Engineering Mechanics-Dynamics Kinematics of Particles

Chapter One
Kinematics of Particles
1-1 Introduction to Dynamics
The term dynamic may be defined simply as time-varying
Dynamics includes:

 Kinematics: study of the geometry of motion. Kinematics is used to relate

displacement, velocity, acceleration, and time without reference to the cause of
motion.
 Kinetics: study of the relations existing between the forces acting on a body, the
mass of the body, and the motion of the body. Kinetics is used to predict the
motion caused by given forces or to determine the forces required to produce a
given motion.

The motion of particles include:

 Rectilinear motion: position, velocity, and acceleration of a particle as it moves

along a straight line.
 Curvilinear motion: position, velocity, and acceleration of a particle as it moves
along a curved line in two or three dimensions.

1-2 Rectilinear Motion of Particals: Position, Velocity &

Acceleration
Particle moving along a straight line is said to be in rectilinear motion. At any given
instant t, the particle will occupy a certain position on the straight line. To define the
position P of the particle, one can
choose a fixed origin O on the straight line and
a positive direction along the line. the distance
x can be measured from O to P and record
it with a plus or minus sign, according to

whether P is reached from O by moving along the line in the positive or the negative
direction. The distance x, with the appropriate sign, completely defines the position of
the particle; it is called the position coordinate of the particle considered.

1 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Particles

The motion of a particle is known if the position coordinate for particle is known for
every value of time t. Motion of the particle may be expressed in the form of a function,
e.g.,

x  6t 2  t 3

or in the form of a graph x vs. t.

Consider particle which occupies position P

at time t and P’ at t+Dt,
x
Average velocity 
t
xx dx
Instantaneous velocity  v vlim
lim 
t
t00 tt dt

Instantaneous velocity may be positive or negative. Magnitude of velocity is referred to

as particle speed. From the definition of a derivative, e.g.,
x  6t 2  t 3
dx
v  12t  3t 2
dt

Now consider particle with velocity v at time t

and v' at t+Dt;

Instantaneous acceleration a vlim  dvv d 2 x

a  lim t 0 t 

t  0 t dt dt 2
From the definition
e.g. ofv aderivative,
12t  3t 2 e.g.,
dv
a   12  6t
v  12t  3t 2 dt
dv
a  12  6t
dt

2 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Particles

1-3 Uniform Rectilinear Motion

For particle in uniform rectilinear motion, the acceleration is zero and the velocity
is constant, then:
dx
 v  constant
dt
x t

 dx  v  dt
x0 0

x  x0  vt
x  x0  vt

1-4 Uniformly Accelerated Rectilinear Motion

For particle in uniformly accelerated rectilinear motion, the acceleration of the particle is
constant.

v t
dv
 a  constant  dv  a  dt v  v0  at
dt v0 0
v  v0  at
x t

 dx   v  at dt
dx
 v0  at 0 x  x0  v0t  12 at 2
dt x0 0

x  x0  v0t  12 at 2

v 2  v02   ax  x0 
v x
dv
v  a  constant  v dv  a  dx 1
2
dx v0 x0

v 2  v02  2a x  x0 

3 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Particles

1-5 Motion of Several Particles: Relative Motion

For particles moving along the same line, time should be recorded from the same
starting instant and displacements should be measured
from the same origin in the same direction.

x B A  x B  x A  relative position of B with respect toA

xB  x A  xB A
vB A  vB  v A  relative velocity of B with respect toA ……. vB  v A  vB A
aB A  aB  a A  relative accelerati on of B with respect toA ........ aB  a A  aB A

1-6 Motion of Several Particles: Dependent Motion

Position of a particle may depend on position of one

or more other particles. Position of block B depends on
position of block A. Since rope is of constant length, it
follows that sum of lengths of segments must be
constant.

xA  2 xB  constant (one degree of freedom)

The positions of three blocks are also dependent as shown:

2 xA  2 xB  xC  Positions of three blocks are dependent.

For linearly related positions, similar relations hold between

velocities and accelerations.

dx A dx dx
2  2 B  C  0 or 2v A  2v B  vC  0
dt dt dt
dv dv dv
2 A  2 B  C  0 or 2a A  2a B  aC  0
dt dt dt

4 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Particles

Example1: Ball tossed with 10 m/s vertical velocity from

window 20 m above ground. Determine:
1 Velocity and elevation above ground at time t,
2 Highest elevation reached by ball and corresponding
time, and
3 Time when ball will hit the ground and corresponding
velocity.

Solution:
• Integrate twice to find v(t) and y(t).
dv
 a  9.81 m s 2
dt
v t  t

 dv   9.81dt vt   v0  9.81t

v0 0

m  m
vt   10   9.81 2  t
s  s 

• Solve for t at which velocity equals zero

and evaluate corresponding altitude.
m  m
vt   10   9.81 2  t  0
s  s 
t  1.019 s

dy
 v  10  9.81t
dt

y t  t

 dy   10  9.81t dt

y0 0

yt   y0  10t  12 9.81t 2

 m  m
yt   20 m  10 t   4.905 2 t 2

 s  s 

 Solve for t at which altitude equals zero and evaluate corresponding velocity.

 m  m
y  20 m  10 1.019 s    4.905 2 1.019 s  ……… y  25.1m
2

 s  s 

 Solve for t at which altitude equals zero and evaluate corresponding velocity.

5 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Particles

 m  m
yt   20 m  10 t   4.905 2 t 2  0
 s  s 
t  1.243 s meaningles s so t  3.28 s
m  m
vt   10   9.81 2  t m  m
s  …….. v3.28 s   10   9.81 2  3.28 s   22.2
m
s 
s  s  s

Example 2: Ball thrown vertically from 12 m level in elevator shaft with initial velocity
of 18 m/s. At same instant, open-platform elevator passes 5 m level moving upward at 2
m/s. Determine (a) when and where ball hits elevator and (b) relative velocity of ball and
elevator at contact.

Solution:
1. Substitute initial position and velocity and constant
acceleration of ball into general equations for uniformly
accelerated rectilinear motion.
m  m
v B  v0  at  18   9.81 2 t
s  s 
 m  m
y B  y 0  v0 t  12 at 2  12 m  18 t   4.905 2 t 2
 s  s 

2. Substitute initial position and constant velocity of

elevator into equation for uniform rectilinear motion.
m
vE  2
s
 m
y E  y0  vE t  5 m   2 t
 s

3. Write equation for relative position of ball with respect to

elevator and solve for zero relative position, i.e., impact.

 
yB E  12  18t  4.905t 2  5  2t   0
t  0.39 s meaningles s …. So t  3.65 s
yE  5  23.65  12.3 m
 18  9.81t   2  16  9.813.65  19.81
m
vB E
s

6 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Particles

Example 3: Pulley D is attached to a collar which is pulled down

at 3 cm/s. At t = 0, collar A starts moving down from K with
constant acceleration and zero initial velocity. Knowing that velocity
of collar A is 12 cm/s as it passes L, determine the change in
elevation, velocity, and acceleration of block B when block A is at L.

Solution:

1. Define origin at upper horizontal surface with positive

displacement downward.
2. Collar A has uniformly accelerated rectilinear motion.
Solve for acceleration and time t to reach L.

v A2  v A 0  2a A x A  x A 0 
2

2
 cm 
  2a A 8 cm 
cm
12 aA  9
 s  s2

v A  v A 0  a At
cm cm
12 9 2 t t  1.333 s
s s

3. Pulley D has uniform rectilinear motion. Calculate change of position at time t.

xD  xD 0  vDt
 cm 
xD  xD 0   3 1.333 s   4 cm
 s 

4. Block B motion is dependent on motions of collar A and

pulley D. Write motion relationship and solve for change
of block B position at time t. Since Total length of cable
remains constant,

x A  2 xD  xB  x A 0  2xD 0  xB 0
x  x   2x  x   x  x    0
A A 0 D D 0 B B 0

8 cm   24 cm   x  x    0
B B 0

xB  xB 0  16 cm

7 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Particles

5. Differentiate motion relation twice to develop equations for velocity and acceleration
of block B.

x A  2 xD  xB  constant
v A  2vD  vB  0
 cm   cm 
12   2 3   vB  0
 s   s 
cm
vB  18
s
a A  2a D  a B  0
cm
 cm  ……. aB  9 2
 9 2   vB  0 s
 s 

8 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Particles

1-7 Curvilinear Motion: Position, Velocity & Acceleration

The position vector of a particle at time t is defined

by a vector between origin O of a fixed reference frame
and the position occupied by particle.
Consider a particle which occupies position P defined
by at time t and P’ defined by at t + Δt, then:

Instantaneous velocity (vector) & Instantaneous speed (scalar)

r dr s ds
v  lim  v  lim 
t 0 t dt t 0 t dt

1-8 Rectangular Components of Velocity & Acceleration

When position vector of particle P is given by its
   
rectangular components, r  xi  y j  zk
Velocity vector,
 dx  dy  dz    
v  i  j  k  x i  y j  zk
dt dt dt
  
 vx i  v y j  vz k

Acceleration vector,
 d 2x  d 2 y  d 2z    
a  2 i  2 j  2 k  xi  y j  zk
dt dt dt
  
 ax i  a y j  az k

9 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Particles
•
• Rectangular components particularly effective
when component accelerations can be integrated
independently, e.g., motion of a projectile,

ax  x  0 a y  y   g az  z  0

with initial conditions: x0  y0  z 0  0 v x 0 , v y 0 , v z 0  0

vx  vx 0 v y  v y 0  gt vz  0
y  v y 0 y  12 gt 2
Integrating twice yields:
x  vx 0 t z0

• Motion in horizontal direction is uniform.

• Motion in vertical direction is uniformly accelerated.

• Motion of projectile could be replaced by two

independent rectilinear motions.

Example 4: A projectile is fired from the edge of

a 150-m cliff with an initial velocity of 180 m/s at
an angle of 30°with the horizontal. Neglecting air
resistance, find (a) the horizontal distance from
the gun to the point where the projectile strikes the
ground, (b) the greatest elevation above the
ground reached by the projectile.

SOLUTION:

• Maximum elevation occurs when vy=0, the Vertical motion is uniformly

accelerated, then:

10 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Particles
Also horizontal motion – uniformly accelerated,
then:

……(4)

Projectile strikes
the ground at: Substitute into equation (1)

Substitute t into equation (4):

Maximum elevation occurs when vy=0

Maximum elevation above the ground =

Example 4: Automobile A is traveling east at the constant speed of 36

km/h. As automobile A crosses the intersection shown, automobile B starts
from rest 35 m north of the intersection and moves south with a constant

acceleration of 1.2 m/s2. Determine the position,

velocity, and acceleration of B relative to A 5 s

after A crosses the intersection.

SOLUTION:

Given: vA=36 km/h, aA= 0, (xA)0 = 0, (vB)0= 0,

aB= - 1.2 m/s2, (yA)0 = 35 m

 Determine motion of Automobile A:

11 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Particles

We have uniform motion for A so:

At t = 5 s:

 Determine motion of Automobile B:

We have uniform acceleration for B so:

At t = 5 s:

Since :

Then the problems can be solve geometrically, and apply the arctangent
relationship:

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Engineering Mechanics-Dynamics Kinematics of Particles
Or one can solve the problems using vectors to obtain equivalent results:
rB  rA  rB/ A vB  v A  v B/ A aB  aA  aB/ A
20 j  50i  rB/ A 6 j  10i  v B/ A 1.2 j  0i  aB/ A
rB/ A  20 j  50i (m) v B/ A  6 j  10i (m/s) aB/ A  1.2 j (m/s 2 )

Physically, a rider in car A would “see” car B traveling south and west.

1-9 Tangential and Normal Components

If we have an idea of the path of a y

vehicle, it is often convenient to analyze the

motion using tangential and normal

en v= vt et
components (sometimes called path
et
coordinates). dv v2
a e t  en
dt 
x

• The tangential direction (et) is tangent to the path of the particle. This
velocity vector of a particle is in this direction
• The normal direction (en) is perpendicular to et and points towards the
inside of the curve.
• The acceleration can have components in both the en and et directions
To derive the acceleration vector in tangential and
normal components, define the motion of a particle as
 
shown in the figure. et and e are tangential unit vectors
for the particle path at P and P’. When drawn with
  
respect to the same origin, et  et  et and  is the
angle between them.

et  2 sin  2


et sin  2  
lim  lim en  en
 0   0  2

 det
en 
d

 
13 v  vet Asst. Prof. Dr. Sheelan M. Hama
Engineering Mechanics-Dynamics Kinematics of Particles
With the velocity vector expressed as
, the particle acceleration may be written as:
  
 dv dv  de dv  de d ds
a  et  v  et  v
dt  dt dt dt d ds dt
det  ds
But,  en  d  ds v
d dt
2
After substituting, a  dv et  v en dv v2
at  an 
dt  dt 

• The tangential component of acceleration reflects

change of speed and the normal component reflects
change of direction.
• The tangential component may be positive or
negative. Normal component always points toward
center of path curvature.

Example 5: A motorist is traveling on a curved

section of highway of radius 2500 ft at the speed of
60 mi/h. The motorist suddenly applies the brakes,
causing the automobile to slow down at a constant
rate. Knowing that after 8 s the speed has been
reduced to 45 mi/h, determine the acceleration of
the automobile immediately after the brakes have
been applied.

SOLUTION: Define your coordinate system

Then Determine velocity and acceleration in the
et
tangential direction en

The deceleration constant, therefore;

14 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Particles
Immediately after the brakes are applied, the speed
is still 88 ft/s

a  an2  at2  2.752  3.102

and

1-10 Radial and Transverse Components

The position of a particle P is expressed as a
distance r from the origin O to P– this defines the
radial direction er. The transverse direction eθ is
 
perpendicular to er : r  rer

The particle velocity vector is: v  r er  r e

The particle acceleration vector is:   

a  r  r 2 er  r  2r e 

One can derive the velocity and acceleration relationships by recognizing that
the unit vectors change direction. The particle velocity vector is:

 d  dr  der dr  d   
v  rer   er  r  er  r e  r er  r e
dt dt dt dt dt
 
  de  de 
r  rer ........ r  e  er
d d
   
der der d  d de de d  d
  e ...........   er
dt d dt dt dt d dt dt
Similarly, the particle acceleration vector is:

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Engineering Mechanics-Dynamics Kinematics of Particles
 
 d  dr  d   d 2 r  dr der dr d  d 2  d de
a   er  r e   er   e  r 2 e  r
dt  dt dt  dt 2 dt dt dt dt dt dt dt
 
 
 r  r er  r  2r e
2

When particle position is given in

cylindrical coordinates, it is convenient to
express the velocity and acceleration
vectors using the unit vectors
  
• Position vector: r  R e R  z k
• Velocity vector:
 
 dr   
v  R eR  R e  z k
dt
 
• Acceleration vector: a 
 dv
dt
 R   R  
  R 2 e  R  2 R  e  z k


Example 6: Rotation of the arm about O is defined

by θ = 0.15t2 where θ is in radians and t in seconds.
Collar B slides along the arm such that r = 0.9 - 0.12t2
where r is in meters. After the arm has rotated
through 30o, determine (a) the total velocity of the
collar, (b) the total acceleration of the collar, and (c)
the relative acceleration of the collar with respect to
the arm.
SOLUTION:
• Evaluate time t for θ = 30o:   0.15 t 2  30  0.524 rad t  1.869 s
• Evaluate radial and angular positions, and first and second derivatives at
time t.
r  0.9  0.12 t 2  0.481 m r  0.24 t  0.449 m s
.r  0.24 m s 2

  0.15 t 2  0.524 rad   0.30 t  0.561 rad s

  0.30 rad s 2
 Calculate velocity and acceleration:
v r  r  0.449 m s
v  r  0.481 m 0.561 rad s   0.270 m s
v
v  v r2  v2  0.524 m s   tan 1  31.0
vr

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 Engineering Mechanics-Dynamics Kinematics of Particles

a r  r  r 2  0.240 m s 2  0.481 m 0.561 rad s 

2

 0.391 m s 2
a  r  2r  0.481 m 0.3 rad s 2   2 0.449 m s 0.561 rad s 
 0.359 m s 2
a
a  a r2  a2   tan 1
ar

a  0.531m s   42.6
• Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is
rectilinear and defined by coordinate r.
aB OA  r  0.240 m s 2

Example 7: The angular acceleration of the centrifuge

arm varies according to   0.05 (rad/s2 ) where θ is
measured in radians. If the centrifuge starts from rest,
determine the acceleration magnitude after the gondola
has traveled two full rotations.

SOLUTION:
er
 Define your coordinate system
 Determine the angular velocity
  0.05 (rad/s2 )
Acceleration is a function of position, so use:  d  d er Top View

(2)(2 ) 
 Evaluate the integral:  0.05 d    d e
8m
0 0
2(2 ) 
0.05 2  2
 2  0.05 2(2 )
2

2 0
2 0

 Determine the angular velocity:  2  0.05 2(2 )

2

17 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Particles

 Determine the angular acceleration:   0.05 = 0.05(2)(2 )  0.6283 rad/s2

 Find the radial and transverse accelerations:

  
a  r  r 2 er  r  2r e
  0  (8)(2.8099)  e   (8)(0.6283)  0  e
2
r 

 63.166 er  5.0265 e (m/s ) 2

amag  ar2  a2  (63.166)2 + 5.0265

2

amag  63.365 m/s2

18 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Force and Acceleration

Chapter TWO
Kinetics of Particles: Force
and Acceleration

2-1 Newton’s Second Law of Motion

If the resultant force acting on a particle is not zero, the

particle will have an acceleration proportional to the
magnitude of resultant and in the direction of the resultant.

F  ma
If particle is subjected to several forces:  F  ma

We must use a Newtonian frame of reference, i.e., one that is not

accelerating or rotating. If no force acts on particle, particle will not
accelerate, i.e., it will remain stationary or continue on a straight line at constant
velocity.

2-2 Linear Momentum of a Particle

The principle of conservation of linear momentum is:
dv
 F  ma  m dt

d
dt
d
 mv   L
dt
 
Where: L  mv = Linear momentum
Sum of forces = rate of change of linear momentum F  L
If F  0 then linear momentum is constant

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Engineering Mechanics-Dynamics Kinetics of Particles: Force and Acceleration

2-3 Equations of Motion

 
• Newton’s second law  F  ma
• Convenient to resolve into components:

 F i  F j  F k   ma i  a j  a k 
     
x y z x y z

 F  ma  F  ma  F  ma
x x y y z z

 F  mx  F  my  F  mz

x y z

• For tangential and normal components:

F t  mat F n  man
dv v2
 F t  m dt F n m


2-4 Dynamic Equilibrium

Alternate expression of Newton’s law::
 F  ma  0
Where: ma = inertia vector

If we include inertia vector, the system of forces acting on particle is equivalent

to zero. The particle is said to be in dynamic equilibrium.
Inertia vectors are often called inertia forces as they
measure the resistance that particles offer to changes
in motion.

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Engineering Mechanics-Dynamics Kinetics of Particles: Force and Acceleration

2-5 Equation of Motion for a System of Particles

The summation of the internal forces, if carried out, will equal zero, since
internal forces between any two particles occur in equal but opposite collinear pairs.
Consequently, only the sum of the external forces will remain, and therefore the
equation of motion, written for the system of particles, becomes

∑Fi = ∑miai

 The equation of motion is based on experimental evidence and is valid only

when applied within an inertial frame of reference.
 The equation of motion states that the unbalanced force on a particle causes it
to accelerate.
 An inertial frame of reference does not rotate, rather its axes either translate
with constant velocity or are at rest.
 Mass is a property of matter that provides a quantitative measure of its
resistance to a change in velocity. It is an absolute quantity and so it does not
change from one location to another.
 Weight is a force that is caused by the earth’s gravitation. It is not absolute;
rather it depends on the altitude of the mass from the earth’s surface.

2-6 Equations of Motion: Rectangular Coordinates

When a particle moves relative to an inertial x, y, z frame of reference, the forces acting on
the particle, as well as its acceleration, can be expressed in terms of their i, j, k
components. Applying the equation of motion, we have

For this equation to be satisfied, the respective i, j, k components

on the left side must equal the corresponding components on the
right side. Consequently, we may write the following three scalar
equations:

In particular, if the particle is constrained to move only in the x–y plane,

then the first two of these equations are used to specify the motion.

21 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Force and Acceleration

Example 1: The two blocks shown start from rest.

The horizontal plane and the pulley are frictionless,
and the pulley is assumed to be of negligible mass.
Determine the acceleration of each block and the
tension in the cord.

SOLUTION:

Kinematic relationship: If A moves xA to the right,

B moves down 0.5 xA:
xB  12 xA aB  12 aA

Draw free body diagrams & apply Newton’s law:

F x  mA a A T1  100  aA

F y  mB aB mB g  T2  mB aB
300  9.81  T2   300  aB
T2  2940-  300  aB
F y  mC aC T2  2T1  0

2940-  300  aB  2T1  0 2940-  300  aB  200aA  0

2940-  300 aB  2  200aB  0

aB  4.2 m / s 2 aA  8.4 m / s 2 T1  840 N T2  1680 N

22 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Force and Acceleration

Example 2: The 50-kg crate shown in Fig. rests on

a horizontal surface for which the coefficient of
kinetic friction is µk = 0.3. If the crate is subjected to a
400-N towing force as shown, determine the velocity
of the crate in 3 s starting from rest.

SOLUTION:

W = mg = 50 kg (9.81 m/s2) = 490.5 N.

Example 3: A 10-kg projectile is fired vertically upward

from the ground, with an initial velocity of 50 m/s.
Determine the maximum height to which it will travel if (a)
atmospheric resistance is neglected; and (b) atmospheric
resistance is measured as FD = (0.01v2) N, where v is the
speed of the projectile at any instant, measured in m/s.

SOLUTION:

W = mg = 10(9.81) = 98.1 N

23 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Force and Acceleration

24 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Force and Acceleration

Example 4: The 100-kg block A shown in Fig. is

released from rest. If the masses of the pulleys and
the cord are neglected, determine the velocity of the
20-kg block B in 2 s.

SOLUTION:

Notice from free body diagram that for A to remain

stationary:
T = 1/2 * 9.81 *100= 490.5 N,
whereas for B to remain static:

T = 9.81 *20= 196.2 N.

2aA = -aB

25 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Force and Acceleration

2-7 Equations of Motion: Normal and Tangential Coordinates

When a particle moves along a curved path which is

known, the equation of motion for the particle may be
written in the tangential, normal, and binomial
directions. Note that there is no motion of the particle
in the binomial direction, since the particle is
constrained to move along the path. We have

26 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Force and Acceleration

Example 5: Determine the rated speed of a highway curve

of radius r = 400 ft banked through an angle θ = 18o. The
rated speed of a banked highway curve is the speed at which
a car should travel if no lateral friction force is to be exerted
at its wheels.

SOLUTION:

Resolve the equation of motion for the

car into vertical and normal components:
W
F y  0 : R cos   W  0...........R 
cos 
W W W v2
R sin   an ....... sin  
g cos  g 

Solve for the vehicle speed:

v 2  g tan  32.2 ft s 2 400 ft  tan18  64.7 ft s  44.1mi h

Example 6: The 60-kg skateboarder in

Fig. coasts down the circular track. If he
starts from rest when θ = 0o, determine
the magnitude of the normal reaction the
track exerts on him when θ= 60o. Neglect
his size for the calculation.

SOLUTION:

27 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Force and Acceleration

Since at is expressed in terms of θ, the equation v dv = at ds must be used to determine the

speed of the skateboarder when θ = 60o. Using the geometric relation s = θ r, where ds = r
dθ = (4 m) dθ, and the initial condition v = 0 at θ = 0o, we have,

Substituting this result and θ = 60o into Eq. of Ns, yields

2-8 Equations of Motion: Cylindrical Coordinates

When all the forces acting on a particle are resolved into cylindrical components, i.e., along
the unit-vector directions ur , uθ , uz , the equation of motion can be expressed as

28 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Force and Acceleration

Example 7: The smooth 0.5-kg double-collar in Fig.

can freely slide on arm AB and the circular guide rod.
.
If the arm rotates with a constant angular velocity of θ
= 3 rad/s, determine the force the arm exerts on the
ollar at the instant θ= 45o. Motion is in the horizontal
plane.

SOLUTION:
Free-Body Diagram. The normal reaction NC of the
circular guide rod and the force F of arm AB act on the
collar in the plane of motion. Note that F acts
perpendicular to the axis of arm AB, that is, in the
direction of the u axis, while NC acts perpendicular to the
tangent of the circular path at θ= 45o. The four unknowns
are NC, F, ar, aθ.

.
Kinematics. Using the chain rule, the first and second time derivatives of r when θ= 45o, θ
= 3 rad/s, θ = 0, are

29 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles

2-7 Equations of Motion: Normal and Tangential Coordinates

When a particle moves along a curved path which is

known, the equation of motion for the particle may be
written in the tangential, normal, and binomial
directions. Note that there is no motion of the particle
in the binomial direction, since the particle is
constrained to move along the path. We have

Example 5: Determine the rated speed of a highway

curve of radius r = 400 ft banked through an angle θ =
18o. The rated speed of a banked highway curve is
the speed at which a car should travel if no lateral
friction force is to be exerted at its wheels.

27 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles

SOLUTION:

Resolve the equation of motion for the

car into vertical and normal components:
W
F y  0 : R cos   W  0...........R 
cos 
W W W v2
R sin   an ....... sin  
g cos  g 

Solve for the vehicle speed:

v 2  g tan  32.2 ft s 2 400 ft  tan18  64.7 ft s  44.1mi h

Example 6: The 60-kg skateboarder in

Fig. coasts down the circular track. If he
starts from rest when θ = 0o, determine
the magnitude of the normal reaction the
track exerts on him when θ= 60o. Neglect
his size for the calculation.

SOLUTION:

Since at is expressed in terms of θ, the equation v dv = at ds must be used to determine

the speed of the skateboarder when θ = 60o. Using the geometric relation s = θ r,
where ds = r dθ = (4 m) dθ, and the initial condition v = 0 at θ = 0o, we have,

28 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles

Substituting this result and θ = 60o into Eq. of Ns, yields

2-8 Equations of Motion: Cylindrical Coordinates

When all the forces acting on a particle are resolved into cylindrical components, i.e.,
along the unit-vector directions ur , uθ , uz , the equation of motion can be expressed
as

Example 7: The smooth 0.5-kg double-collar in Fig.

can freely slide on arm AB and the circular guide rod.
.
If the arm rotates with a constant angular velocity of θ
= 3 rad/s, determine the force the arm exerts on the
ollar at the instant θ= 45o. Motion is in the horizontal
plane.

29 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles

SOLUTION:

Free-Body Diagram. The normal reaction NC of the

circular guide rod and the force F of arm AB act on the
collar in the plane of motion. Note that F acts
perpendicular to the axis of arm AB, that is, in the
direction of the u axis, while NC acts perpendicular to the
tangent of the circular path at θ= 45o. The four unknowns
are NC, F, ar, aθ.

Kinematics. Using the chain rule, the first and second time derivatives of r when θ=
.
45o, θ = 3 rad/s, θ = 0, are

30 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles

Example 8: Tube A rotates about the vertical O-

.
axis with a constant angular rate θ = ω and contains
a small cylindrical plug B of mass m whose radial
position is controlled by the cord which passes
freely through the tube and shaft and is wound
around the drum of radius b. Determine the tension
T in the cord and the horizontal component F θ of
force exerted by the tube on the plug if the constant
angular rate of rotation of the drum is ω0 first in the
direction for case (a) and second in the direction for
case (b). Neglect friction.

SOLUTION:

31 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Work and Energy

Chapter TWO
Kinetics of Particles: Work
And Energy
2-9 The Work of a Force
A force F will do work on a particle only when
the particle undergoes a displacement in the direction
of the force. For example, if the force F in Fig. causes
the particle to move along the path s from position r to
a new position r', the displacement is then dr = r' - r.
The magnitude of dr is ds, the length of the
differential segment along the path. If the angle
between the tails of dr and F is θ, then the work done
by F is a scalar quantity, defined by

dU = F ds cos θ

By definition of the dot product this equation can also be written as

dU = F . dr

2-9-1 Work of a Variable Force

If the particle acted upon by the force F undergoes a finite displacement along its path
from r1 to r2 or s1 to s2 , the work of force F is determined by integration. Provided F
and θ can be expressed as a function of position, then

32 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Work and Energy

2-9-2 Work of a Constant Force Moving Along a Straight Line

If the force Fc has a constant magnitude and acts at a constant angle θ from its
straight-line path, then the component of Fc in the direction of displacement is always
Fc cos θ. The work done by Fc when the particle is displaced from s1 to s2 is
determined from, in which case

Here the work of Fc represents the area of the rectangle as in Figure below:

2-9-3 Work of a Weight

Consider a particle of weight W, which moves up along the path s shown in Fig. from
position s1 to position s2 .

33 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Work and Energy

2-9-4 Work of a Spring Force

If an elastic spring is elongated a distance ds, then the work done by the force that acts
on the attached particle is dU = -Fsds = -ks ds. The work is negative since Fs acts in
the opposite sense to ds. If the particle displaces from s1 to s2, the work of Fs is then

Example 9: The 10-kg block shown in

Fig. rests on the smooth incline. If the
spring is originally stretched 0.5 m,
determine the total work done by all the
forces acting on the block when a
horizontal force P = 400 N pushes the
block up the plane s = 2 m.

SOLUTION:

34 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Work and Energy

2-10 The Principle of Work and Energy

Consider the particle in Fig. which is located on the path defined relative to an inertial
coordinate system. If the particle has a mass m and is subjected to a system of external
forces represented by the resultant FR = ∑F, then the equation of motion for the
particle in the tangential direction is ∑Ft = mat . Applying the kinematic equation at =
v dv>ds and integrating both sides, assuming initially that the particle has a position s
= s1 and a speed v = v1 , and later at s = s2 , v = v2 , we have

Where:

35 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Work and Energy

If we apply the principle of work and energy to this and each of the other particles in
the system, then since work and energy are scalar quantities, the equations can be
summed algebraically, which gives

Problems involve cases where a body slides over the surface of another body in the
presence of friction considers as special class of problems which requires a careful
application. Consider, for example, a block which is translating a distance s over a
rough surface as shown in Fig. If the applied force P just balances the resultant
frictional force µk N.

36 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Work and Energy

Example 10: The 3500-lb automobile

shown in Fig. travels down the 10° inclined
road at a speed of 20 ft/s. If the driver jams on
the brakes, causing his wheels to lock,
determine how far s the tires skid on the road.
The coefficient of kinetic friction between the
wheels and the road is µk = 0.5.

SOLUTION:

37 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Work and Energy

2-11 Power and Efficiency

The term “power” provides a useful basis for choosing the type of motor or machine
which is required to do a certain amount of work in a given time. For example, two
pumps may each be able to empty a reservoir if given enough time; however, the
pump having the larger power will complete the job sooner. The power generated by a
machine or engine that performs an amount of work dU within the time interval dt is
therefore

The basic units of power used in the SI and FPS systems are the watt (W) and
horsepower (hp), respectively. These units are defined as
1 W = 1 J/s = 1 N . m/s
1 hp = 550 ft . lb/s
For conversion between the two systems of units, 1 hp = 746 W.

The mechanical efficiency of a machine is defined as the ratio of the output of useful
power produced by the machine to the input of power supplied to the machine. Hence,

If energy supplied to the machine occurs during the same time interval at which it is
drawn, then the efficiency may also be expressed in terms of the ratio. Since machines
consist of a series of moving parts, frictional forces will always be developed within
the machine, and as a result, extra energy or power is needed to overcome these
forces. Consequently, power output will be less than power input and so the efficiency
of a machine is always less than 1. The procedure for analysis is as follow:

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Engineering Mechanics-Dynamics Kinetics of Particles: Work and Energy

Example 11: The motor of the hoist shown in Fig. lifts the
75-lb crate C so that the acceleration of point P is 4 ft/s2.
Determine the power that must be supplied to the motor at the
instant P has a velocity of 2 ft/s. Neglect the mass of the pulley
and cable and take e = 0.85.

SOLUTION:

39 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Work and Energy

2-12 Conservative Forces and Potential Energy

If the work of a force is independent of the path

and depends only on the force’s initial and final
positions on the path, then we can classify this
force as a conservative force. Examples of
conservative forces are the weight of a particle
and the force developed by a spring. The work
done by the weight depends only on the vertical
displacement of the weight, and the work done by
a spring force depends only on the spring’s
elongation or compression.

Energy is defined as the capacity for doing work.

For example, if a particle is originally at rest, then
the principle of work and energy states that ∑U1-2
= T2. In other words, the kinetic energy is
equal to the work that must be done on the particle
to bring it from a state of rest to a speed v. Thus,
the kinetic energy is a measure of the particle’s
capacity to do work, which is associated with the
motion of the particle. When energy comes from
the position of the particle, measured from a fixed datum or reference plane, it is
called potential energy. Thus, potential energy is a measure of the amount of work a
conservative force will do when it moves from a given position to the datum. In
mechanics, the potential energy created by gravity (weight) and an elastic spring is
important.
In general, if y is positive upward, the gravitational potential energy of
the particle of weight W is

When an elastic spring is elongated or compressed a

distance s from its unstretched position, elastic potential
energy Ve can be stored in the spring. This energy is

Here Ve is always positive since, in the deformed

position, the force of the spring has the capacity or
“potential” for always doing positive work on the particle
when the spring is returned to its unstretched position.

40 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Work and Energy

In the general case, if a particle is subjected to both gravitational and elastic forces,
the particle’s potential energy can be expressed as a potential function, which is the
algebraic sum

The work done by a conservative force in moving the particle from one point to
another point is measured by the difference of this function, i.e.,

For example, the potential function for a particle of weight W suspended from a
spring can be expressed in terms of its position, s, measured from a datum located at
the unstretched length of the spring, We have

If the particle moves from s1 to a lower position s2 , it can be seen that the work of W
and Fs is

41 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Work and Energy

2-13 Conservation of Energy

When a particle is acted upon by a system of both conservative and nonconservative

forces, the portion of the work done by the conservative forces can be written in terms
of the difference in their potential energies , i.e., (∑U1-2)cons. = V1 - V2 . As a result, the
principle of work and energy can be written as

Here (∑U1-2)noncons. represents the work of the nonconservative forces acting on the
particle. If only conservative forces do work then we have

This equation is referred to as the conservation

of mechanical energy or simply the conservation
of energy. It states that during the motion the
sum of the particle’s kinetic and potential
energies remains constant. For this to occur,
kinetic energy must be transformed into potential
energy, and vice versa. For example, if a ball of
weight W is dropped from a height h above the
ground (datum), the potential energy of the ball
is maximum before it is dropped, at which time
its kinetic energy is zero. The total mechanical
energy of the ball in its initial position is thus

When the ball has fallen a distance h>2, its speed can be determined by using

which yields

The energy of the ball at the mid-height position is therefore

Just before the ball strikes the ground, its potential energy is zero and its speed is

Here, again, the total energy of the ball is

Note that when the ball comes in contact with the ground, it deforms somewhat, and
provided the ground is hard enough, the ball will rebound off the surface, reaching a
new height h', which will be less than the height h from which it was first released.
Neglecting air friction, the difference in height accounts for an energy loss,

42 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Work and Energy

El = W(h – h')
Which occurs during the collision. Portions of this loss produce noise, localized
deformation of the ball and ground, and heat.

If a system of particles is subjected only to conservative forces, then an equation can

be written for the particles. Applying the ideas of the preceding discussion, (∑T1 +
∑U1-2 = ∑T2) becomes

Here, the sum of the system’s initial kinetic and potential energies is equal to the sum
of the system’s final kinetic and potential energies. In other words, ∑T + ∑V = const.
The conservation of energy equation can be used to solve problems involving velocity,
displacement, and conservative force systems. It is generally easier to apply than the
principle of work and energy because this equation requires specifying the particle’s
kinetic and potential energies at only two points along the path, rather than
determining the work when the particle moves through a displacement. For
application it is suggested that the following procedure be used.
Potential Energy.
 Draw two diagrams showing the particle located at its initial and final points
along the path.
 If the particle is subjected to a vertical displacement, establish the fixed
horizontal datum from which to measure the particle’s gravitational potential
energy Vg .
 Data pertaining to the elevation y of the particle from the datum and the stretch
or compression s of any connecting springs can be determined from the
geometry associated with the two diagrams.
 Recall Vg = Wy, where y is positive upward from the datum and negative
downward from the datum; also for a spring, Ve = 12 ks2, which is always
positive.
Conservation of Energy.
 Apply the equation T1 + V1 = T2 + V2 .
 When determining the kinetic energy, T = 12 mv2, remember that the
particle’s speed v must be measured from an inertial reference frame.

Example 12: The gantry structure in the photo is

used to test the response of an airplane during a
crash. As shown in Fig. the plane, having a mass
of 8 Mg, is hoisted back until θ= 60o, and then
the pull-back cable AC is released when the
plane is at rest. Determine the speed of the plane
just before it crashes into the ground, θ = 15o.
Also, what is the maximum tension developed in
the supporting cable during the motion? Neglect
the size of the airplane and the effect of lift
caused by the wings during the motion.

43 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Work and Energy

SOLUTION:

Example 13: The ram R shown in Fig. has a mass of 100 kg

and is released from rest 0.75 m from the top of a spring, A, that
has a stiffness kA = 12 kN/m. If a second spring B, having a
stiffness kB = 15 kN/m, is “nested” in A, determine the
maximum displacement of A needed to stop the downward
motion of the ram. The unstretched length of each spring is
indicated in the figure. Neglect the mass of the springs.

SOLUTION:

Potential Energy. We will assume that the ram compresses

both springs at the instant it comes to rest. The datum is located
through the center of gravity of the ram at its initial position,
Fig. When the kinetic energy is reduced to zero (v2 = 0), A is
compressed a distance sA and sB compresses sB = sA - 0.1 m.

44 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Work and Energy

45 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Impulse and momentum

Chapter TWO
Kinetics of Particles:
Impulse and Momentum
2-14 Principle of Linear Impulse and Momentum
Using kinematics, the equation of motion for a particle of mass m can be written
as

Where a and v are both measured from an inertial frame of reference. Rearranging
the terms and integrating between the limits v = v1 at t = t1 and v = v2 at t = t2 , we
have

………(1)
This equation is referred to as the principle of linear impulse and momentum.
Each of the two vectors of the form L = mv in Eq. 1 is referred to as the particle’s
linear momentum. The integral I = ∫F dt in Eq. 1is referred to as the linear impulse.
For problem solving, Eq. 1will be rewritten in the form

equation states that the initial linear momentum of the system plus the impulses of all
the external forces acting on the system from t1 to t2 is equal to the system’s final
linear momentum.

……..(2)

When the sum of the external impulses acting on a system of particles is

zero, Eq. 2 reduces to a simplified form, namely,

This equation is referred to as the conservation of linear momentum.

46 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Impulse and momentum

Example 14: Blocks A and B shown in Fig. have a

mass of 3 kg and 5 kg, respectively. If the system is
released from rest, determine the velocity of block B
in 6 s. Neglect the mass of the pulleys and cord.

SOLUTION:

Since the weight of each block is constant, the cord

tensions will also be constant. Furthermore, since the
mass of pulley D is neglected, the cord tension TA =
2TB . Note that the blocks are both assumed to be
moving downward in the positive coordinate
directions, sA and sB .

47 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Impulse and momentum

Example 15: An 800-kg rigid pile is driven into the ground using a 300-kg hammer.
The hammer falls from rest at a height y0 = 0.5 m and strikes the top of the pile.
Determine the impulse which the pile exerts on the hammer if the pile is surrounded
entirely by loose sand so that after striking, the hammer does not rebound off the pile.

SOLUTION

Conservation of Energy. The velocity at which the hammer

strikes the pile can be determined using the conservation of
energy
equation applied to the hammer. With the datum at the top of the
pile, Fig. 15–10a, we have

Principle of Impulse and Momentum. The impulse which the pile

imparts to the hammer can now be determined since v2 is known. From
the free-body diagram for the hammer, Fig. c, we have

48 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Impulse and momentum

2-15 Angular Momentum

The angular momentum of a particle about point
O is defined as the “moment” of the particle’s
linear momentum about O. Since this concept is
analogous to finding the moment of a force about
a point, the angular momentum, HO, is
sometimes referred to as the moment of
momentum.

……..(1)
……..(2)

The equation 2 states that the resultant moment

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.

If Eq. 2 is rewritten in the form ∑MO dt = d HO and integrated, assuming that at

time t = t1 , HO = (HO)1 and at time t = t2 , HO = (HO)2, we have

…….(3)

When the angular impulses acting on a particle are all zero during the time t1 to t2 ,
Eq. 3 reduces to the following simplified form:

This equation is known as the conservation of angular momentum. we can also write
the conservation of angular momentum for a system of particles as

49 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Impulse and momentum

Example 16: The 1.5-Mg car travels along the circular

road as shown in Fig. If the traction force of the wheels
on the road is F = (150t2) N, where t is in seconds,
determine the speed of the car when t = 5 s. The car
initially travels with a speed of 5 m/s. Neglect the size of
the car.

SOLUTION:

50 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Impulse and momentum

2-15 Impact

Impact occurs when two bodies collide with each

other during a very short period of time, causing
relatively large (impulsive) forces to be exerted
between the bodies. The striking of a hammer on
a nail, or a golf club on a ball, are common
examples of impact loadings.
In general, there are two types of impact. Central
impact occurs when the direction of motion of
he mass centers of the two colliding particles is
along a line passing through the mass centers of
the particles. This line is called the line of
impact, which is perpendicular to the plane of
contact, Fig. a. When the motion of one or both
of the particles make an angle with the line of
impact, Fig. b, the impact is said to be oblique
impact.

2-15-1 Central Impact

In most cases the final velocities of two smooth particles are to be determined just
after they are subjected to direct central impact. Provided the coefficient of restitution,
the mass of each particle, and each particle’s initial velocity just before impact are
known, the solution to this problem can be obtained using the following two
equations:
 The conservation of momentum applies to the system of particles,
∑mv1 = ∑mv2

 The coefficient of restitution e,

e is equal to the ratio of the relative velocity of the particles’ separation just after
impact, (vB)2 - (vA)2 , to the relative velocity of the particles’ approach just before
impact, (vB)1 - (vA)1. By measuring these relative velocities experimentally, it has been
found that e varies appreciably with impact velocity as well as with the size and shape
of the colliding bodies. For these reasons the coefficient of restitution is reliable only
when used with data which closely approximate the conditions which were known to
exist when measurements of it were made. In general e has a value between zero and
one, and one should be aware of the physical meaning of these two limits. If the
solution yields a negative magnitude, the velocity acts in the opposite sense.

51 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Impulse and momentum

 If the collision between the two particles is perfectly elastic, the deformation
impulse (∫P dt) is equal and opposite to the restitution impulse (∫R dt).
Although in reality this can never be achieved, e = 1 for an elastic collision.
 The impact is said to be inelastic or plastic when e = 0. In this case there is no
restitution impulse (∫R dt= 0), so that after collision both particles couple or
stick together and move with a common velocity.

2-15-2 Oblique Impact

When oblique impact occurs between two

smooth particles, the particles move away from
each other with velocities having unknown
directions as well as unknown magnitudes.
Provided the initial velocities are known, then
four unknowns are present in the problem. As
shown in Fig. a, these unknowns may be
represented either as (vA)2, (vB)2, θ2, and ϕ2 , or as
the x and y components of the final velocities.

If the 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, Fig. b. By resolving the velocity or
momentum vectors into components along the x and y
axes, Fig. b, it is then possible to write four
independent scalar equations in order to determine
(vAx)2 , (vAy)2 , (vBx)2, and (vBy)2 .

 Momentum of the system is conserved along the line of impact, x axis, so that
∑mv1 = ∑mv2.
 The coefficient of restitution, e = [(vBx)2- (vAx)2]/[(vAx)1-(vBx)1], relates the
relative-velocity components of the particles along the line of impact (x axis).
 If these two equations are solved simultaneously, we obtain (vAx)2and (vBx)2.
 Momentum of particle A is conserved along the y axis, perpendicular to the
line of impact, since no impulse acts on particle A in this direction. As a result
mA(vAy)1 = mA(vAy)2 or (vAy)1 = (vAy)2
 Momentum of particle B is conserved along the y axis, perpendicular to the
line of impact, since no impulse acts on particle B in this direction.
Consequently (vBy)1 = (vBy)2.

52 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Impulse and momentum

Example 17: The bag A, having a weight of 6 lb, is

released from rest at the position θ = 0o, as shown in Fig.
a. After falling to θ = 90o, it strikes an 18-lb box B. If the
oefficient of restitution between the bag and box is e =
0.5, determine the velocities of the bag and box just after
impact. What is the loss of energy during collision?

SOLUTION

This problem involves central impact. Why? Before analyzing the

mechanics of the impact, however, it is first necessary to
obtain the
velocity of the bag just before it strikes the box.

Conservation of Energy. With the datum at θ = 0o, Fig.

b, we have

Conservation of Momentum. After impact we will assume A and

B travel to the left. Applying the conservation of momentum to the
system, Fig. c, we have

Coefficient of Restitution. Realizing that for separation to occur

after collision (vB)2 > (vA)2 , Fig. c, we have

53 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Impulse and momentum

Example 18: Two smooth disks A and B, having a mass

of 1 kg and 2 kg, respectively, collide with the
velocities shown in Fig. a. If the coefficient of
restitution for the disks is e = 0.75, determine the x and
y components of the final velocity of each disk just after
collision.

SOLUTION
This problem involves oblique impact. Why? In order to solve it, we have established
the x and y axes along the line of impact and the plane of contact, respectively, Fig. a.
Resolving each of the initial velocities into x and y components, we have

The four unknown velocity components after

collision are assumed to act in the positive
directions, Fig. b. Since the impact occurs in the x
direction (line of impact), the conservation of
momentum for both disks can be applied in this
direction.

54 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Particles: Impulse and momentum

Conservation of “y” Momentum. The momentum of each disk is conserved in the y

direction (plane of contact), since the disks are smooth and therefore no external
impulse acts in this direction. From Fig. b,

NOTE: Show that when the velocity components are summed vectorially, one obtains
the results shown in Fig. c.

55 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Rigid Bodies

Chapter Three
Kinematics of Rigid Bodies
3-1 Introduction to Dynamics
Kinematics of rigid bodies: relations between time and the positions,
velocities, and accelerations of the particles forming a rigid body.

Classification of rigid body motions:

- translation:
 rectilinear translation
 curvilinear translation
- rotation about a fixed axis
- general plane motion
- motion about a fixed point
- general motion

3-2 Translation
• Consider rigid body in translation:
- direction of any straight line inside the
body is constant,
- all particles forming the body move in
parallel lines.

• For any two particles in the body:

  
rB  rA  rB A

     
• Differentiating with respect to time: rB  rA  rB A  rA ....vB  v A
Then all particles have the same velocity.
• Differentiating with respect to time again:
r  r  r  r ...........a  a
B A B A A B A

And all particles have the same acceleration.

56 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Rigid Bodies

3-3 Rotation About a Fixed Axis: Velocity and Acceleration

Consider rotation of rigid body about a fixed axis

AA’. Velocity vector of the particle P is tangent to the
path with magnitude:

s  BP   r sin  


 lim r sin  
ds
v  r sin 
dt t  0 t

The same result is obtained from:


 dr  
v r
dt
  
   k  k  angular velocity

Differentiating to determine the acceleration:

   
 dv d   d   dr d   
a    r   r   r v
dt dt dt dt dt

d    
   angular acceleration   k   k  k
dt
     
Acceleration
 
of P is combination of two vectors: a    r      r
  r  tangentia l accelerati on component
  
    r  radial accelerati on component

Motion of a rigid body rotating around a fixed axis is often specified by the
type of angular acceleration.
d d d d 2 d
 or dt  .....   2 
dt  dt dt d

• Uniform Rotation, a = 0:   0  t
• Uniformly Accelerated Rotation, a = constant:
  0   t
   0  0t  12  t 2
 2  02  2    0 

57 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Rigid Bodies

3-4 Comparison Between Rotational and Linear Equations

The kinematics equations for rotational and translation motion:

Example1: Cable C has a constant acceleration of 9

in/s2 and an initial velocity of 12 in/s, both directed to
the right. Determine (a) the number of revolutions of
the pulley in 2 s, (b) the velocity and change in
position of the load B after 2 s, and (c) the acceleration
of the point D on the rim of the inner pulley at t = 0.

SOLUTION:

The tangential velocity and acceleration of D are equal

to the velocity and acceleration of C.
vD 0  vC 0  12 in. s  aD t  aC  9 in. s 
v D 0  r 0 aD t  r
v D 0 12 aD t 9
0    4 rad s    3 rad s 2
r 3 r 3

Apply the relations for uniformly accelerated rotation to

determine velocity and angular position of pulley after 2 s.
  0  t  4 rad s  3 rad s 2 2 s  10 rad s

  0t  12 t 2  4 rad s2 s  12 3 rad s 2 2 s2  14 rad

 1 rev 
N  14 rad    number of revs N  2.23 rev
 2 rad 

v B  r  5 in.10 rad s .........v B  50 in. s 
y B  r  5 in.14 rad ...........y B  70 in.

58 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Rigid Bodies

Evaluate the initial tangential and normal acceleration components of D.

aD t  aC  9 in. s 
aD n  rD02  3 in.4 rad s2  48 in s2

Magnitude and direction of the total acceleration:

aD  a D t2  a D 2n  9 2  48 2  48.8 in. s 2

aD n 48
tan    ……….   79.4
aD t 9

3-5 General Plane Motion

General plane motion is neither a translation nor a rotation. General
plane motion can be considered as the sum of a translation and rotation.

Displacement of particles A and B to A2 and B2 can be divided into two

parts:
- translation to A2 and
- rotation of about A2 to B2

59 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Rigid Bodies

3-6 Absolute and Relative Velocity in Plane Motion

Any plane motion can be replaced by a translation of an arbitrary

reference point A and a simultaneous rotation about A.

  
vB  v A  vB
  A
v B A   k  rB A v B A  r
   
v B  v A   k  rB A

Assuming that the velocity vA of end A is known, wish to determine the

velocity vB of end B and the angular velocity ω in terms of vA, l, and θ.

The direction of vB and vB/A are known. Complete the velocity diagram.
vA v
vB
 tan   A  cos 
vA v B A l
vB  v A tan  
vA
l cos 

60 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Rigid Bodies

Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity ω leads to an equivalent velocity triangle.

vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point. Angular velocity
ω of the rod in its rotation about B is the same as its rotation about A. Angular
velocity is not dependent on the choice of reference point.

Example 2: The double gear rolls on the

stationary lower rack: the velocity of its center
is 1.2 m/s. Determine (a) the angular velocity
of the gear, and (b) the velocities of the upper
rack R and point D of the gear.

SOLUTION:

The displacement of the gear center in one revolution is equal to the outer
circumference. For xA > 0 (moves to right), θ < 0 (rotates clockwise).

xA 
 x A  r1
2 r 2

Differentiate to relate the translational and angular velocities.

v A  r1
  
vA 1.2 m s   k  8 rad s k
 
r1 0.150 m

61 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Rigid Bodies

For any point P on the gear:

Velocity of the upper rack is equal Velocity of the point D:

to velocity of point B:
        
v R  v B  v A  k  rB A vD  v A  k  rD A
     
 1.2 m s i  8 rad s k  0.10 m  j  1.2 m s i  8 rad s k   0.150 m i
    
 1.2 m s i  0.8 m s i  2 m s i  1.2 m s i  1.2 m s  j vD  1.697 m s

Example 3: The crank AB has a constant

clockwise angular velocity of 2000 rpm. For
the crank position indicated, determine (a)
the angular velocity of the connecting rod
BD, and (b) the velocity of the piston P.

SOLUTION:

The velocity vB is obtained from the crank rotation data:
 rev  min  2 rad 
 AB   2000     209.4 rad s
 min  60 s  rev 
vB   AB  AB  3 in.209.4 rad s 


The direction of the absolute velocity vD is horizontal. The direction of the

relative velocity vD B is perpendicular to BD. Compute the angle between the
horizontal and the connecting rod from the law of sines.

sin 40 sin 

   13.95
8 in. 3 in.

62 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinematics of Rigid Bodies

Determine the velocity magnitudes from the vector

triangle:

vD vD B 628.3 in. s
 
sin 53.95 sin 50 sin76.05

v D  523.4 in. s  43.6 ft s

………. vP  vD  43.6 ft s
v D B  495.9 in. s

vD B 495.9 in. s
vD B  lBD ...........BD    62.0 rad s
 l 8 in.

BD  62.0 rad s k

63 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Rigid Bodies: Force and Acceleration

Chapter FOUR
Plane Motion of Rigid Bodies:
Forces and Accelerations

4-1 Introduction
In this chapter we will be concerned with the kinetics of rigid bodies, i.e.,
relations between the forces acting on a rigid body, the shape and mass of the
body, and the motion produced.

4-2 The Mass Moment of Inertia

Since a body has a definite size and shape, an applied
nonconcurrent force system can cause the body to both translate
and rotate. The translational aspects of the motion were studied in
Chapter 13 and are governed by the equation F = ma. It will be
shown in the next section that the rotational aspects, caused by a
moment M, are governed by an equation of the form M = IA. The
symbol I in this equation is termed the mass moment of inertia. By
comparison, the moment of inertia is a measure of the resistance
of a body to angular acceleration (M = IA) in the same way that
mass is a measure of the body’s resistance to acceleration (F =
ma). We define the moment of inertia as the integral of the
"second moment" about an axis of all the elements of mass dm
which compose the body. For example, the body’s moment of
inertia about the z axis in Fig. is

If the body consists of material having a variable density, r = r (x,y,z), the elemental
mass dm of the body can be expressed in terms of its density and volume as dm = r
dV. Substituting dm into Eq. above, the body’s moment of inertia is then computed
using volume elements for integration; i.e.,

In the special case of r being a constant, this term may be factored out of the integral,
and the integration is then purely a function of geometry,

56 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Rigid Bodies: Force and Acceleration

If the moment of inertia of the body about an axis passing through the body’s mass
center is known, then the moment of inertia about any other parallel axis can be
determined by using the parallel-axis theorem. the moment of inertia about the z axis
can be written as

where
IG = moment of inertia about the z-axis passing through the mass center G
m = mass of the body
d = perpendicular distance between the parallel z and z- axes
Occasionally, the moment of inertia of a body about a specified axis is reported in
handbooks using the radius of gyration, k. This is a geometrical property which has
units of length. When it and the body’s mass m are known, the body’s moment of
inertia is determined from the equation

4-3 Planar Kinetic Equations of Motion

In the following analysis we will limit our study of planar kinetics to rigid bodies
which, along with their loadings, are considered to be symmetrical with respect to a
fixed reference plane.

4-3-1 Equations of Motion: Translation

When the rigid body in Fig. a undergoes a translation, all the
particles of the body have the same acceleration. Furthermore,
A = 0, in which case the rotational equation of motion applied at
point G reduces to a simplified form, namely, ∑MG = 0.
Application of this and the force equations of motion will now
be discussed for each of the two types of translation. When a
body is subjected to rectilinear translation, all the particles of
the body (slab) travel along parallel straightline paths. The free-
body and kinetic diagrams are shown in Fig. b. Since IG A = 0,
only maG is shown on the kinetic diagram. Hence, the equations
of motion which apply in this case become

57 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Rigid Bodies: Force and Acceleration

When a rigid body is subjected to curvilinear translation,

all the particles of the body have the same accelerations as
they travel along curved. For analysis, it is often
convenient to use an inertial coordinate system having an
origin which coincides with the body’s mass center at the
instant considered, and axes which are oriented in the
normal and tangential directions to the path of motion, Fig.
c. The three scalar equations of motion are then

4-3-2 Equations of Motion: Rotation about a Fixed Axis

Consider the rigid body (or slab) shown in Fig. a, which is constrained to rotate in the
vertical plane about a fixed axis perpendicular to the page and passing through the pin
at O. The angular velocity and angular acceleration are caused by the external force
and couple moment system acting on the body. Because the body’s center of mass G
moves around a circular path, the acceleration of this point is best represented by its
tangential and normal components. The tangential component of acceleration has a
magnitude of (aG)t = arG and must act in a direction which is consistent with the
body’s angular acceleration A. The magnitude of the normal component of
acceleration is (aG)n = v2rG. This component is always directed from point G to O,
regardless of the rotational sense of V. The free-body and kinetic diagrams for the
body are shown in Fig. b. The two components m(aG)t and m(aG)n , shown on the
kinetic diagram, are associated with the tangential and normal components of
acceleration of the body’s mass center. The IG A vector acts in the same direction as
A and has a magnitude of IGa, where IG is the body’s moment of inertia calculated
about an axis which is perpendicular to the page and passes through G. The equations
of motion which apply to the body can be written in the
form

58 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Rigid Bodies: Force and Acceleration

Often it is convenient to sum moments about the pin at O in order

to eliminate the unknown force FO. From the kinetic diagram, Fig.
b, this requires

We can write the three equations of motion for the body as

When using these equations, remember that "IOα" accounts for the
“moment” of both m(aG)t and IG α about point O, Fig. b. In other
words, ∑MO = ∑(Mk)O = IOα,

4-5 Plane Motion of a Rigid Body: D’Alembert’s Principle

Motion of a rigid body in plane motion is
completely defined by the resultant and moment
resultant about G of the external forces
 Fx  max  Fy  may  M G  I
d’Alembert’s Principle: The external forces acting
on a rigid body are equivalent to the effective forces of the various particles
forming the body. The most general motion of a rigid body that is symmetrical
with respect to the reference plane can be replaced by the sum of a translation
and a centroidal rotation. The fundamental relation between the forces acting
on a rigid body in plane motion and the acceleration of its mass center and the
angular acceleration of the body is illustrated in a free-body-diagram equation.
The techniques for solving problems of static
equilibrium may be applied to solve problems of
plane motion by utilizing
- d’Alembert’s principle, or
- principle of dynamic equilibrium

These techniques may also be applied to problems

involving plane motion of connected rigid bodies by drawing a free-body-
diagram equation for each body and solving the corresponding equations of
motion simultaneously.

59 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Rigid Bodies: Force and Acceleration

4-6 Uniform Free Body Diagrams and Kinetic Diagrams

The free body diagram is the same as you have done in statics , we will
add the kinetic diagram in our dynamic analysis.
1. Isolate the body of interest (free body)
2. Draw your axis system (Cartesian, polar, path)
3. Add in applied forces (e.g., weight)
4. Replace supports with forces (e.g., tension force)
5. Draw appropriate dimensions (angles and distances)
Put the inertial terms for the body of interest on the kinetic diagram.
1. Isolate the body of interest (free body)
2. Draw in the mass times acceleration of the particle; if unknown, do this
in the positive direction according to your chosen axes. For rigid bodies,
also include the rotational term, IGα. F  ma
MG  I

Cy
A

C Cx
L/2 ma y
r
I
G
G max

L/2 mg

B
P

60 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Rigid Bodies: Force and Acceleration

Example1: A drum of 4 inch radius is attached to a disk

of 8 inch radius. The combined drum and disk had a
combined mass of 10 lbs. A cord is attached as shown,
and a force of magnitude P=5 lbs is applied. The
coefficients of static and kinetic friction between the wheel
and ground are μs= 0.25 and μk= 0.20, respectively. Draw
the FBD and KD for the wheel.

SOLUTION:
ma y
P
4
I
in

8
W
= max

in
F y

N x

Example 2: The ladder AB slides down the wall as shown.

The wall and floor are both rough. Draw the FBD and KD for
the ladder.

NB
ma y
0.225 
m
F
B I
max
=
0.225
m W

F
x
NA A

61 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Rigid Bodies: Force and Acceleration

Example 3: Determine the angular acceleration of the spool in

Fig. a. The spool has a mass of 8 kg and a radius of gyration of
kG = 0.35 m. The cords of negligible mass are wrapped around its
inner hub and outer rim.
.
SOLUTION:

Example 4: The 50-lb wheel shown in Fig. has

a radius of gyration kG = 0.70 ft. If a 35 lb.ft
couple moment is applied to the wheel, determine
the acceleration of its mass center G. The
coefficients of static and kinetic friction between
the wheel and the plane at A are µs = 0.3 and µk =
0.25, respectively.

62 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Rigid Bodies: Force and Acceleration

SOLUTION:

63 Asst. Prof. Dr. Sheelan M. Hama

Engineering Mechanics-Dynamics Kinetics of Rigid Bodies: Force and Acceleration

Example 5: The slender bar AB weighs 60 lb

and moves in the vertical plane, with its ends
constrained to follow the smooth horizontal and
vertical guides. If the 30-lb
force is applied at A with the bar initially at rest in
the position for which θ =30o, calculate the
resulting angular acceleration of the bar and the
forces on the small end rollers at A and B.

SOLUTION:

64 Asst. Prof. Dr. Sheelan M. Hama