School of Engineering and Architecture

Civil Engineering Department

Summer Term 2019-2020

Forces and
Accelerations
Module 4 – Dynamics of Rigid Bodies

At the end of this module, the student must know the principles of
Objective forces and accelerations in the plane motion of a rigid body as well
as be able to apply it in solving problems theoretically.

In this module, the following will be discussed:

Content • Equations of Motion
• Angular Momentum of a Rigid Body in Plane Motion
• Problems involving the Motion of Rigid Bodies
• Systems of Rigid Bodies
• Constrained Plane Motion

Within this module, students will perform graded activities.

Activities Quiz, class discussions, problem set computations, and recitations
are to be expected.

L.G. Kraige and J.L. Meriam, (2012). Engineering Mechanics

References Volume 2 Dynamics 7th Edition. Massachusetts, USA: John Wiley &
Sons, Inc.

R.C. Hibbeler, (2010). Engineering Mechanics Statics & Dynamics

Twelfth Edition. New Jersey, USA: Pearson Prentice Hall

Instructor: Engr. Aline Benneth V. Jacobo 1

 Dynamics of Rigid Bodies
School of Engineering and Architecture
Module 4 Civil Engineering Department
Summer Term 2019-2020

I. EQUATION OF MOTION
Kinetics is a branch of dynamics that deals with the relationship between the change in motion of a body
and the forces that cause this change. The basis for kinetics is Newton’s second law, which states that
when an unbalanced force acts on a particle, the particle will accelerate in the direction of the force with
a magnitude that is proportional to the force.
If the mass of the particle is m, Newton’s second law of motion may be written in mathematical form as:

F = ma
When more than one force acts on a particle, the resultant force is determined by a vector summation of
all the forces; i.e., FR = ΣF. For this more general case, the equation of motion may be written as:

ΣF = ma

∑ 𝐹𝐻 = 0

−𝐹𝑟𝑖𝑐𝑡𝑖𝑜𝑛𝑎𝑙 𝐹𝑜𝑟𝑐𝑒 + 𝑃𝑢𝑠ℎ𝑖𝑛𝑔 𝐹𝑜𝑟𝑐𝑒 − 𝐼𝑛𝑒𝑟𝑡𝑖𝑎𝑙 𝐹𝑜𝑟𝑐𝑒 = 0

−𝑓 + 𝐹 − 𝑚𝑎 = 0

𝑭 − 𝒇 = 𝒎𝒂 → 𝜮𝑭 = 𝒎𝒂

∑ 𝐹𝑉 = 0

Note: Inertial Force is always opposite to the direction of acceleration except when falling.

Instructor: Engr. Aline Benneth V. Jacobo 2

 Dynamics of Rigid Bodies
School of Engineering and Architecture
Module 4 Civil Engineering Department
Summer Term 2019-2020

II. ANGULAR MOMENTUM OF A RIGID BODY IN PLANE MOTION

D’ Alembert’s principle is applied to prove that the external forces acting on a rigid body are equivalent
a vector ma attached to the mass center and a couple of moment Iα.

∑ 𝑀𝐺 = 𝐼𝛼

Motion of a rigid body in plane motion is completely defined by

the resultant and moment resultant about G of the external forces.

III. PROBLEMS INVOLVING THE MOTION OF RIGID BODIES

Sample Problem 1:
The 50-kg crate shown rests on a horizontal surface for
which the coefficient of kinetic friction is 0.3. If the crate is
subjected to a 400-N towing force as shown, determine the
velocity of the crate in 3s starting from rest.
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Instructor: Engr. Aline Benneth V. Jacobo 3

 Dynamics of Rigid Bodies
School of Engineering and Architecture
Module 4 Civil Engineering Department
Summer Term 2019-2020

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IV. SYSTEMS OF RIGID BODIES

Sample Problem 2:
The 100-kg block A shown is released from rest. If the masses of the
pulleys and the cord are neglected, determine the speed of the 20-kg
block B in 2 s.
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Instructor: Engr. Aline Benneth V. Jacobo 4

 Dynamics of Rigid Bodies
School of Engineering and Architecture
Module 4 Civil Engineering Department
Summer Term 2019-2020

V. CONSTRAINED PLANE MOTION

Constrained Motion is where the path of the particle is partially or totally determined by restraining
guides.

Sample Problem 3:
The baggage truck A shown in the photo has a weight of
900 lb and tows a 550-lb cart B and a 325-lb cart C. For a
short time the driving frictional force developed at the
wheels of the truck is f = 40t lb where t is in seconds. If the
truck starts from rest, determine its speed in 2 seconds.
Also, what is the horizontal force acting on the coupling
between the truck and cart B at this instant? Neglect the size
of the truck and carts.

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Instructor: Engr. Aline Benneth V. Jacobo 5