(1) Dynamics of a

single particle - :

(2) Newton's 2nd Law :

F =
ma

It is
*
ubiquitously used to solve the dynamics of a
particle/
septem of particles .

(a) Directly integrate the Newton's ,

equation of motion (EOM)

(n.) A
projective of men'm that is
fired into the Earth
Esper
.
a
retarding force as d =
--CV ,
where C, 1 are contents

I
which
depend on the
properties shape of projective .

If the impect
vel = vo
, find the total
penetration depth
.

Solution ---(p2j
:

&
=

m(aj)
-C-CV
Vce
: = m

-d
- mv
=

+ dre CtCV2

)Case
:
In
JHL
·= I
(h) It is sometimes
useful to use the newton's

equation in alternate
form
.

(1) First
integral of the E . O M .

, wut time :

* F :
ma
th

JEct
ti
=
Ym
ti
:

m
*

.
YE .
dt = m -

mu
t

those
*
Applied in collision
problems or
problems where a
partical
explodes .
(2) second/displacement integral of EOM - :

Fima
=>
(E d Im di
.
=

=>
/: I me

=>

·
N
A

d Im
(V

=>JEm(V
⑧

·
B

&
A

=
-Emm
=> (5) + YmV =
BG(j) + Y2mVB
(a) Conservative Forces -
:

* In nature have
major category
that are
we a
of forces
called conservative
Forces ,
which are derivable from a

scalar
functions
.

# F . di :
do-exact differential
* For such
Forcesactual
the initial and
.
final positions are
important
and not the
path
t a ke n

* F = -

-0
(6) Suppose a man
of men'M'
jumps From a
height 'h' to the

Let' be the distance which his COM

ground
. through
moves wha shits the floor vertically without bending

the knees his

.
Find the
forc/area acting on .
ankles

Carea of the ankles : 50 (m2)

·
 nY
(9) Wa :
Any
(1)
(0
° ·

, 1)
D

& Wy I
: A

*
⑧
3x
[ , 0)
Find the Force T
work done
by the =

Alky [ yj) +
along the
path Dand
8.

Qi
-
②
Wa : : Wai ;
WA ; Was :
At :I
: Whet :
A

-
non-conservative .
(8) A
gun
whose barrel makes an
angle'd' with the horizontal fires a shell of

man 'm' with a velocity "O"wr.t the barallel whose man is 'M !
b

Find the recoil vel 'V' Also find absolute

.

9 of the Camon . the magnitude

of the vel

les vail truck.

.

Of the shell .
Anume that the Cannon is mounted on a
friction
Vimit >
- >

V+ Vc =
Vb
vi cosa

mis = Mi
Vzlosa
M
- >
: Muz
Vz
VI
·
(mm
:
(6) A mans'm' Falls through a
height 'h' and hits a
spring with
Constt'K' What the It ha
.
is man .

Comp . achieved
.

za8h
:2
·

E se
mygh trige Ive right
:
+
unge

-
migh =

Iket-mac
=
ke-zige-uglio
: N=
zg + -
4mig" 8 mghl
+

2k

-
:
+
mg + might 2

K
(2)Dynamics of System of particles - a :

* Tos extended doinve

general
such
objects also ,
we can some

relational
equations independent of the
specific interaction blu them
independent
of the specific interaction blu .them

>
-
. of
Eq motion
of a
particle in a
septem
For an ith
particle .

m
Fi External Force acting ith
on
particle .
=

Zi =
Internal Force on i th
particle dueto remaining of the

particles.
=> Zzi = 0

: F += Zim
(1) Concept of centre of man :

mini = Mi

mi
: E=
M
* For relations
a
system of particles ,
some
general equation
on be derived interaction bo them
independent ofthe type of
-
:

42 F =
ri -
:

tB

(a) (Edt = t =

M
this
tA

:
SFdt =

M Ye -

ta
B

(b)
I E de .

&Micke
KA &A

- A

u (V-Vi
Na

Ei += min

:= +
 mir zmizmi
:
M Emiri +

: Emis : o

=2
TUE
:
Ti :
Esmiri
· El mi

= mi +z

Mimi
:
=
-
=
R2
azof
the COM KE .
about the COM .

:. Zwi
= (i)drd
-d
 B

=-

10

-)
E

=> d
di
mini de
T

-F = Ti&

= Mimi

= =mi
A
(i) Angular motion for system of a

particle
-
:

Let
* :

EXP for single particle

a .

* For a
system of particles

=
angular momentum

FOM

angular for
motion

90

=> mi + minxi

x (mir)
=>
 =m
=
[x( (i) +

i
90

: & +x

=
* If E =
0 = I =
comett

(6) particle is
moving in 2-D
plan along the wome
y
:
Ye

in Z planunder
theinflue offor a abc

I
m = F
at Yo

mv = Ft -

mc
:
=

: n= It
2 m

.
(.) Types of constraints :-
↑

(a) Holonomic and non-Holonomic -

:

&

* Holonomic Constraint
equation are in
equalities
.

- time in Greek
(b) Scheronomic and Rheonomic
: -
↑

Schromic time
are
independent constraint
equation
.

()
- spherical pendulum
x+ R2
y + z =

Rheonomic are time

dependent constraint
equation.
(a) 0 < r< RCt)

(C) Conservative/non-conservative systems :-

↑

Conservative
*
septem are acted
Conservative Forces
upon by .
A
suppose
3N
there are 'N'
particles making up system a . Then we need

co-ordinate their
variables to
specify dynamics.

Let there be 's'no constraints

of on the
septem
,

*
This the no of co-ordinates will be
independent N-c
U = .

The will be function

original set
position vectors
of the independent
...
of

co . Ordinates [c]
= (21 , 8 ...

* These independent coordinates which

are
free from each other are
called generalized coordinates
.
 The
*
Even
concept of generalized
there
coordinates have no relation with constraints
.

if are no constraints the

generalized Coord are

useful .
(4) Generalized coordinates :-
&

* System of particles to their

coordinates
specify
N- = 3N

position / evolution
--

* Degree of freedom is the Min /

independentset
.

of co-ordinates
to motion
required specify of sytem
.

aj aj((3 t) ; i 1, 4 N
j 1 8
; U
3N-
= :
=
, = ....

, ,...,

No of
constraints
(5 ) Generalized
.

velocity :-
i =i ((9 < 3 t) ,

v
= (i)
=

dant
=

[(n y z)
* ,
,
=

df
= datdy

: d

· generalized
velocity
:
(6) Generalized Momentum : -

* The momentum linked to the momentum

of the generalized coord
.

Ex

(ex) ke
of a
particles
T =

(m((k =
+ m(x + j = z4

:
pr := masm
1119 ; py mz
mijtpz: =

* Take
plane polar cor.

T r 2)
=
(m(r2 +

prmi
·:

po = mu

Pa generat
(7) Generalized Energy :
-

[mi
*
T
=

: at

:= mi
=
[mi i
t
+
= mi
* -

Aus

[mi()]
+
 Gen =
* momentum
·

; pa

T
: +

P2 . An
:

Bu
Pr = An ga +
.
 T Aban+
·
Bat

=
Tz + Ti + To

*
If the-contraints are scheronomic
,
the transformation

equation are
independent oftime
.

= ([923)

Bai mid-
:

= mi
C

s
Fa a
:
(g) Virtual Work :- ↑

A Used to solve problems in static .

of
*Undertheinfluence forFi ,
if displacement of ,a

="
du F · di
i = 1

* In statics motion and the

there is no
septem is in equilibrium ↑

Then we under the Forces

imagine a virtual
displacement maintaining the
equilibrium
.

These virtual
* displacement should not violate the constraints
improved
on the
system
-

: S -

VD
. .

*
[F : Ei)
+
Actually ,
sw :
.

S
90

- S
* Sw : Fi .
Sri
i

= (((a) ,
t)

dri da
+

dut

Surar
=>

Z (I s
= da

# O =
Generalized Force

I
# Sw =

Za Sara then
,

(i) If (c)
=
2 => [04] : [Linear Force]

(i) If [91] = (0 => [Da] =

[Torque
(9) D'Alembert's principle :
* For
dynamics ,

F mis
F+ mi
S T
int
ext -

force Force
F
* New
interpretation of a

force .

pseudo
=> Fi + z -

Fp ,
i = 0

peudo Force /Force of inertia

(F + -pi)
=> sw
= .
Si = o

: sw
= (F-m) ·
S = O
()
X + AR + xz l
,
=

Su , + Suz = 0

) Sx
= = -

Siz

Sw (-mit) Sa
= o
.

=
E(x-mi) Su E(F-mz)sa ,
+ =
o

=
((m M2) g (m +i) ii) Sa
,
-

,
,
= 0

zi
:
=m
() :DaGa is and

(I) [mi. S

did e

= ([aq) ,
t)

=
: mi .

Smi a
S
= [mi]-mi
= mir)-mi

) u
 Emir Smit
.

[mir]-mi
=

B
=> Mimi

= ()
: sw

-
10) Euler-Lagrange Egn of 2 kind :-
#

* fore drivable
If the is
from potential force .

2 V(Sa
force -V
.
i e
, Conservative = =

or
If =

-
=> (FV]-
CT

=> 0
=

T total KE
Of the system
= .
.

total
V PE
Of the septem
= .
.

* Even
if the forces are
dependent on vel in
. such a
way that
:-

S
-)
=

eg. of EM or

=>
=>-(TV)
* Euler Lagrange equation are
form invariant
, irrespective of the
choice of generalized coordinate one chooses to work with
depending the problem
on
.
* the EL EOM remain same
for L' = L+ k
T
Const .

For L E3t)
Even
L the EOM
* =
,
where
,
remain invariant

·
=>
px=
Earlier
* we
defined gen momentum as
&

Now terms
, we
redefine our
definition of gen . Momentum in
of Lagrangin as :-

pa =
* Whenever the
, lagrangin of system is independent of generated
a a

Coordinate the is Conserved

pa
corresponding generalized momentum
then = Comtt
,

# There coordinates are called

Cyclic Ignorable Coordinates .

(D) Principle of virtual work :
&

6
Mi
↓* 3
Card" For
in static
it to be

equilibrium
.

Mignit ↑
Mc
M g
.
M2 Grip .
(a BC I

IIIIIIIIIIIIIIIIIIIIIIIIIIIIII
Y

Meg

Swio :

Es
: M Sx +
.
gmx .

Mag mB .
Gx = 0
; with
the Const.
21 +z =
l

:
Mc m :
M , mid
* : See, +
Se o =

:
Sx = -
See
(2)dAlbertprincia
pl the ac

Zi (F-mir) sai-o
=(mignia-m , ) Sa + (mygm-m)S =o

21 +Hz = C

-
See = -

See
=
"
x, + 22 = 0

·
(mignia.M) +
(mignip mix
+
,
) (-8x )
.
:

=
MGsid-Meg mis
MitM2
(03 .) Generalize Force :
master with two masses

If the two ends

of flar a that is
fallingfreely in a verticle
plane are (x ,, 2) ,
CK2 , 2

Find the Form

generalized in terms
of and 'O'as shown
.

Za
(x zi)
,

90 0

%m
-

Z
& -
T
(12 , zr) ⑧

Mig
li

· ms Zi
Mag

9x

Z :=
height of COM : N
: =COM , horizontal comp .

: Z
:Z = So :

F E +

gen Fores Q2
: my (or
=
=
.

i (2=
,, zi)
=

= (x2 zr)
,

:. Z
:
El + zz= zz

Z
simo =

=> Zz-Zi = I sin O

:
ZZl ino
Z

Z:
1 mo
+

Dz
=
:

mg + mg
=
=
Eng
(64) Lagrangian
-
:

-
n Y

T
l

im
T
= m(+ j) :
Ime
V=
-mgy =
-mgl loso

Const .;

x7y 22 =

(2) - (r 0), ; V exc 1

=
.

:
x= I sno

2 :
-
l coso

si =
lloso .

y =
+ l io . O

.. L = Tv =

Im e2j2 +
mge coso

:
: me20]mglio
=
ml2o +
mgl mo = o

- lotg mo :

:
: i
* extension
ofthis problem pendulum fixed
A
imple is
spherical ,
where vie is

T z2)
+m(x y
=
2
+ +

I
cost
=
x mo

Y : l
in0m
z = loso
: T:
Iml2 (o + in 094)
V=
mgl co

:
m (otmo)-mglcoso
'I' is absent Dis Cyclic .
cord
,

Po is
:.
conserved
.
(95)
.

k,
kz
mi mz

E
2 97x2
lz

T
= m, j + m = mm

:
Ye =
litt ; Yz : lette

=>
j= 1
y =
x

V =
1k x
2
,
+
12 x)" -

:
Lemmi
() Suppose the
Congregion of
a
septem is
given by
,

+gik
Find EOM .