CHAPTER 4

DYNAMICS
• Dynamics: In physics, dynamics is the branch of
mechanics that deals with the study of motion
and the forces that cause or affect that motion.
• It involves the analysis of how an object moves
and the forces that cause it to move, including
the study of the forces that cause changes in the
motion of an object, such as acceleration,
deceleration, and changes in direction.
 Cont..
• The fundamental concepts in dynamics are
force, mass, and acceleration, as described by
Newton’s laws of motion.
• Dynamics is used to describe a wide range of
physical phenomena, from the motion of
particles at the subatomic level to the motion
of planets in the solar system.
 Cont..
• It is used in many fields, including engineering,
physics, and applied mathematics, to
understand and predict the behavior of
physical systems.
• Force is a physical quantity that describes an
interaction between two objects that can
cause a change in motion of one or both
objects.
 Cont..
• Dynamics has numerous application in
science, engineering, and everyday life. Here
are some key areas where dynamics plays a
crucial role.
– Vehicle dynamics
– Structural dynamics
– Robotics
– Aerospace Engineering
 Type of force
Force usually categorized into two
• Contact Force: This is a force that requires
physical contact between two objects in order
for the force to be applied. Examples:
Frictional force, Tension force, Normal force,
Air resistance force, and Applied force
 Cont..

• Non-contact Force: This is a force that can act

over a distance without any physical contact
between the objects. Examples: Gravitational
force, Magnetic force, Electrostatic force,
Electromagnetic force, Nuclear force.
 Newton’s Law of Motion
• Newton’s laws of motion are three
fundamental principles that describe the
behavior of objects in motion.
• The laws are:
1. Newton’s first Law of motion (Law of inertia),
2. Newton’s second law (Law of acceleration) and
3. Newton’s third law (action and reaction force)
 Cont..

• Newton’s first law: This states that ”Unless an

external force exerted on the body the state of
motion the body remain as it is”. This is called
law of inertia. Inertia: is the tendency of the
body to resist its change of state of motion.
 Cont..
• Newton’s second law: This states that
”acceleration of an object is directly
proportional to the net force acting on it and
inversely proportional to is mass”.
𝐹 = 𝑚𝑎
𝐹 = 𝐹𝑥 + 𝐹𝑦 + 𝐹𝑧 = 𝑚 𝑎𝑥 + 𝑎𝑦 + 𝑎𝑧
 Cont..
• Newton’s third law: This states that ”For every
action, there is an equal and opposite
reaction”
• Action and reaction force are always:
– the same in magnitude
– opposite in direction
– act on different bodies
– the same type
 Exercise
1. A particle of mass 2𝑘𝑔 moves along space
curve defined by 𝑟 = (4𝑡 2 − 𝑡 3 )𝑖 −
5𝑡𝑗 + (𝑡 4 − 2)𝑘. Find the force acting on
it at any time t.
2. A 2𝑘𝑔 object undergoes an acceleration of
given by 𝑎 = (3𝑖 + 4𝑗) 𝑚 𝑠2. Find the
magnitude resultant of force.
 Friction Force
• Friction force: is a force generated in opposite
direction to the motion when solid object
slide or attempt to slid over each other. Its
magnitude is given by
𝑓 = 𝜇𝐹𝑁
• Where µ is coefficient of friction (constant
that depend on the nature of the surface in
contact), 𝐹𝑁 is normal force.
 Cont..
There are two type of frictional force
1. Static friction:- friction occur when object
attempt to slid over each other but not yet
slid over each other. Its magnitude given
𝑓𝑠 = 𝜇𝑠 𝐹𝑁
Where 𝜇𝑠 is coefficient of static friction
 Cont..

2. Kinetic friction:- friction force occur when

object sliding over each other
𝑓𝑘 = 𝜇𝑘 𝐹𝑁
Where 𝜇𝑘 is coefficient of kinetic friction
Note: 𝜇𝑠 > 𝜇𝑘 so 𝑓𝑠 > 𝑓𝑘
 Exercise
1. A 20kg block is initially at rest on a horizontal
surface. A horizontal force of 75N is a
required to set the block in motion. After it is
in motion a horizontal force of 60N is
required to keep the block moving with
constant speed. Find the coefficient of static
and kinetic friction.
 Cont..
• Normal Force (𝑭𝑵 ):- Is a force or component
of force that is perpendicular to the surface in
contact and equal in magnitude to the force
that holds the surface press together.
• Normal force equal to 𝒎𝒈 when the sliding
object is on horizontal surface and 𝒎𝒈𝒄𝒐𝒔𝜽
when the sliding object is on inclined surface
Cont..
 Exercise
1. A 5kg block is placed on 30° inclined plane.
The coefficient of kinetic friction 𝜇𝑘 is
0.2.calculate
A. The normal force
B. The net force acting on the block
C. The kinetic friction force
 Cont..

• Applied Force: Applied force is a physical force

that is applied to an object by a person or
another object. It is a force that causes an
object to move, accelerate, or change
direction.
 Cont..
• Gravitational force: is the force by which a
planet or other body draws objects toward its
center.
• The force is always attractive and acts along
the line connecting the two bodies
• The force is proportional to the product of the
two masses and inversely proportional to the
square of the distance between them.
 Cont..
• The mathematical formula for the
gravitational force between two objects can
be expressed using Newton’s law of
gravitation:
𝑚1 𝑚2
𝐹=𝐺
𝑟2
Where
• G is the gravitational constant
• 𝐺 = 6.674 ∗ 10−11 𝑁𝑚2 /𝐾𝑔2
 Cont..
• Restoring force: is a force that acts to bring an
object back to its original position after it has
been displaced. In other words, it is a force
that opposes displacement
For example
 the force exerted by a spring when it is
stretched or compressed is a restoring force.
 Cont..
 In a simple harmonic motion, restoring force is
directly proportional to the displacement and
acts in the direction opposite to the
displacement.
𝐹 = −𝑘𝑥
where 𝐹 is the restoring force, 𝑥 is the
displacement from the equilibrium position, and
𝑘 is the spring constant
 Cont..
• Another example of a restoring force is the
force of gravity acting on a pendulum. The
restoring force of a pendulum is given by:

𝐹 = −𝑚𝑔𝑠𝑖𝑛𝜃
 Application and Newton’s law of motion

• In this case we apply Newton’s law to objects

either in equilibrium (𝑎 = 0) or accelerating
along straight line under action of constant
force.
• The following procedure is recommended
when dealing problems with involving
Newton’s law.
 Cont..
1. Identify the object or particle on which force
are exerted.
2. Identify the force exerted on the object
(Draw free body diagram)
3. Decompose each force into their x , y and z-
components.
4. Calculate net force, acceleration, velocity and
so on
 Exercise
1. A block of mass m slides down an inclined
plane as shown in the figure below.
 Cont...
2. A block of mass 10kg hangs from three cords
as shown below

Calculate the tension in the cord?

 Cont..
3. Two object of unequal mass are hung
vertically over a frictionless pull of negligible
mass as in figure below

Determine the expression for

magnitude of acceleration of
Two Objects and tension in
the cords
 Cont..
4. The block of mass m sliding horizontally as
shown in figure below.
 linear momentum

• Linear momentum (𝑷): is an important

concept in physics because it is a measure of
an object’s ability to cause change through its
motion and how difficult it is to stop or
change its motion.
 Cont..

• For example, a moving car has a lot of linear

momentum and is able to do a lot of damage
in a collision because it is difficult to stop.
• On the other hand, a stationary car has no
linear momentum and is not able to cause
much change through its motion.
 Cont..
• Mathematically it’s expressed as the product
of mass of the system with its velocity.
𝑃 = 𝑚𝑣
For an object's in three dimension
𝑃 = 𝑚 𝑣𝑥 𝑖 + 𝑣𝑦 𝑗 + 𝑣𝑧 𝑘
• Linear momentum is a vector quantity,
meaning it has both magnitude and direction.
 Cont..
• The direction of an object’s linear momentum
is the same as the direction of its velocity.
• Its SI unit is 𝑘𝑔𝑚/𝑠.
• Impulse (𝒋): is the change in momentum of an
object when a force is applied over a period of
time. Mathematically, impulse can be
expressed as: From Newton’s second law
𝑗 = 𝐹𝑛𝑒𝑡 ∆𝑡 = ∆𝑃
 Conservation of Momentum
• When ever two or more particles in an
isolated system interact, the total momentum
of the system remain constant (conserved)
𝑃𝑖 = 𝑃𝑓

𝑚1 𝑢1 + 𝑚2 𝑢2 = 𝑚1 𝑣1 + 𝑚2 𝑣2
 Exercise
1. A 60 𝑘𝑔 archer stands at rest on a frictionless
ice and fires a 0.5 𝑘𝑔 arrow horizontally at
50𝑚/𝑠. With what velocity does archer
move across the ice after firing the arrow?
2. A ball of mass 0.150 𝑘𝑔 is dropped from rest
from a height of 1.25 𝑚. It rebounds from
the floor to reach a height of 0.960 𝑚. What
impulse was given to the ball by the floor?
 Collision
• Collision: is the event of two particles coming
together for short time and thereby producing
impulsive force on each other.
• Depending on kinetic energy and Q-value and
coefficient of restitution Collision grouped in
two
1. Elastic Collision, and
2. Inelastic Collision.
 Cont..
• Elastic Collision: It is type of collision in which
both kinetic energy and momentum are
conserved.
𝐾𝐸𝑖 = 𝐾𝐸𝑓

𝑃𝑖 = 𝑃𝑓
 Cont..
• Inelastic Collision: It is a type of collision in
which only momentum is conserved but
kinetic energy is not conserved.
𝑃𝑖 = 𝑃𝑓
𝐾𝐸𝑖 ≠ 𝐾𝐸𝑓

• A collision in which a colliding object stick

together after collision is called perfectly
inelastic collision.
 Cont..

• In this collision kinetic energy lost as a form of

heat and sound during collision
• This lost of kinetic energy represented by Q-
value.
– The Q-value is equal zero for elastic collision and
– less than zero (Q < 0) for inelastic collision.
 Cont..
𝑢2 −𝑢1
• Coefficient of restitution 𝑒 =
𝑣2 −𝑣1
– for elastic collision 𝑒 = 1 and
– zero for inelastic collision.
• Head-on Collisions: Collision, when objects
rebound on straight line paths that coincide
with original direction of motion. These
collisions can be treated one dimensionally.
 Cont..
• Glancing Collisions: When Object do not
collide on the same path line they make
glancing collision.
 Exercise
1. An archer shoots an arrow toward a target
that is sliding toward her with a speed of
2.50 𝑚/𝑠 on a smooth surface. The 22.5𝑔
arrow is shot with a speed of 35.0 𝑚/𝑠 and
passes through the 300𝑔 target, which is
stopped by the impact. What is the speed of
the arrow after passing through the target?
 Center of Mass and Moment of Inertia

Center of Mass
• The center of mass of an object or system is the
unique point at which the entire mass of the
object or system can be considered to be
concentrated
• It is the point about which the object or system
will balance if it is supported at that point, and it
is the point around which the object or system
will rotate if it is free to do so.
 Cont..
• The center of mass of an object or system can
be found by taking the sum of the positions of
all the particles in the system multiplied by
their masses, and then dividing by the total
mass of the system.
 Cont..

• For coordinate x, y and z, center of mass given

by

• This is known as the center of mass formula.

 Exercise
1. A system consists of three particles located as
shown in Figure. Find the center of mass of the
system. The masses of the particles are 𝑚1 = 𝑚2 =
1.0 𝑘𝑔 and 𝑚3 = 2𝑘𝑔
 Moment of Inertia
• Moment of Inertia: is the a measure of body’s
resistance to rotational motion about a
particular axis.
• It is typically denoted by the symbol 𝐼 and is
measured in 𝑘𝑔 ∗ 𝑚2 .
• Its magnitude is affected by distribution of
mass of the body in relation to its axis of
rotation.
 Cont..

• Thus there is no single value of moment of

inertia of an object.
• In general moment of inertia of a body
depend on
– size of the body
– Shape of the body
 Cont..

• For a point mass moment of inertia is given by

𝐼 = 𝑚𝑟 2
• Moment of inertia of a rigid object, made up
of a particles of mass 𝑚1 , 𝑚2 , …at respective
distance 𝑟1 , 𝑟2 , … from its axis of rotation, its
moment of inertial about that axis is given by
 Cont..

𝐼 = 𝑚1 𝑟1 2 + 𝑚2 𝑟2 2 + ⋯ + 𝑚𝑖 𝑟𝑖 2 = 𝑚𝑖 𝑟𝑖 2
𝑖
• For continuous mass distribution
𝑚𝑛
𝐼= 𝑟 2 𝑑𝑚
𝑚1
 Cont..

• For example consider disk and sphere of the

same mass and the same radius.
1
𝐼= 𝑚𝑟 2 for uniform disk
2
2 2
𝐼= 𝑚𝑟 for uniform sphere
5
 Cont..

• It also depend on a point of axis of rotation

– For uniform rod axis of rotation through its center
1
𝐼 = 12 𝑀𝐿2
• For uniform rod axis of rotation through its
2
one end 𝐼 = 3 𝑀𝐿2
 Exercise
1. Calculate moment of inertia of 4 equal
masses be each having a mass of 50g and
situated at the corner of the square of side
30cm. when axis of rotation passes through
a) the center of the square perpendicular to the plane of
the square
b) the center of the square perpendicular to sides of the
square.
c) along the side of the square
 Torque and angular momentum
• Torque 𝝉 : it is measure of force that Causes an
object to rotate around an axis
• Torque is vector quality with both magnitude and
direction. It’s given by the equation
𝜏 = 𝑟 ∗ 𝐹 = 𝑟𝐹 sin 𝜃
• Magnitude of torque is depend on
– Size of force
– moment arm of force (radius or point of application of
force)
– line of action of force (direction of line of action of
force or 𝜃)
 Cont..
• Torque in terms of angular acceleration
𝜏 = 𝐼𝛼
Example: A force of 𝐹 = (2𝑖 + 3𝑗) is applied
to an object that is pivoted about a fixed axis
that is aligned along the z-axis. If the force is
applied at a point located at 𝑟 = (3𝑖 − 2𝑗)
 Conditions of Equilibrium (First and second)

• Condition of Equilibrium in physics refers to

state to the state where an object or system is
not accelerating that is, its velocity is constant
or zero (static equilibrium:-system is stable
and at rest, the net torque must also be zero ).
• There are two main conditions of equilibrium.
 Cont..
1. First condition of equilibrium: This states
that, the net force acting object must be
zero.
– This means that the vector sum of all force acting
on the object must be equal to zero.
– Mathematically this can be expressed as
𝐹𝑛𝑒𝑡 = 𝐹= 𝐹𝑥 + 𝐹𝑦 + 𝐹𝑧 = 0
 Cont..
2. Second condition of equilibrium: This states
that, the net torque acting on the object
must be zero.
– This means that the vector sum of all the torque
acting on the object must be equal to zero.
– Mathematically this can be expressed as
𝜏𝑛𝑒𝑡 = 𝜏= 𝜏𝑐𝑙𝑜𝑐𝑘𝑤𝑖𝑠𝑒 + 𝜏𝑎𝑛𝑡𝑖𝑐𝑙𝑜𝑐𝑘𝑤𝑖𝑠𝑒