MECHANICS 2 – DYNAMICS

I. RECTILINEAR KINEMATICS: CONTINUOUS MOTION/ERRATIC MOTION

Equations:

𝒅𝒔 𝒅𝒗 𝒅𝟐 𝒔
𝒗= 𝒂= 𝒐𝒓 𝟐 𝒂𝒅𝒔 = 𝒗𝒅𝒗
𝒅𝒕 𝒅𝒕 𝒅𝒕

*For constant Acceleration:

𝟏
𝒔 = 𝒔𝒐 + 𝒗𝒐 𝒕+ 𝒂𝒕𝟐
𝟐

𝒗 = 𝒗𝒐 + 𝒂𝒕

𝒗𝟐 = 𝒗𝟎 𝟐 + 𝟐𝒂𝒄 (𝒔 − 𝒔𝒐 )

II. CURVILINEAR MOTION:

Gen Equation: Δr = r2 – r1; position vector: r = r(t)

∆𝒓 𝒅𝒓 𝒅𝒔
𝒗𝒂𝒗𝒈 = (𝒂𝒗𝒆. 𝒗𝒆𝒍) ; 𝒗 = (𝒊𝒏𝒔𝒕. 𝒗𝒆𝒍) ; 𝒗 = (𝒂𝒗𝒆 𝒔𝒑𝒆𝒆𝒅)
∆𝒕 𝒅𝒕 𝒅𝒕
∆𝒗 𝒅𝒗 𝒅𝟐 𝒓
𝒂𝒂𝒗𝒈 = (𝒂𝒗𝒆. 𝒂𝒄𝒄𝒆𝒍) ; 𝒂 = 𝒐𝒓 𝒂 = 𝟐 (𝒊𝒏𝒔𝒕. 𝒂𝒄𝒄𝒆𝒍)
∆𝒕 𝒅𝒕 𝒅𝒕

Rectangular components:
𝒓
Position: 𝒓 = 𝒙𝒊 + 𝒚𝒋 + 𝒛𝒌 ; 𝐫 = √𝐱 𝟐 + 𝐲 𝟐 + 𝐳 𝟐 ; unit vector 𝒖𝒓 = 𝒓.

where: x = x(t), y = y(t), z = z(t) then r = r(t).

𝒅𝒓 𝒅 𝒅 𝒅
Velocity: 𝒗 = = (𝒙𝒊) + (𝒚𝒋)+ (𝒛𝒌)
𝒅𝒕 𝒅𝒕 𝒅𝒕 𝒅𝒕
𝒅𝒓
𝒗 = 𝒅𝒕 = 𝒗𝒙 𝒊 + 𝒗𝒚 𝒋 + 𝒗𝒛 𝒌 ; 𝒗 = √𝒗𝟐 𝒙 + 𝒗𝟐 𝒚 + 𝒗𝟐 𝒛
𝒗
𝒖𝒏𝒊𝒕 𝒗𝒆𝒄𝒕𝒐𝒓 𝒖𝒗 = .
𝒗
Where: 𝐯𝐱 = 𝐱̇ ; 𝐯𝐲 = 𝐲̇ ; 𝐯𝐳 = 𝐳̇

𝒅𝒗
Acceleration: 𝒂= = 𝒂𝒙 𝒊 + 𝒂𝒚 𝒋 + 𝒂𝒛 𝒌 ; 𝒂 = √𝒂𝟐 𝒙 + 𝒂𝟐 𝒚 + 𝒂𝟐 𝒛
𝒅𝒕
𝒂
unit vector 𝒖𝒂 = .
𝒂

Where: 𝒂𝒙 = 𝒗̇ 𝒙 =̇ 𝒙̈ ; 𝒂𝒚 = 𝒗̇ 𝒚̇ =̇ 𝒚̈ ; 𝒂𝒛 = 𝒗̇ 𝒛̇ =̇ 𝒛̈

Projectile Motion:

a. Horizontal Motion: 𝑽 = 𝑽𝒐𝒙 ; 𝑽𝒐𝒙 = 𝑽𝒐 𝑪𝒐𝒔𝜽

𝑿 = 𝑿𝒐 + 𝑽𝒐𝒙 𝒕

b. Vertical Motion: 𝑽 = 𝑽𝒐𝒚 − 𝒈𝒕 ; 𝑽𝒐𝒚 = 𝑽𝒐 𝑺𝒊𝒏𝜽

𝟏
𝒀 = 𝒀𝒐 + 𝑽𝒐𝒚 𝒕 − 𝟐 𝒈𝒕𝟐
𝑽𝟐 = 𝑽𝒐 𝟐 − 𝟐𝒈(𝒀 − 𝒀𝒐 )
Normal and Tangential Components:

Position: s = f(t)

𝒅𝒔
Velocity: 𝒗 = 𝒗𝒖𝒕 where: 𝒗 = 𝒔̇ = 𝒅𝒕

Acceleration:
Where:

Sum of components of acceleration, a:

Tangential acceleration:

Normal acceleration:

𝟑/𝟐
𝒅𝒚 𝟐
[𝟏+(𝒅𝒙) ]
𝒓𝒂𝒅𝒊𝒖𝒔 𝒐𝒇 𝒄𝒖𝒓𝒗𝒂𝒕𝒖𝒓𝒆: 𝝆= 𝒅𝟐 𝒚
| 𝟐|
𝒅𝒙

Cylindrical Components:

Position: 𝒓 = 𝒓𝒖𝒓

Velocity: 𝒗 = 𝒓̇ = 𝒓̇ 𝒖𝒓 + 𝒓𝒖̇ 𝒓
𝒗 = 𝒗𝒓 𝒖𝒓 + 𝒗𝜽 𝒖𝜽 ;

Where: 𝒗𝒓 = 𝒓̇ 𝒂𝒏𝒅 𝒗𝜽 = 𝒓𝜽̇

Acceleration: 𝒂 = 𝒗̇ = 𝒓̈ 𝒖𝒓 + 𝒓̇ 𝒖̇ 𝒓 + 𝒓̇ 𝜽̇𝒖𝜽 + 𝒓𝜽𝒖̈ 𝜽 + 𝒓𝜽̇𝒖̇ 𝜽

𝒂𝒓 = 𝒓̈ − 𝒓𝜽̇𝟐 𝒂𝜽 = 𝒓𝜽̈ + 𝟐𝒓̇ 𝜽̇

Absolute Dependent Motion: Analysis of Two Particles

𝟐𝒔𝑩 + 𝒉 + 𝒔𝑨 = 𝒍 ; 𝟐𝒗𝑩 + 𝒗𝑨 = 𝟎 ; 𝟐𝒂𝑩 + 𝒂𝑩 = 𝟎

If 𝒗𝑨 , 𝒗𝑩 , 𝒂𝑨 , 𝒂𝑩 = (−) ; negative means that they are in the opposite

direction as that in the sense of the position
initially directed from datum.
III. KINETICS OF PARTICLE: FORCE AND ACCELERATION

A. Equation of Motion: F = ma

For system of particles: 𝚺𝑭 = 𝒎𝒂

Rectangular Coordinates: 𝚺𝑭𝒙 = 𝒎𝒂𝒙 ; 𝚺𝑭𝒚 = 𝒎𝒂𝒚 ; 𝚺𝑭𝒛 = 𝒎𝒂𝒛

Cylindrical Coordinates: 𝚺𝑭𝒓 = 𝒎𝒂𝒓 ; 𝚺𝑭𝜽 = 𝒎𝒂𝜽 ; 𝚺𝑭𝒛 = 𝒎𝒂𝒛

IV. KINETICS OF PARTICLE: WORK AND ENERGY

A. Work of a Constant Force, U: 𝑼 = 𝑭 ∙ 𝒅𝒔 ∙ 𝑪𝒐𝒔𝜽dU (scalar value) ; 𝑼 = 𝑭 ∙ 𝒅𝒓 (vector value)

𝒓 𝒔
B. Work of a Variable Force, U: 𝑼𝟏−𝟐 = ∫𝒓 𝟐 𝑭 ∙ 𝒅𝒓 = ∫𝒔 𝟐 𝑭 𝑪𝒐𝒔𝜽 𝒅𝒔
𝟏 𝟏
C. Work of Weight, U: 𝑼𝟏−𝟐 = 𝑾 ∙ ∆𝒚

PRINCIPLE OF WORK AND ENERGY:

𝟏
𝑻𝟏 + 𝚺𝑼𝟏−𝟐 = 𝑻𝟐 ; 𝑻= 𝒎𝒗𝟐 (𝑲𝒊𝒏𝒆𝒕𝒊𝒄 𝑬𝒏𝒆𝒓𝒈𝒚)
𝟐

For system of Particles: 𝚺𝑻𝟏 + 𝚺𝑼𝟏−𝟐 = 𝚺𝐓𝟐

𝑼 𝑬
Power and Efficiency: 𝑷= 𝒕
𝒐𝒓 𝒕
𝒐𝒓 𝑭 ∙ 𝒗 ; 𝟏 𝒉𝒑 = 𝟕𝟒𝟔 𝒘𝒂𝒕𝒕 𝒐𝒓 𝟓𝟓𝟎 𝒍𝒃 ∙ 𝒇𝒕/𝒔

𝑷𝒐
𝒆= × 𝟏𝟎𝟎%
𝑷𝒊
Potential Energy, V: 𝑽 = 𝑽𝒈 + 𝑽𝒆

𝑽𝒈 = 𝒑𝒐𝒕𝒆𝒏𝒕𝒊𝒂𝒍 𝒈𝒓𝒂𝒗𝒊𝒕𝒂𝒕𝒊𝒐𝒏𝒂𝒍𝒆𝒏𝒆𝒓𝒈𝒚 = 𝑾 ∙ 𝒚 = 𝒎𝒈𝒚

𝟏
𝑽𝒆 = 𝒆𝒍𝒂𝒔𝒕𝒊𝒄 𝒑𝒐𝒕𝒆𝒏𝒕𝒊𝒂𝒍 𝒆𝒏𝒆𝒓𝒈𝒚 = 𝟐 𝒌𝒔𝟐

Conserve energy: 𝑻𝟏 + 𝑽𝟏 = 𝑻𝟐 + 𝑽𝟐

For system of particles: 𝚺𝑻𝟏 + 𝚺𝑽𝟏 = 𝚺𝑻𝟐 + 𝚺𝑽𝟐

V. KINETICS OF PARTICLES: IMPULSE AND MOMENTUM

𝒕 𝒕
Principle of Impulse and momentum: 𝚺 ∫𝒕 𝟐 𝑭 ∙ 𝒅𝒕 = 𝒎𝒗𝟐 − 𝒎𝒗𝟏 𝒐𝒓 𝒎𝒗𝟏 + 𝚺 ∫𝒕 𝟐 𝑭 ∙ 𝒅𝒕 = 𝒎𝒗𝟐
𝟏 𝟏

𝒕
Resolve into components: 𝒎𝒗𝟏𝒙 + 𝚺 ∫𝒕 𝟐 𝑭𝒙 ∙ 𝒅𝒕 = 𝒎𝒗𝒙𝟐
𝟏
𝒕
𝒎𝒗𝟏𝒚 + 𝚺 ∫𝒕 𝟐 𝑭𝒚 ∙ 𝒅𝒕 = 𝒎𝒗𝒚𝟐
𝟏
𝒕
𝒎𝒗𝟏𝒛 + 𝚺 ∫𝒕 𝟐 𝑭𝒛 ∙ 𝒅𝒕 = 𝒎𝒗𝒛𝟐
𝟏

𝒕
For system of particles: 𝚺𝒎𝒗𝟏 + 𝚺 ∫𝒕 𝟐 𝑭 ∙ 𝒅𝒕 = 𝚺𝒎𝒗𝟐
𝟏
Linear momentum, L: 𝑳 = 𝒎𝒗

Linear impulse, I: 𝑰 = ∫ 𝑭 𝒅𝒕

Conserve Momentum for system of Particles: