8 +  3  8 2 = 144m
2 2

(c) When t>8s from point 2

dv 1
a= = − t+4
dt 8
1 t2
v =  adt =  ( − t + 4)dt = − + 4t + C (C is a constant)
8 16

To determine C, using the initial condition @ point 2 (i.e. t=8 s, v=30 m/s)

82 C=2
30 = − + 4  8 + C
16

1 2
v=− t + 4t + 2
16
20
3. Linear Motion with Variable Acceleration

Depending on the nature of a problem, acceleration (a) may also be

known in different forms including

(a) a is a given function of time “a=a(t)”

(b) a is a given function of velocity “a=a(v)”

(c) a is a given function of displacement “a=a(s)”

(a) Given a=a(t), develop v-t and s-t relationships

 dv =  a ( t )dt
v t
dv
2 = a (t ) v0 t0
dt

v − v 0 =  a( t )dt
t Tip: Velocity v(t) as a function of
t0 time can be found by integrating a(t)

ds
= v (t )
 ds =  v ( t )dt
s t
1
dt s0 t0

s − s0 =  v ( t )dt
t Tip: Distance s(t) as a function of
time can be found by integrating v(t) 21
t0
(b) Given a=a(v), develop v-t and s-v relationships
dv dv
 
v t
2 = a (v ) = dt
dt v0 a(v ) t0

dv

v
= t − t0
v0 a(v )

This gives a relationship between velocity v and time taken t.

vdv = a(v )ds v

v0 a(v )dv = s0 ds
v s
3

v
v0 a(v )dv = s − s0
v

This gives the distance travelled s before the velocity v is reached. 22

(c) Given a=a(s), develop v-s and s-t relationships

 vdv =  a( s )ds
v s
3 vdv = a( s )ds
v0 s0

v 2 − v02 = 2 a( s )ds
s

s0

This gives velocity v(s) as a function of distance s.

ds ds
 dt = 
t s
1 = v (s )
dt t0 s0 v ( s )

ds

s
t − t0 =
s0 v( s)
This gives a relationship between distance s and time taken t.
23
 Graphical Interpretation

v=slope of s-t curve a=slope of v-t curve

ds dv
v= a=
dt dt
s v a

dv
a= = v
ds dt
v= = s 1 a
dt
1 v

t t
t t t
t1 t t t1 t t1 t
dt dt
2 2 2
v 2 − v1 =  dv =  adt
v2 t2
s2 − s1 =  ds =  vdt
s2 t2
v1 t1
s1 t1

s=area under v-t curve v=area under a-t curve

24
Graphical Interpretation (Cont’d)

area under a-s curve

  ( )
v2 s2 1 2
vdv = v 2 − v12 =  a( s )ds
s2
a ( s )ds or
v1 s1 2 s1

a v
dv
ds
1

s
s s
s1 s1 s s2
ds s2
 dv 
a = v 
 ds 

a = v x slope of v-s curve

25
WORKED EXAMPLE #1.3
A motorcycle starts from rest and travels on a straight road with a constant
acceleration of 5 m/s2 for 8 sec, after which it maintains a constant speed for 2
sec. Finally it decelerates at 7 m/s2 until it stops. Plot a-t, v-t diagrams for the
entire motion.Determine the total distance travelled.
Sketch a-t diagram from the known accelerations, thus a (m/s2)

 5 (0  t  8 s ) (segment I) 5
 t (s)
a =  0 (8  t  10s ) (segment II)
8 10 t' (=15.71)
− 7 (10  t  t ' )
 (segment III) -7

Since dv=adt, the v-t diagram is determined by integrating a-t Diagram

the straight line segments of a-t diagram. Using the initial
condition t=0, v=0 for segment I, we have

 
v t
0  t  8s dv = 5dt v = 5t
0 0

When t =8 s, v =5×8= 40m/s. Using this as the initial condition

for segment II, thus

 
v t
8  t  10s dv = 0dt v = 40m / s
40 8

Similarly, for segment III

 
v t
dv = ( −7)dt v = −7t + 110 26
10  t  t ' 40 10
When v=0 (i.e. motorcycle stops)

0 = −7t '+110 t ' = 15.71s v (m/s)

40
Thus, the velocity as the function of time can
s1 s2 s3 t (s)
be expressed as
8 10 15.71
 5t (0  t  8 s )
 v-t Diagram
v= 40 (8  t  10s )
 − 7t + 110 (10  t  15.71s )


The total distance travelled (using the area under v-t diagram)

1  1 
s = s1 + s2 + s3 =   8  40  + (2  40) +   5.71  40  = 354.2m
2  2 

27
WORKED EXAMPLE # 1.4
A test projectile is fired horizontally into a viscous liquid with a velocity
v0.The retarding force is proportional to the square of the velocity, so
that the acceleration becomes a=-kv2. Derive expressions for distance
D travelling in the liquid and the corresponding time t required to reduce
the velocity to v0/2.Neglect any vertical motion. (2/40 in M+K)

Note the acceleration a is non-constant.

x
Using vdv = adx = − kv 2 dx
v0 v
vdv 0
dv
  v0 kv
D
dx = 2
= − 2
0 v0 − kv 2 v
v0 v0 v0
 ln v  2 1 ln 2 0.693
D = −  = − ln 2 = =
 k  v0 k v0 k k

dv
Using a= = − kv 2
dt
v0
v0
dv 1
 
t
= 1 2 1
t= =
2
dt
− kv 2 v 
  v0
v0 0
k kv0
28
WORKED EXAMPLE #1.5
The acceleration of a particle which moves in the ax (m/s2)
positive x-direction varies with its position as 0.4
shown. If the velocity of the particle is 0.8 m/s
when x=0, determine the velocities v of the 0.2
particle when x=0.6 and 1.4 m. (adapted from 2/23
in M+K) x (m)
v 0.4 0.6 0.8 1.2 1.4
v  v −v
2 2 2

 adx =  vdv =   =
x v
Using 0
0 v0
 2  v0 2

For x=0.6m

 1 
v = v 02 + 2 
0.6
adx = 0.8 2 + 2  (0.4  0.4) + (0.3 + 0.4)  0.2 = 1.05m / s
0
 2 
Area under ax-x curve
(0≤x ≤ 0.6)
For x=1.4m
 1 
v = v 02 + 2  adx = 0.8 2 + 2  (0.4  0.4) + (0.2 + 0.4)  0.4 + 0.4  0.2 + 0 = 1.17m / s
1.4

0
 2 
Area under ax-x curve Where v0=0.8 m/s 29
(0≤x ≤ 1.4)
WORKED EXAMPLE #1.6
The v-s diagram for a testing vehicle travelling on a v (m/s)
straight road is shown. Determine the acceleration
of the vehicle at s=50 m and s=150 m. Draw the 8
a-s diagram.
s (m)
Since the equations for segments of v-s diagram are given, 100 200
we can use ads=vdv to determine a-s diagram.

0  s  100m v = 0.08s a (m/s2)

dv d
a=v = (0.08 s ) (0.08 s ) = 0.0064s 0.64
ds ds

100  s  200m v = −0.08s + 16

100 200 s (m)
d
a = ( −0.08 s + 16) ( −0.08 s + 16) = 0.0064s − 1.28
ds -0.64

When s=50 m, then a = 0.0064  50 = 0.32m / s 2 (acceleration in segment I)

When s=150 m, then a = 0.0064  150 − 1.28 = −0.32m / s (deceleration in segment II)
2

30