Dynamics Summary

Rostyslav Popryshko

Chapter 12
Rectilinear Kinematics: Continuous Motion
Basics
ds
Velocity: v= dt

d2 s dv
Acceleration: a= dt2 = dt a = v dv
ds

Three Kinematics Equations

These equations can be applied if acceleration is constant

Velocity as a function of Time

Z v Z t
dv = ac dt ⇒ v = v0 + ac t
v0 0

Velocity as a function of Position

Z v Z s
vdv = ac ds ⇒ v 2 = v02 + 2ac (s − s0 )
v0 s0

Position as a function of Time

Z s Z t
ds = (v0 + ac t)dt ⇒ s = s0 + v0 t + 12 ac t2
s0 0

Procedure for Analysis

1. Coordinate System
ˆ Establish a position coordinate s along the path
ˆ The particle’s position, velocity, and acceleration, can be represented as s, v, and a respectively,
and their direction
ˆ The positive or negative signs can be indicated by arrows
2. Kinematic Equations
ˆ When relationship is known between any two of the four variables a, v, s and t, other variables
can be obtained
ˆ When integration is performed, the constant of integration need to be known
ˆ Three Kinematics Equations can only be applied to situation where the acceleration of the
particle is constant

1
Rectilinear Kinematics: Erratic Motion
The s-t, v-t, and a-t Graphs
ds
Slope of s-t graph = velocity: dt =v
dv
Slope of v-t graph = acceleration: dt =a
R
Area under a-t graph = change in velocity: ∆v = adt
R
Area under v-t graph = displacement: ∆s = vdt

The v-s and a-s Graphs

R s1 1


Area under a-s graph: s0
ads = 2 v12 − v02
dv


Slope of v-s graph × velocity = acceleration: a=v ds

General Curvilinear Motion

Basics
d~
r
Velocity: ~v = dt is tangent to the position curve
d2 ~
r d~
v
Acceleration: ~a = dt2 = dt

Curvilinear Motion: Rectangular Components

~r = x~i + y~j + z~k
p
Position: and magnitude r= x2 + y 2 + z 2
q
Velocity: ~v = d~
r
dt = ẋ~i + ẏ~j + ż~k and magnitude v = vx2 + vy2 + vz2 velocity is tangent to the path
q
Acceleration: ~a = d~
v
dt = ẍ~i + ÿ~j + z̈~k and magnitude a= a2x + a2y + a2z

Procedure for Analysis

1. Coordinate System
ˆ Rectangular coordinate system can be expressed in terms of its x, y and z components

2. Kinematic Quantities

ˆ Rectilinear motion is found using v= ds

dt a= dv
dt ads = vdv
ˆ Magnitudes of vectors are found from the Pythagorean theorem

2
Curvilinear Motion: Normal and Tangential Components
Basics
Velocity: ~v = v u~t where v = ṡ velocity is tangent to the path
Acceleration: ~a = ~v̇ = v̇ u~t + v u~˙t ~a = at u~t + an u~n
v2
where at = v̇ or at ds = vdv and an = ρ
p
and magnitude a = a2t + a2n

Procedure for Analysis

1. Coordinate System

ˆ When path of particle is known, establish a set of n and t coordinates with a fixed origin
ˆ Positive tangent axis acts in the direction of the motion
ˆ n and t axes are used for studying the velocity and acceleration of the particle

2. Velocity

ˆ Particle’s velocity is always tangent to the path

ˆ Magnitude of velocity is found from the derivative of the path function v = ṡ
3. Tangential Acceleration

ˆ For rectilinear motion, at = v̇ at ds = vdv

ˆ If at is constant, s = s0 + v0 t + 1
2 (at )c t2 v = v0 + (at )c t v 2 = v02 + 2 (at )c (s − s0 )

4. Normal Acceleration
v2
ˆ For magnitude of the normal component, an = ρ

ˆ When path is expressed as y = f (x), the radius of curvature ρ at any point on the path is
determined from:
  2  32
dy
1 + dx
ρ= 2 d y
dx2

3
Curvilinear Motion: Cylindrical Components
Basics
Position: ~r = ru~r + z u~z
Velocity: ~v = ṙu~r + rθ̇u~θ + ż u~z velocity is tangent to the path
r  2
2 2
and magnitude: v = (ṙ) + rθ̇ + (ż)
   
Acceleration: ~a = r̈ − rθ̇2 u~r + rθ̈ + 2ṙθ̇ u~θ + z̈ u~z
r 2  2
2
and magnitude: a= r̈ − rθ̇2 + rθ̈ + 2ṙθ̇ + (z̈)

Procedure for Analysis

1. Coordinate System
ˆ Polar coordinates solve angular motion of radial coordinate r
ˆ Origin at a fixed point and the radial line r is directed to the particle
ˆ Transverse coordinate θ is measured from a fixed reference line to radial line

2. Velocity and Acceleration

ˆ r and the 4 time derivatives can be used to obtain the radial and transverse components of v
and a
ˆ Use chain rule of calculus to find the time derivatives of r = f (θ)

Absolute Dependent Motion Analysis of Two Particles

Use this when you have objects connected with ropes/cables and the motion of one affects the other.

Procedure for Analysis

1. Position-Coordinate Equation
ˆ Establish position coordinates with the origin located at a fixed point or datum
ˆ Coordinates are along the path of motion
ˆ Each coordinate axis is directed along the path of motion

2. Time derivatives
ˆ 2 time derivatives of the position-coordinates equations required for velocity and acceleration
equations
ˆ The signs will be positive and negative sense of the position coordinates

4
Relative Motion Analysis of Two Particles Using Translating Axes
Use this when the path of a particle is complicated.

Basics
Position: ~rB = ~rA + ~rB/A one observer fixed at O, observer A moving, particle B moving
d~
rB d~
rA
Velocity: ~vB = ~vA + ~vB/A where ~vB = dt and ~vA = dt refer to absolute velocities,
d~
rB/A
as they are observed from the fixed frame, while relative velocity ~vB/A = dt is observed from the
translating frame
Acceleration: ~aB = ~aA + ~aB/A

Procedure for Analysis

ˆ When applying the relative position equations, it is necessary to specify the location and translating
x0 , y 0 , and z 0

ˆ As vector addition forms a triangle, there can be at most two unknowns

ˆ Unknowns can be solved graphically, by trigonometry, or by resolving into rectangular or cartesian

components

Projectile Motion
Basics
y = − 21 gt2 + V0 sin(α)t + y0 x = V0 cos(α)t + x0

Trajectory Equation of a Projectile

−g
y= (x − x0 )2 + tan(α)(x − x0 ) + y0
2V02 cos2 (α)

Inverse Problem
2V02 2V 2 y0
tan2 (α) − tan(α) + 1 + 0 2 = 0
gx0 gx0
V04 −g 2 x20 −2V02 y0 g
To find α, we should calculate ∆0 : ∆0 = g 2 x20

1. ∆0 < 0: for this value of V0 , I cannot reach the point of coord (x0 , y0 )

2. ∆0 = 0: only 1 possible α to reach the point ⇒ Security Parabola

3. ∆0 > 0: 2 possible solutions for α

V02 √
tan(α) = ± ∆0
gx0

Security Parabola
−g 2 V02
y0 = x +
2V02 0 2g

5
Chapter 13
Equations of Motion: Rectangular Coordinates
When a particle is moving relative to an inertial x, y, z frame of reference:
P~ P P P
F = m~a → F xi + F yj + F zk = m(axi + ayj + azk )

Three Scalar Equations

P P P
Fx = max Fy = may Fz = maz

Procedure for Analysis

1. Free-Body Diagram
ˆ Select inertial coordinate system
ˆ Draw particle’s free body diagram (FBD) and provide a graphical representation that accounts
for all forces ( F~ )
P

ˆ Direction and sense of the particle’s acceleration ~a is also to be established

ˆ Acceleration is represented as m~a vector on the kinetic diagram
ˆ Identify the unknowns in the problem

2. Equation of Motion

ˆ Apply quations of motion on FBD in their scalar component forms

ˆ Cartesian vector analysis can be used for the solution

3. Kinematics
ˆ Apply kinematics equations once the particle’s acceleration is determined from
P~
F = m~a
ˆ If acceleration is a function of time, use a = dv
dt and v = ds
dt

ˆ When acceleration is a function of displacement, integrate ads = vdv to find velocity as a function
of position
ˆ If acceleration is constant, use v = v0 + ac t s = s0 + v0 t + 21 ac t2 v 2 = v02 + 2ac (s − s0 )

6
Equations of Motion: Normal and Tangential Coordinates
Three Scalar Equations
P P P
Ft = mat Fn = man Fb = 0 no motion in bi-normal direction
2
dv v
where at = dt an = ρ

Procedure for Analysis

1. Free-Body diagram
ˆ Establish the inertial t, n, b coordinate system at the particle and draw the particle’s FBD
ˆ Normal acceleration a~n always acts in the positive n direction
ˆ Tangential acceleration a~t always acts in the positive t direction
ˆ Identify the unknowns in the problem

2. Equation of Motion

ˆ Apply the equations of motion,

P P P
Ft = mat Fn = man Fb = 0

3. Kinematics
v2
ˆ Formulate at = dv
dt or at = v dv
ds and an = ρ

ˆ If the path is defined as y = f (x)

  2  32
dy
1 + dx
ρ=
d2 y
dx2

7
Equations of Motion: Cylindrical Coordinates
When all forces acting on a particle are resolved into cylindrical components,
P~ P P P
F = m~a → Fr u~r + Fθ u~θ + Fz u~z = mar u~r + maθ u~θ + maz u~z

Three Scalar Equations

P P P
Fr = mar Fθ = maθ Fz = maz

Tangential and Normal Forces

ˆ Normal force N is always perpendicular to the tangent of the path

ˆ Frictional force F always acts along the tangent in the opposite direction of motion

ˆ Directions of N and F can be specified relative to the radial coordinate Ψ tan(Ψ) = r

dr/dθ

ˆ Ψ can be positive or negative

ˆ Ψ is the angle between the radial component and the tangent

Procedure for Analysis

1. Free-Body Diagram
ˆ Establish r, θ, z inertial coordinate system and draw the particle’s FBD
ˆ Assume a~r , a~θ , a~z act in the positive directions of r, θ, z if they are unknowns
ˆ Identify all the unknowns in the problem

2. Equations of Motion

ˆ
P P P
Fr = mar Fθ = maθ Fz = maz

3. Kinematics
ˆ Determine r and ṙ, r̈, θ̇, θ̈, z̈ and evaluate the acceleration components:
ar = r̈ − rθ̇2 aθ = rθ̈ + 2ṙθ̇ az = z̈
ˆ If acceleration components are a negative quantity, it is acting in the negative coordinate direction
ˆ Use chain rule when taking the time derivatives of r = f (θ)

8
Central-Force Motion and Space Mechanics (this section may be wrong)
Basics
The complementary and particular soltutions are:
GMe 1
ξc = C cos(θ − φ) ξp = h2 with ξ= r = ξc + ξp

1 GMe
ξ= = C cos(θ − φ) + 2
r h
The equation represents a conic section expressed in terms of polar coordinates

FP Ch2
Eccentricity: e= PA = GMe and F P = r = e(P A) = e [p − r cos(θ − φ)]
1 1 1 1
⇒ r = p cos(θ − φ) + ep p= C

The velocity v0 has no radial component: h = r02 dθ

dt h = r0 v0
 
With θ = 0°, r = r0 , we can determine C: C= 1
r0 1− GMe
r0 v02

The equation of free-flight trajectory is:

 
1 1 GMe GMe
= 1− 2 cos(θ) + 2 2
r r0 r0 v0 r0 v0
The type of path taken by the satellite is determined from the value of the eccentricity e of the conic section:
e = 0 → circle e = 1 → parabola e < 1 → ellipse e > 1 → hyperbola

Parabolic Path
Initial launch velocity v0 is required to follow the esacape velocity ve :
r
2GMe
ve =
r0

Circular Orbit
The speed vc required to launch a satellite into a circular orbit is:
r
GMe
vc =
r0

Elliptical Orbit
ˆ Minimum distance from orbit to the center of the Earth O is rp = r0
ˆ Minimum distance is called perigee of the orbit
ˆ Apogee or the maximum distance is
r0
ra =  
2GMe
r0 v 2
−1
0

ˆ T is the period of time required to make one orbital revolution

π √ π √
T = (rp + ra ) rp ra = (rp + ra ) rp ra
h rp vp

9
Chapter 14
The Work of a Force
Basics
A force F does work on a particle when it undergoes a displacement in the direction of the force
dU = F~ · d~r = dU = F · ds cos(θ)

Work of a Variable Force

When particle undergoes a finite displacement from r~1 to r~2 or s1 to s2 , the work is determined by integration:
Rr Rs
U1−2 = 2 F~ · d~r = 2 F cos(θ)ds
r1 s1

Work of a Weight
Z Z r2     Z y2
U1−2 = F dr = −W ~j · dx~i + dy~j + dz~k = −W dy = −W (y2 − y1 )
r1 y1

⇒ U1−2 = −W ∆y

Work of a Spring Force

Z s2 Z s2
1
U1−2 = Fs ds = ksds ⇒ 2
2 ks2 − 12 ks21
s1 s1

Principle of Work and Energy

Basics
P R s2 R v2 P R s2
Ft = mat where at = v dv Ft ds = 21 mv22 − 12 mv12
P
ds → s1
Ft ds = v1
mvdv → s1
U1−2 = 12 mv22 − 12 mv12
P P
⇒ which can also be expressed as T1 + U1−2 = T2

Procedure for Analysis

1. Work (Free-Body Diagram)

ˆ Establish the initial coordinate system and FBD

2. Principle of Work and Energy

ˆ Apply the principle of work and energy:

P
T1 + U1−2 = T2

ˆ Kinetic energy at initial and final points is positive since it involves the speed squared: T = 21 mv 2
ˆ Work is always positive when the force component is in the same direction
ˆ Forces that are functions of displacement must be integrated to obtain the work
ˆ The work of a weight is the product of the weight magnitude and the vertical displacement:
Uw = ±w∆y

ˆ The work of the spring is in the form: Us = 12 ks2

10
Principle of Work and Energy for a System of Particles
Basics
P P P
T1 + U1−2 = T2

Work of Friction Caused by Sliding

When applied force P just balances the resultant frictional force µk N then due to equilibrium a constant
1 2 1 2
velocity v is maintained: 2 mv1 + P s − µk N s = 2 mv2

Power and Efficiency

Power
Defined as the amount of work performed per unit of time

P = dU
dt and when dU = F~ · d~r : P = F~ · ~v
The SI unit of power is watt (W) defined as 1 W = 1 J/s = 1 N.m/s

Efficiency
Defined as the ratio of useful output power to input power supplied to the machine:
power output
η=
power input
If energy applied to the machine occurs during the same time interval at which it is removed:
energy output
η=
energy input

Procedure for Analysis

ˆ The power supplied to a body can be computed using the following procedure

ˆ Determine the external force F~ acting on the body which causes motion

ˆ If the body is accelerating, apply

P~
F = m~a to determine ~a → ~v

ˆ Once F~ and ~v are found, power can be found with P = F~ · ~v or P = F v cos(θ)

ˆ Power may also be found by Pavg = ∆U

∆t or P = dU
dt

11
Conservative Forces and Potential Energy
1. Conservative Force
ˆ Defined by the work done in moving a particle from one point to another that is independent of
the path followed by the particle (Weight and Elastic spring)
ˆ The work done by the weight of a particle is independent of the path since it depends only on the
particles vertical displacement
2. Energy
ˆ Energy is defined as the capacity for doing work
ˆ Kinetic Energy is associated with the motion of the particle

3. Gravitational Potential Energy

ˆ When a particle is located a distance y above a datum, the weight W has positive gravitational
potential energy Vg
ˆ If y is positive upward, gravitational potential energy of the particle of weight W is Vg = ±W y

4. Elastic Potential Energy

ˆ When an elastic spring is elongated or compressed from an un-stretched position, the elastic
potential energy is Ve = + 12 ks2
ˆ Ve is always positive

5. Potential function

ˆ When a particle is subjected to both gravitational and elastic forces, the potential energy is
V = Vg + Ve
ˆ If a particle moves from s1 to a lower position s2 , the work done by a conservative force is measured
U1−2 = V1 − V2 = W (s2 − s1 ) − 21 ks22 − 12 ks21


by the difference of this function:

Conservation of Energy
Basics
ˆ Work done by the conservative forces can be written in terms of the difference in their potential energies

ˆ If only conservative forces are applied to the body when moving from state to state, we have
T1 + V1 = T2 + V2
ˆ This is called conservation of mechanical energy or conservation of energy.
It states that during the motion, the sum of the particle’s T and V remains constant

System of Particles

ˆ If a system of particles is subjected only to conservative forces,

P P P P
T1 + V1 = T2 + V2

ˆ Sum of the particle’s initial kinetic and potential energies is equal to the sum of the particle’s final
P P
kinetic and potential energies T + V = const.

12
Procedure for Analysis
1. Potential Energy
ˆ Draw 2 diagrams showing particle’s initial and final points along the path
ˆ When particle is in vertical displacement, establish the fixed horizontal datum to measure the
particle’s gravitational potential energy
ˆ Recall Vg = ±W y and Ve = 12 ks2 are always positive

2. Conservation of Energy

ˆ Apply the equation T1 + V1 = T2 + V2

ˆ When determining the kinetic energy, speed v must be measured from an interial reference frame
T = 12 mv 2

13
Chapter 15
Principle of Linear Impulse and Momentum
Basics

Linear Momentum: ~ = m~v

L same direction as ~v
I~ = F~ dt same direction as F~
R
Linear Impulse:

Principle of Linear Impulse and Momentum:

X d~v X Z t2 Z v2
P R t2 ~
F~ = m~a = m → F~ dt = m d~v ⇒ t1
F dt = mv~2 − mv~1
dt t1 v1

Principle of Linear Impulse and Momentum can be split into x, y, and z components.

Procedure for Analysis

1. Free-Body Diagram
ˆ Establish the x, y, z inertial frame of reference and draw the FBD
ˆ Establish direction and sense of initial and final velocities
ˆ Assume the sense of vector components in the direction of the positive inertial coordinates
ˆ Draw the impulse and momentum diagrams for the particle

2. Principle of Impulse and Momentum

P R t2 ~
ˆ Apply the principle of linear impulse and momentum, mv~1 + t1
F dt = mv~2

ˆ If the motion occurs in the x-y plane, it can resolve the vector components of F~
ˆ The impulse is equal to the area under the force-time curve.

Principle of Linear Impulse and Momentum for a System of Particles

Basics
X X d~
vi P R t2 ~
F~i =
P P
mi ⇒ mi (~
v i )1 + t1
Fi dt = mi (~
vi )2
dt
The internal forces fi between the particles do not appear in the equation, only the external forces do.

Conservation of Linear Momentum for a System of Particles

Basics
P P
When the sum of external impulses is zero: mi (~
vi )1 = mi (~ v i )2
This is called conservation of linear momentum
The total momentum for a system of particles remains constant between t1 and t2
Internal impulses for the system will always cancel out as they occur in equal but opposite collinear pairs
Non-Impulsive Forces: forces that cause negligible impulses
Impulsive Forces: large forces that act over a short period

14
Procedure for Analysis
1. Free-Body Diagram
ˆ Establish the x, y, z inertial frame of reference and draw the FBD
ˆ Apply the conservation of linear momentum in a given direction
ˆ Establish the direction and sense of the particle’s initial and final velocities
ˆ Draw the impulse and momentum diagrams for each particle of the system

2. Momentum Equations
ˆ Apply the principle of linear impulse and momentum or the conservation of linear momentum
ˆ Determine the internal impulse F~ dt acting on the only particle of a system
R

ˆ Average Impulsive Force F~avg can be determined from F~avg = F~ dt

R
∆t

Impact
Basics
Impact occurs when two bodies collide and cause impulsive forces to be exerted between them
1. Central Impact: occurs when the direction of motion of the mass centers of the two colliding particles
is along the line of impact
2. Oblique Impact: occus when the direction of motion of one or both of the particle is at an angle
with the line of impact

Central Impact
ˆ The particles have initial momenta. When (vA )1 > (vB )1 , collision will occur

ˆ During collision, particles undergo a period of deformation where they exert an equal but opposite
deformation impulse

ˆ Only at maximum deformation will both particles have common velocity as their relative motion is
zero
ˆ Afterwards, a period of resitution occurs, where particles will return to their original shape or remain
permanently deformed

ˆ Equal but opposite resitution impulse R ~ dt pushes the particles apart from one another
R

ˆ After separation the particles will have the final momentum where (vB )2 > (vA )2

ˆ Ratio of the resitution impulse and the deformation impulse is called the coefficient of resitution

ˆ It can be expressed in terms of the particles’ initial and final velocities

(vB )2 − (vA )2
e=
(vA )1 − (vB )1

Coefficient of Restitution
P~ dt is equal and opposite to the Restitution Impulse ~ dt
R R
Elastic Impact e = 1 : Deformation Impulse R
Plastic (inelastic) Impact e = 0 : No Resitution Impulse, particles stick and move with the same velocity

15
Procedure for Analysis (Central Impact)

ˆ The conservation of momentum applies to the system of particles

P P
mv~1 = mv~2

ˆ Coefficient of resitution relates the relative velocities of the particles along the lines if impact, just
before and just after collision

Oblique Impact
ˆ When oblique impact occurs, particles move away from each other with velocities having unknown
directions and unknown magnitudes
ˆ Provided the initial velocities are known, four unknowns are present in the problem

ˆ The unknowns are (vA )2 , (vB )2 , θ2 , and φ2 , or resolving the velocity vectors into x and y components
of the final velocities

ˆ When y axis is established within the plane of contact and the x axis along the line of impact, the
impulsive forces of deformation and restitution act only in the x direction

Procedure for Analaysis

ˆ Momentum of the system is conserved along the line of impact, x axis so that
P P
m (v~x )1 = m (v~x )2

ˆ The coefficient of resitution, e, relates the relative-velocity components of the particles along the line
of impact (x axis)
ˆ Momentum of particle A is conserved along the y axis, perpendicular to the line of impact, since no
impulse acts on the particle A in this direction
ˆ Momentum of particle B is conserved along the y axis, perpendicular to the line of impact, since no
impulse acts on the particle B in this direction

16
Angular Momentum
Basics
Angular Momentum, H~O , of a particle about a point O is defined as the ”moment” of the particle’s linear
momentum about O

Scalar Formulation
ˆ If a particle is moving along a curve, the angular momentum can be determined by using a Scalar
Formulation
ˆ The magnitude of H~O is (HO )z = d mv

ˆ d is the moment arm or perpendicular distance from O to the line of action of m~v

ˆ Common unit for (HO )z is kg.m2 /s

ˆ The direction of H~O is defined by the right-hand rule

Vector Formation
ˆ If the particle is moving along a space curve, the vector cross product is used to determine the angular
momentum about O

ˆ We have H~O = ~r × m~v

ˆ Angular Momentum is determined by evaluating the determinant

~i ~j ~k
H~O = rx ry rz
mvx mvy mvz

Relation Between Moment of a Force and Angular Momentum

Basics

ˆ The moments about point O if all forces acting is related by

P~
F = m~v̇

ˆ The moments of the forces about point O can be obtained by

P ~
MO = ~r × F~ = ~r × m~v̇
P

ˆ Derivation of ~r × m~v can be written as ~ =

Ḣ d
(~r × m~v ) = ~ṙ × m~v + ~r × m~v̇
O dt

~
 
ˆ Since ~ṙ × m~v = m ~ṙ × ~ṙ = 0 therefore
P ~
MO = ḢO

ˆ The equation states that resultant momentum about point O of all the forces acting on the particle is
equal to the time rate of change of the particle’s angular momentum about point O

ˆ The result is also similar to

P~ ~
F = L̇

17
System of Particless
ˆ Forces acting on arbitrary ith particle of the system consist of a resultant external force F~i , and a
~
     
resultant internal force f~i r~i × F~i + r~i × f~i = Ḣ i
O

ˆ Similar equations can be written for each of the other particles of the system
P ~
 P  P 
r~i × F~i + r~i × f~i = Ḣi
O

ˆ The second term is zero since the internal forces occur in equal but opposite collinear pairs, and hence
the moment of each pair about point O is zero
P ~
MO = Ḣ ~
O

Principle of Angular Impulse and Momentum

 
ˆ We have
P ~
MO dt = d H~O and integrated, assuming at time t = t1 , H
~o = H~O and at time t = t2 ,
  1
H~O = H~O
2

ˆ This equation is referred to as the principle of angular impulse and momentum

P R t2 ~       P R t2 ~  
t1
MO dt = H~O − H~O → H~O + t1
MO dt = H~O
2 1 1 2

ˆ Since the moment of a force about point O is M~O = ~r × F~ , the angular impulse may be expressed in
Rt Rt  
vector form as Angular Impulse = t12 M~O dt = t12 ~r × F~ dt

ˆ The principle of angular impulse and momentum for a system of particles may be written as
P ~  P R t2 ~ P ~ 
HO + t1
M O dt = HO
1 2

Vector Formulation
Using impulse and momentum principles, it is possible to write equations which define the particle’s motion:
X Z t2
mv~1 + F~ dt = mv~2
t1

  XZ t2  
H~O + M~O dt = H~O
1 t1 2

Scalar Formulation
If the particle is confined to move in the x-y plane, three independent equations may be written to express
the motion:
X Z t2
m (vx )1 + Fx dt = m (vx )2
t1

XZ t2
m (vy )1 + Fy dt = m (vy )2
t1
XZ t2
(HO )1 + MO dt = (HO )2
t1

18
Conservation of Angular Momentum
ˆ When the angular impulse acting on a particle are all zero during the time t1 to t2 , it may be written
   
as H~O = H~O
1 2

ˆ It is known as the conservation of angular momentum

ˆ If no external impulse is applied to the particle, both linear and angular momentum are conserved

ˆ In some cases, the particle’s angular momentum will be conserved and the linear momentum may not

ˆ This occurs when the particle is subjected only to a central force

Procedure for Analysis

1. Free-Body Diagram
ˆ Draw the particle’s FBD where angular momentum is conserved
ˆ The direction and sense of the particle’s initial and final velocities is established

2. Momentum Equations
ˆ Apply the Principle of Angular Impulse and Momentum
  P R t2 ~      
H~O + t1
M O dt = H~O or H~O = H~O
1 2 1 2

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Chapter 16
Planar Rigid-Body Motion
Basics
When all particles of a rigid body move along paths which are equidistant from a fixed plane, the body is
undergoing planar motion. There are 3 types of rigid body planar motion

1. Translation: when every line segment on the body remains parallel to its original direction during
the motion
(a) Rectilinear Translation: when two particles’ paths of motion are along equidistant straight
lines
(b) Curvilinear Translation: when two particles’ paths of motion are along curved, equidistant
lines
2. Rotation About a Fixed Axis: when a rigid body rotates about a fixed axis, all the particles of the
body, except on the axis of rotation, move along circular paths

3. General Plane Motion: a body is subjected to general plane motion, when there is a combination
of translation and rotation

Translation
Basics
Position: ~rB = ~rA + ~rB/A vector addition
Velocity: ~vB = ~vA since magnitude of ~rB /A is constant due to rigid body
Acceleration: ~aB = ~aA time derivation of velocity

Rotation About a Fixed Axis

Basics
Angular Position: angular position of r is defined by θ
Angular Displacement: change in the angular position is measured as a differential dθ
dθ
Angular Velocity: ω= dt
2
Angular Acceleration: α = dω d θ
dt = dt2 → α dθ = ω dω
When Angular Acceleration is constant:

ω = ω0 + αc t
1
θ = θ0 + ω0 t + αc t2
2
ω 2 = ω02 + 2αc (θ − θ0 )

Motion of P
Position: the position of P is defined by the position vector ~r
Velocity: ~ × r~p
~v = ω and magnitude: v = rω
p
Acceleration: at = αr an = ω 2 r ~a = a~t +a~n ⇒ ~ × ~r − ω 2~r
~a = α and magnitude: a= a2n + a2t

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Procedure for Analysis
1. Angular Motion
ˆ Establish the positive sense of direction along the axis of rotation
ˆ When the relationship is known between any two of the four variables α, ω, θ, and t, we can use:
dθ dω
ω= α= α dθ = ω dω
dt dt
ˆ When the body’s angular acceleration is constant:
ω = ω0 + αc t
1
θ = θ0 + ω0 t + αc t2
2
ω 2 = ω02 + 2αc (θ − θ0 )
ˆ Sense of α, ω, and θ is determined from the algebraic signs of their numerical quantities
2. Motion of P
ˆ Velocity of P and its two compontents of acceleration can be determined from the scalar equations:

v = rω at = αr an = ω 2 r
ˆ If the geometry of the problem is difficult to visualize, we use:
~ × r~P = ω
~v = ω ~ × ~r
~ × r~P = α
a~t = α ~ × ~r
ω × r~P ) = −ω 2~r
~ × (~
a~n = ω

Absolute Motion Analysis

ˆ A body subjected to General Plane Motion undergoes a simulatenous translation and rotation
ˆ One way to define these motions is to use a rectilinear position coordinate s to locate the point along
its path and an angular position coordinate θ to specify the orientation of the line

ˆ By direct application of the time-differential equations v = ds

dt a = dv
dt ω= dθ
dt α= dω
dt
the motion of the point and the angular motion of the particle can be related

Procedure for Analysis

1. Position Coordinate Equation
ˆ Locate point P using a position coordinate s, measured from a fixed origin and along the straight-
line path of motion of point P
ˆ Measure from a fixed reference line the angular position θ of a line lying in the body
ˆ From the dimensions of the body, relate s to θ, s = f (θ)
2. Time Derivatives
ˆ Use the first derivative of s = f (θ) with respect to time to get a relationship between v and ω
ˆ Use second derivative to get a relationship between a and α
ˆ In each case, the chain rule of calculus must be used when taking the derivatives of the position
coordinate equation

21
Relative-Motion Analysis: Velocity
ˆ The General Plane Motion of a rigid body can be described as a combination of translation and
rotation. To view these components separately:
ˆ We use a relative-motion analysis involving two sets of coordinate axes

ˆ X 0 and Y 0 coordinate system has a known motion

ˆ The axes of this coordinate system will only be allowed to translate with respect to a fixed frame

Basics
Position: ~rB = ~rA + ~rB/A ~rA specifies the location of the ”base point” A, ~rB/A locates B
Displacement: d~rB = d~rA + d~rB/A due to the rotation about A, drB/A = rB/A dθ
d~
rB d~
rA d~
rB/A
Velocity: dt = dt + dt → ~vB = ~vA + ~vB/A ⇒ ~ × ~rB/A
~vB = ~vA + ω
~vB/A has a magnitude of vB/A = ωrB/A with a direction perpendicular to ~rB/A

Procedure for Analysis

1. Vector Analysis
(a) Kinematics Diagram
ˆ Establish directions of the fixed x, y coordinates and draw kinematics diagram of the body
ˆ When magnitude of vA , vB , or ω ~ are unknown, the sense of the direction may be assumed
(b) Velocity Equation
ˆ To apply ~vB = ~vA + ω ~ × ~rB/A , express the vectors in Cartesian vector form and substitute
them into the equation
ˆ If the solution is a negative answer for an unknown magnitude, it indicates that the sense of
direction of the vector is opposite
2. Scalar Analaysis
(a) Kinematics Diagram
ˆ If the velocity equation is to be applied in scalar form, then the magnitude and direction of
the relative velocity ~vB/A must be established
ˆ Draw a kinemtics diagram, which shows the relative motion. Since the body is considered to
be ”pinned” momentarily at the base point A, the magnitude is vB/A = ωrB/A
ˆ The sense of the direction of ~vB/A is established from the diagram such that ~vB/A acts
perpendicular to ~rB/A in accordance with the rotational motion ω ~ of the body
(b) Velocity Equation
ˆ Write ~vB = ~vA + ~vB/A in symbolic form, and underneath each of the terms respresent the
vectors graphically by showing their magnitudes and directions. The scalar equations are
determined from the x and y components of these vectors

22
Instantaneous Center of Zero Velocity
Basics
~ × ~rB/A , since ~vA = 0. Point A is called the instantaneous center of zero velocity (IC)
Velocity is ~vB = ω
and it lies on the instantaneous axis of zero velocity. Magnitude is vB = ωrB/IC , and ~vB is perpendicular
to ~rB/IC

Location of the IC
Velocity of a point on the body is always perpendicular to the relative-position vector extending from the
IC to the point
1. Given Velocity: IC is located along the line drawn perpendicular to ~vA , distance from A to the IC
is rA/IC = vA /ω
2. Given Nonparallel Velocities:
ˆ Construct A and B line segments that are perpendicular to ~vA and ~vB
ˆ Extending these perpendicular segments to their point of intersection locates the IC
3. Given Magnitude and Direction: IC is determined by proportional triangles

Procedure for Analysis

ˆ Motion can be determined with reference to instantaneous center of zero velocity
ˆ The body is imagined as ”extended and pinned” at the IC where it rotates about this pin with its ω
~
ˆ Magnitude of velocity can be determined by using v = ωr
ˆ Velocity has a sense of direction

23
Relative-Motion Analysis: Acceleration
ˆ An equation that relates the accelerations of two points on a rigid body subjected to General Plane
Motion
d~vB d~vA d~vB/A
= + ⇒ ~aB = ~aA + ~aB/A
dt dt dt

ˆ ~aB/A can be expressed in terms of its tangential and normal components of motion



~aB = ~a + ~aB/A t + ~aB/A n

ˆ The terms can be represented graphically as the sum of translation and rotation about point A

~ × ~rB/A − ω 2~rB/A
~aB = ~aA + α

Velocity Analysis
Determine the angular velocity ω
~ of the body by using a velocity analysis

Procedure for Analaysis

1. Vector Analaysis
(a) Kinematics Diagram
ˆ Establish the directions of the fixed x, y coordinates and draw the kinematics diagram
ˆ If points A and B move along curved paths, their tangential and normal acceleration com-
ponents should be indicated
(b) Acceleration Equation
ˆ To apply ~aB = ~aA + α ~ × ~rB/A − ω 2~rB/A express the vectors in Cartesian vector form and
substitute them into the equation
ˆ When the solution yields a negative answer for an unknown magnitude, it indicates that the
sense of direction of the vector is opposite

2. Scalar Analaysis
(a) Kinematics Diagram
ˆ If the equation ~aB = ~aA + ~aB/A



t
+ ~aB/A n
is applied, then the magnitudes and directions



of the relative-acceleration components ~aB/A t
and ~aB/A n must be established
ˆ To do this, draw a kinematics diagram
(b) Acceleration Equation
ˆ Represent the vectors in ~aB = ~aA + ~aB/A



t
+ ~aB/A n
graphically by showing their mag-
nitude and directions underneath each term. The scalar equations are determined from the
x and y components of these vectors

24
Relative-Motion Analysis using Rotating Axes
Basics
Position: ~rB = ~rA + ~rB/A
d~
rB/A ~ × ~rB/A + ~vB/A


Velocity: ~vB = ~vA + dt ⇒ ~vB = ~vA + Ω xyz

~ × ~r d~
rB/A vB/A )
d(~
Acceleration: ~aB = ~aA + Ω̇ ~
B/A + Ω × + xyz
dt dt

~ × ~r
 
~ ~ rB/A + 2Ω
~ × ~vB/A



⇒ ~aB = ~aA + Ω̇ B/A + Ω × Ω × ~ xyz
+ ~aB/A xyz

ˆ Translating coordinate system

– Describes relative motion analysis for velocity and acceleration

– Determines the motion of the points on the same rigid body
– Determines the motion of points located on several pin-connected rigid bodies
ˆ Rigid bodies are constructed such that sliding occur at their connections

ˆ Coordinate system

– Use for kinematics analysis

– Use for analyzing motion of two points on a mechanism which are not located in the same rigid
body
– Use for specifying kinematics of particle motion when the particle is moving along a rotating path

25
Cheat Sheet

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