• ME2211E

• Prof.Dr. Dinh Van Phong

• Dept.of Applied Mechanics, School of
Mechanical Engineering
Engineering • C7/701 (C1/224)
Mechanics: • Hanoi University of Science and
Technology
Dynamics • Email: [email protected]
• 0903200960/ (024) 36230949
 Chapter 1. Introduction to Dynamics -2-

Two models using in Dynamics: Particle and Rigid body

Particle model Rigid body model B

z z
P
rP rA A
O O
y x y
x
Motion of a rigid body:
• Translation
Motion of a particle: • Rotation about a fixed axis / fixed point
• Motion in plane, motion in space • General spatial motion
• Rectilinear & Curvilinear motion • General planar motion
• Velocity and Acceleration of a • Helical motion (screw motion)
particle • Velocity and Acceleration of a point and angular
• Maximum 3 position parameters (3 velocity vector, angular acceleration vector
Degrees of Freedom) • Maximum 6 position parameters (6 Degrees of
Freedom)
Department of Applied Mechanics-SME
 Model of particles or
rigid bodies

3 methods:

Equations of • Force and acceleration

Motion • Impulse and momentum
• Work and energy

-Vector Mechanics
2 Approaches:
- Analytical Mechanics
Some equations of motion - Summary -4-

Particle System of Particles

m k vk
F mv
A
z rA u C
rk uk
O r
O A
x y rA
The linear and angular momentum theorem:
p =  mk vk =  Fke
p = mv = F
lA =  mA (Fke ) − vA  p
lA = mA (F ) − vA  mv
lC =  mC (Fke )
Equation of force and acceleration:
ma F mkak m aC Fke
u ma u F mA(F ) uk mkak mA(Fke )
Applied Mechanics - Department of Mechatronics - SME
 Some equations of motion- Summary(…) -5-

A C vdm

Rigid Body
z k u
r P
O F

The linear and angular momentum theorem Equation of Force and acceleration

p = mvC =  Fke  adm = ma C

=  Fk
  =  e
lA =  mA (Fke ) − vA  p u adm m A
(Fk
)
lC =  mC (Fke )

Applied Mechanics - Department of Mechatronics - SME

Angular momentum and impulse for a rigid body -6-

• Principle of linear momentum and impulse

t2
pC = maC = F
k
k
e
pC (t2 ) − pC (t1 ) = 
k
t1
Fkedt

• Principle of angular momentum and angular impulse

 mC (F )
t2
lC = IC  =
k
k
e
lC (t2 ) − lC (t1 ) = 
k
t1
mC (Fke )dt

vdm
t2
A
C IC (t2 ) − IC (t1 ) =  k
t1
mC (Fk )dt
u

Applied Mechanics - Department of Mechatronics - SME

 -7-

Chapter 4.
Equations of motion of a
planar rigid body

1. Rotation about a fixed axis

2. General planar motion

Applied Mechanics - Department of Mechatronics - SME

 -8-

EQUATIONS OF MOTION OF A PLANAR

ROGID BODY

1. Model of planar rigid body

2. Linear and angular momentum of a planar rigid body
3. Equations of motion
➢ Linear and angular momentum theorems
➢ Translational
➢ Rotation about a fixed axis
➢ General planar motion
4. Examples

Applied Mechanics - Department of Mechatronics - SME

 3. Equations of motion of a planar body -9-

mvC = k Fk
I A + uAC  mvA = k mA (Fk )

Translational motion Rotation about a fixed axis General planar motion,

(AC) (Oz), (AO) (AC)

mvC = k Fk mvC = k Fk mvC = k Fk

0 =  mC (Fk ) IO  =  mO (Fk ) IC  =  mC (Fk )

Fk Mj
Fk
Fk
aC
C C C
sC
O RO

Applied Mechanics - Department of Mechatronics - SME

3.1 Equation of Translational motion -10-

maC Fk , IC k MC k n
Mj
Equation of Translational motion for rigid body
0, 0 Fk aC
y t
maC Fk , C

MC Mj m(Fk ) 0

O x

In Cartesian coordinates Oxy In natural coordinates Ctn

maCx mxC Fkx maCt ms Fkt

maCy myC Fky maCn ms 2 / Fkn
0 Mj mC (Fk ) 0 Mj mC (Fk )
 - the radius of curvature of trajectory
Applied Mechanics - Department of Mechatronics - SME
 3.2 Equation of Rotational Motion -11-

Fk Mj
maC Fk (1)
aC
IO k MO k (2) C
sC
O
(1) => maC Fk RO , RO

(2) => IO k MOk [ Mj mO (Fk )]k ,

The first equation is used to determine the reaction at the bearing O.

The second eq. is the differential equation of rotational motion around the
fixed axis Oz:

IOz MOz ( , , t )
IOz MOz Mj mOz (Fk )
(0) 0
, (0) 0
,

Applied Mechanics - Department of Mechatronics - SME

3.3 Equation of general planar Motion -12-

maC Fk , IC MC

y
aC xCex yCey aC Mj
t n 2 C
aC aC
a C
set (s / )en

Fk
O x
In Cartesian coordinates Oxy In natural coordinates Ctn

mxC Fk ,x , ms Fkt ,
myC Fk ,y , ms 2 / Fkn ,
IC Mj mC (Fk ),
IC Mj mC (Fk )
 - the radius of curvature of trajectory
Applied Mechanics - Department of Mechatronics - SME
Content -13-

EQUATIONS OF MOTION
OF A SYSTEM OF PLANAR RIGID BODIES

1. Body-Separation method
2. Examples
• A single degree of freedom system
• Two degree of freedom system

Applied Mechanics - Department of Mechatronics - SME

Some Concepts for system of rigid bodies -14-

- Generalized Coordinates:
the set of parameters to specifying configuration of the system:
q1, q2,...., qn-1 qn
- Dependent set
- Independent set

- Constraints equations:
Mathematical formulation of relations between dependent coordinates
gj(q1, q2,...., qn-1 qn )=0 , j=1,2,…, c

- Degree of Freedom (DOF):

- The possibility of independent motions of the system

- How to specify f DOF?

- f = n-c
- Practical rule: block sequentially mobility.

Applied Mechanics - Department of Mechatronics - SME

 1. Body-Separation method -15-

From equations of motion for translational body, rotational body and general
planar body, we can write equations of motion for systems of planar bodies by
body-separation method.

The steps to follow this method are as follows:

1. Determine number of DOF of the system, f = …..

2. Define n generalized coordinates (f  n).
3. In case f  n, determine number of constraint equations c = n - f.
4. Applying separation principle: isolation each body from the other, from environment replace it by
constraint forces.
5. Write force-acceleration relationship for each body.
6. Elimination of constraint forces based on constraint equations to get a minimum number equations
(equal to number DOF, f).
7. Solving f equations to get generalized accelerations.
8. Integrating equations of motion to get motion of the system.

Applied Mechanics - Department of Mechatronics - SME

2. Examples -16-

Example 1. The Single-DOF System

Consider the system consist of three bodies connected and moving in the
vertical plane. The system parameters are given:

m1, m2, m, IO , r, R, 
Determine the acceleration of bodies 1 and 2.


x2 m, IO
2
m2
3

O
R r

3 planar objects x1
m1

Applied Mechanics - Department of Mechatronics - SME

 2. Examples -17-


Solution x2 m, IO
2
Motion analysis: m2
3
bodies 1 and 2 move translationally, 
O
body 3 rotates around fixed axis Oz.
R r

1. Number DOF, f = 1
3 planar objects x1
2. Define 3 generalized coordinates m1

x1, x2,   n = 3
3. Number of constraint equations

c = n − f = 3 −1 = 2
x1 = R, x1 = R,
x 2 = r  x 2 = x1r / R x 2 = r  x 2 = x1r / R
(1)

Applied Mechanics - Department of Mechatronics - SME

2. Examples -18-

4. Using the body-separation method, we get a free-body diagram for each

body as shown:
x2 m2g 
m,IO
5. Write force – acceleration equations: m2 YO
T2 B
 T2 O XO
Body 1: : m1x1 = m1g − T1 (2) F C
N T1
Body 3: IO = T1R − T2r (3) mg

Body 2: T1
: N − m2g = 0  N = m2g Separation diagram x1
m1
→: m2x 2 = T2 − F  T2 = F + m2x 2
A
m1g
According to Coulomb's law of dynamic sliding
friction, we have:
F = N = m2g
Therefore
T2 = m2g + m2x 2 (4)

Applied Mechanics - Department of Mechatronics - SME

 2. Examples -19-

x1 = R, x2 = r  x 2 = x1r / R (1)

x2 
m1x1 = m1g − T1 (2) m2g m,IO
m2 YO
T2 B
IO = T1R − T2r (3)  T2 O XO
F2 C
T2 = m2g + m2x 2 (4) N2 T1
mg

6. Solve system of (2,3,4) with T1

Free-Body diagram x1
eq. (1), we have
m1
(m1 + m2r 2 / R2 + IO / R2 )x1 = m1g − m2gr / R A
m1g
7. Then
m1g − m2gr / R
x1 = , With the acceleration, we can
m1 + m2r / R + IO / R
2 2 2
determine the tension forces
r m1g − m2gr / R r and bearing forces:
x 2 = x1 = 
R m1 + m2r / R + IO / R R
2 2 2 T1, T2, XO, YO.

Applied Mechanics - Department of Mechatronics - SME

2. Examples -20-

x
Example 2. The block A has a mass m1 which
is connected to a fixed wall by a spring with a k
F(t)
stiffness k, the bock A can slide along the A
smooth horizontal floor. The small ball B is
suspended by a massless inextensible cord. 
Establish the differential equations of motion B
for the system. Elliptic pendulum
( 2 degrees of freedom)
Solution
Mechanical system consists of two body:
block A in translation and ball B (considered y N1
as a particle B). A
Flx F(t)
The system has two degrees of freedom;
Choose the generalized coordinates: x and . x
T
Free-Body diagram: in figure m1 g
B
Free-Body diagram m2g

Applied Mechanics - Department of Mechatronics - SME

2. Examples -21-

Kinematics: Determine the acceleration of body A and particle B

depending on the generalized coordinates x

xA = x + const, x A = x, xA = x k
F(t)
A
x B = x + l sin , x B = x + l  cos ,
x B = x + l  cos  − l  2 sin  
yB = −l cos , yB = l  sin , yB = l  sin  + l  2 cos  B
Force – acceleration equations:
m1x A = F (t ) − Flx + T sin , (1) Flx = kx
y N1
m2x B = −T sin  (2) A
Flx F(t)
m2yB = T cos  − m2g (3)
T x
Elimination of constraint forces:
m1 g
Add two equations (1) and (2), we have: B
m1x A + m2x B = F (t ) − kx (4) Free-body diagram m2 g

Applied Mechanics - Department of Mechatronics - SME

2. Examples -22-

x
m2x B = −T sin  (2)
k
m2yB = T cos  − m2g
F(t)
(3) A

Remove T: 
B
m2x B cos  + m2yB sin  = −m2g sin  (5)

We have:

m1x + m2 (x + l  cos  − l  2 sin  ) = F (t ) − kx

m2 (x cos  + l ) = −m2g sin 
Or

(m1 + m2 )x + m2l cos   − m2l  2 sin  + kx = F (t )

m2l cos  x + m2l 2 + m2gl sin  = 0.

Applied Mechanics - Department of Mechatronics - SME

2. Examples -23-

Example 3. A two-DOF manipulator in vertical plane consists of two bodies. Body

1 having mass of m1 slides in horizontal direction under action of force u1. Body 2
having mass m2, center of mass C2, moment of inertia about C2, IC2 connects to
body 1 by joint at A, AC2 = lC2. Body 2 rotates under action of torque u2 (internal
torque). Choose two generalized coordinates as x and .
Appyling the body-separation method to get E.o.M.
B
m2, IC2
y0 g
x d lC2 C2
2-DOF manipulator
A  x0
u1 C1
O
m1 u2
Solution
Mechanical system consists of two bodies : 2 degree of freedom, f = 2
- body 1 in translation,
- body 2 in general planar motion.
Generalized coordinates : x is the position of body 1,  is the deflection angle of
body 2 versus the horizontal.
Applied Mechanics - Department of Mechatronics - SME
2. Examples -24-

Free-body diagram as shown in the figure

B
Force-acceleration equations m2, IC2
Body 1 y0 g
x N YA lC2 C2
→ m1xC 1 = u1 − XA (1) XA
A x0 A  m2g
O u1 C1
Body 2 XA
m1 u2
u2
→ m2xC 2 = XA (2) m1g YA
Free-body diagram
 m2yC 2 = YA − m2g (3)

IC 2 = u2 + XAlC 2 sin  − YAlC 2 cos  (4)

Add two equations (1) and (2):

m1xC 1 + m2xC 2 = u1 (5)
[Eq. (2) x -LC2sin ] + [Eq (3) x LC2cos ],
then add (4) we get:
IC 2 − m2xC 2lC 2 sin  + m2yC 2lC 2 cos  = u2 − m2glC 2 cos  (6)
Applied Mechanics - Department of Mechatronics - SME
2. Examples -25-

m1xC 1 + m2xC 2 = u1 (5)

IC 2 − m2xC 2lC 2 sin  + m2yC 2lC 2 cos  = u2 − m2glC 2 cos  (6)

Kinematics xC 1 = x, xC 1 = x, xC 1 = x
xC 2 = x + d + lC 2 cos , xC 2 = x − lC 2 sin , xC 2 = x − lC 2 sin  − lC 2 2 cos 
yC 2 = lC 2 sin , yC 2 = lC 2 cos , yC 2 = lC 2 cos  − lC 2 2 sin 
B
m2, IC2
y0 g
x d lC2 C2
A  x0
u1 C1
We get: O
m1
m1x + m2 (x − lC 2 sin  − lC 2 2 cos  ) = u1 u2
(IC 2 + m2lC2 2 ) − m2lC 2 sin  x = u2 − m2glC 2 cos 
(m1 + m2 )x − m2lC 2 sin  − m2lC 2 2 cos  = u1
−m2lC 2 sin  x + (IC 2 + m2lC2 2 ) + m2glC 2 cos  = u2
Applied Mechanics - Department of Mechatronics - SME
 Chapter 5.
Energy method
(Principle of Work and Energy)

Applied Mechanics - Department of Mechatronics - SME

Contents -27-

1. WORK OF FORCES AND COUPLES

2. KINETIC ENERGY, PRINCIPLE OF WORK

AND KINETIC ENERGY

3. CONSERVATIVE FORCES, POTENTIAL

ENERGY, CONSERVATION OF ENERGY

Applied Mechanics - Department of Mechatronics - SME

 -28-

I. WORK OF FORCES AND COUPLES

1. Work of a Force
2. Work of a Couple
3. Work of Some Special Forces
4. Power and Efficiency

Applied Mechanics - Department of Mechatronics - SME

 1. Work of a Force -29-

• Infinitesimal work of the force F done in dr

displacement dr:
M
N
d A = F  dr = Fds cos  dr = vdt r F
z r dr
d A = F  vdt = Fv cos dt ez

• Or in the form of vector in Cartesian O

ex
coordinates: ey y
x
F = Fxex + Fyey + Fzez
d A = F  dr = Fxdx + Fydy + Fzdz
dr = dxex + dyey + dzez
▪ Work is a scalar quantity, i.e., it has magnitude and sign but not direction.
▪ Work is zero when there is no displacement along the force even if force is non-
zero (e.g., constraint force).
▪ Dimensions of work are force  length. Units are Joule, 1 J = 1 N  1 m
Applied Mechanics - Department of Mechatronics - SME
1. Work of a Force -30-

Work of a force in the finite displacement dr

d A = F  dr  M
r N
F
rN sN
z r dr
AMN =  F  dr =  F cos  ds
rM sM
ez

 ( )
N O
= Fxdx + Fydy + Fzdz ex
ey y
M

x
In the special case as Fcos = const.
s
F AMN = F cos  s

M N
Applied Mechanics - Department of Mechatronics - SME
2. Work of a Couple -31-

Work of couples on a rigid body M = (F , F )

d A = F   drA + F  drB A
u
= F   vAdt + F  vBdt F F
B
rA
v B = v A +   u, a  (b  c ) = b  (c  a )
rB
d = dt 
F  (  u ) =   (u  F )

dA = F   vAdt + F  (vA +   u )dt

= F   vAdt + F  vAdt + F  (  u )dt
= F  (  u )dt = (u  F )  dt

dA = (u  F )  d
F   vAdt + F  vAdt = −F  vAdt + F  vAdt = 0
= mA (F )  d = M  d
Applied Mechanics - Department of Mechatronics - SME
2. Work of a Couple -32-

Work of couples on a rigid body M = (F , F )

A
u
F F
B
dA = (u  F )  d rA
= mA (F )  d = M  d
rB

Work of couples on a rigid body rotating about the fixed axis d

dA = M  d = M zd

Mz
if M z = const  A = M z

Applied Mechanics - Department of Mechatronics - SME

3. Work of Some Special Forces -33-

Work of gravitational force z

M0
G = −Gez  d A = G  dr = −Gdz
z

As the particle M of weight G is in motion: M1

G
y
M 0 (x 0, y0, z 0 ) → M1(x1, y1, z1 ) O
x y
rM z1 x
A
M 0M 1
= 
rM
0
1
G  dr = −  Gdz = −G (z 1 − z 0 )
z0

h =| z 1 − z 0 |, A = Gh
M 0M 1

Work of gravitational force is independent of the particle path but depends only on
the start and end positions of the particle.

Applied Mechanics - Department of Mechatronics - SME

3. Work of Some Special Forces -34-

Work of gravitational force z

M0
z
Work of gravitational force of an object is equal
to the sum of work of gravitational force of each M1
particle in the object. G
y
O
x y
x

= − k =1Gk (z 1k − z 0k ) 
n n
A GzC = k =1
Gk z k G =  Gk
M 0M 1

 k =1Gk z1,k , 
n n
 Gz 1,C = Gz 0,C = k =1
Gk z 0,k

A = −G (z 1,C − z 0,C ) = Gh, h =| z 1,C − z 0,C |

M 0M 1

Applied Mechanics - Department of Mechatronics - SME

 3. Work of Some Special Forces -35-

l0
• Magnitude of the force exerted by a linear
spring is proportional to the deflection
k
Fs = −kx , k = const
spring constant k, N/m x1

• Work done by the spring: Fs

x
dA = Fs  dr = −kx  dx
x2 1
 A1−2 = −  kx  dx = − k (x 22 − x 12 ) x2
x1 2
1 2
if x 1 = 0, x 2 = x  A1− 2 = − kx Fs
2
• Work done by the spring to mass A is positive (i.e., F
2
speeding-up) when x2 < x1, i.e., spring returning to
its un-deformed position while speeding-up A.
• Work done by the spring is equal to negative of F1 A
area under curve of F plotted versus x.
1 1
A1− 2 = − (F1 + F2 )x = − k (x 22 − x 12 ) x1 x2 x
2 2
Applied Mechanics - Department of Mechatronics - SME
3. Work of Some Special Forces -36-

Work of a linear spring force Fs = −kr , k = const z

M
1
rN
d A = Fs  dr = −kr  dr  A = −  kr  dr = − k (rN2 − rM2 )
rM 2 rM
1 2 1 2 N
if rM = 0  A = − krN = − k  F
2 2 rN
 = rN Spring displacement from its unstretched position O
y
Work of a linear spring force is also independent of
x
the path but depends on the start and end positions.
k
Torsional
M s = −k
spring
l0 Fs = −sks 

k
1 2
s 1 2 A0 k d k
A0 s
ksds ks 0 2
0 2

Applied Mechanics - Department of Mechatronics - SME

 3. Work of Some Special Forces -37-

Work done by sliding friction s N

v
d A = Ffr  vdt = −Ffr vdt = −Ffrds
Ffr
Ffr = N 
d A = − Nds  A = − Ns (if N = const) 

Work done by sliding friction forces is always negative.

ds
Work done by friction as a wheel rolls without slipping P
Work done by a friction force: d A = Ffr  vI dt = 0 d = ds / R
(The friction force is at IC of zero velocity)
If the wheel rolls with slipping: Friction does work
F mfr N
Remark: Work done by a couple of rolling friction
1. Rolling resistance
Ffr I
d A = −m fr dt = −m frd
vI = 0
2. Or by moving the point of application of N

Applied Mechanics - Department of Mechatronics - SME

 3. Work of Some Special Forces -38-

Work done by internal forces in a system  Case 1: two points M and N of

a couple of internal forces lie in
d A = F21  drM + F12  drN
F12 the same rigid body, the
M u F21 distance between the two points
eu
rN = rM + u  drN = drM + du rM N
is constant, du = 0 and work
done by the internal forces is
du = d (ueu ) = dueu + dt  u O rN zero

= dueu + d  u, d = dt
drN = drM + dueu + d  u Case 2: if the distance between
the two points M và N is
d A = F21  drM + F12  (drM + dueu + d  u ) variable, such as M and N are
= F12  dueu + F12  (d  u ) F12 the two ends of a spring, du  0
M u
= F12  dueu + (u  F12 )  d
F21 and work done by the internal
force is not zero.
rM N
d A = F12  dueu = F12  du O rN Work done by internal forces
at unstretched cables or non-
Conclusion: work done by the pair of internal forces can friction joints is zero (ideal
be either zero or not, it depends on case by case constraints)
Applied Mechanics - Department of Mechatronics - SME
3. Work of Some Special Forces -39-

What about the work of forces in examples:

✓ weight of a body when its center of gravity moves horizontally,

✓ reaction at frictionless surface when body in contact moves along surface,
✓ reaction at a roller moving along its track without slipping, etc.
✓ reaction at frictionless pin supporting rotating body,

O
A C

k=0 C 

B


Applied Mechanics - Department of Mechatronics - SME

 Classification of Forces in Energy Approach -40-

▪ Classification: Internal-External, Applied- Reactive

▪ But also: be able-not be able (to do work)

Forces which do not do work

✓ ds = 0 : No motion of the point of application

✓ Forces perpendicular to the direction of motion: cos = 0,  = 90
✓ Normal reaction at frictionless surface when body in contact moves along surface,
✓ Friction force of a disk rolling without without slipping
✓ Reaction at frictionless pin supporting rotating body,
✓ The pair of internal forces of bodies connecting by rod or inextensible cable

Applied Mechanics - Department of Mechatronics - SME

4. Power and Efficiency -41-

Power is defined to be the rate at which work is performed, or the

derivative of work w.r.t time. In another word the power is the work done
divided by the time taken to do it.
dA
P= = F  v = Fv cos  = F s cos  [W=J/s]
dt
dA M  d
P= = = M  [W=J/s]
dt dt
The SI unit for power is the watt (W) or J/s

Efficiency is defined as the ratio of the output power divided by the

input power

Gear-box
power output
=
power input o o
energy output
= i i
energy input
Applied Mechanics - Department of Mechatronics - SME
 -42-

II. KINETIC ENERGY AND THE PRINCIPLE

OF WORK AND KINETIC ENERGY
1. Kinetic energy of mechanical systems
2. Principle of work and kinetic energy
3. Illustrative examples

Applied Mechanics - Department of Mechatronics - SME

Kinetic Energy of Mechanical Systems -43-

Kinetic energy of a particle

m
1 1 v
T = mv = mv 2 ,
2
T 0
2 [kg 2m2 / s2 ] = N  m = J
r (t )
O

Kinetic energy of a system of particles

m1

1 1
T =  mk vk =  mk vk2
2

2 2 mk
Kinetic energy of a body ?????

And principle ?????

Applied Mechanics - Department of Mechatronics - SME
 Homework

• Read Textbooks and slides

• Do exercises : TEAMS: Force-Acceleration: slides 16-24

• Send your homework to my email

( only in 1 file and in Subject of Email specify:
your name, class, Force_Acceleration_slidenumber_.....)

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