20CEG01

Engineering Mechanics
Module V
Prepared by:
M. Sundra Pandian M.E., M.B.A.,
Assistant Professor, Department of Mechanical
Engineering,
Sri Ramakrishna Institute of Technology,
Coimbatore - 10
 Syllabus

Module 5 - Dynamics of Particles

Kinematics - Rectilinear Motion and Curvilinear Motion of
Particles. Kinetics- Newton’s Second Law of Motion - Equations of
Motions, Dynamic Equilibrium, Energy and Momentum Methods -
Work of a Force, Kinetic Energy of a Particle, Principle of Work and
Energy, Principle of Impulse and Momentum, Impact, Method of
Virtual Work - Work of a Force, Potential Energy, Potential Energy
and Equilibrium.
 Dynamics
Dynamics deals with the behaviour of rigid bodies when a force
is acting on a body which is moving.

The dynamics can be broadly classified into:

1. Kinematics and
2. Kinetics
 Dynamics
Kinematics is the study of the geometry of motion.

Kinematics is used to relate displacement, velocity, acceleration

and time, without reference to the cause of the motion.
Kinetics is the study of the relation 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.
 Types of Motions in Kinematics
Rectilinear Motion

Curvilinear Motion
 Rectilinear motion of particles
Rectilinear Motion

A 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.
 Rectilinear motion of particles
Displacement

From the fig. displacement is the shortest distance of the moving

particle from the fixed origin, ‘O’.
So at various time points, the displacement will be increased.
So the displacement can be represented as a function of time.
i.e., x = f(t)
 Rectilinear motion of particles
Displacement

From the fig. displacement is the shortest distance of the moving

particle from the fixed origin, ‘O’.
So at various time points, the displacement will be increased.
So the displacement can be represented as a function of time.
i.e., x = f(t)
 Rectilinear motion of particles
Velocity

The rate of change of displacement is known as Velocity.

Speed is a scalar unit, but speed in a defined direction is Velocity.
i.e, v = d(x)/dt …… m/s

Acceleration
The rate of change of velocity is known as Acceleration.
Increase in the velocity is Acceleration while the decreasing of
velocity is Deceleration.
i.e., a = d (v)/dt …….. m/s2
 Rectilinear Motion
Exercise: The position of a particle which moves along a straight line
is defined by the relation x = t3 – 6t2 – 15 t + 40, where x is expressed
in m and t in seconds.

Determine (a) the time at which the velocity will be zero,

(b) the position and distance traveled by the particle at that
time,
(c) the acceleration of the particle at that time,
(d) the distance traveled by the particle from t = 4 s to t = 6 s.
 Rectilinear Motion
Solution:

The equation of motion is given as

x = t3 - 6t2 – 15 t + 40 ……..…………… Eqn. 1
Then, Velocity, v = dx/dt = 3t2 – (6x2) t – 15

v = 3t2 – 12 t – 15 ………………………. Eqn. 2

Then, Acceleration, a = dv/dt = (3x2) t – 12
a = 6t – 12 ………………………………... Eqn. 3
 Rectilinear Motion
Solution:
Case a: The time when velocity, v = 0
From Eqn. 2
v = 3t2 – 12 t – 15
3t2 – 12 t – 15 = 0
Dividing by 3  i.e., t2 – 4 t – 5 = 0
t = =
= = =
t = (4+6)/2 or t = (4 – 6)/2
\ t = 10/2 = 5 s or
t = 2/2 = 1s which is not possible.
So, t = 5 s
 Rectilinear Motion
Solution:
Case b: Position and distance travelled by the particle at t = 5 s
From Eqn. 1
x = t3 – 6t2 – 15 t + 40
Initial Position is when t = 0
x0 = 03 - 6(0)2 – 15(0) + 40 = 40 m
When t = 5 s
x5 = 53 – 6(52) – 15 (5) + 40
= 125 – 150 – 75 +40
= – 60 m
So, total distance travelled = x5 – x0
= – 60 – 40 = – 100 m
I.e. Distance travelled = 100 m in negative direction.
 Rectilinear Motion
Solution:
Case c: Acceleration of the particle at that time at t = 5 s
From Eqn. 3
a = 6t – 12
= (6 x 5) – 12
= 30 – 12
= 18 m/s2

Case d: Distance traveled by the particle from t = 4 s to t = 6 s.

From Eqn. 1, x = t3 – 6t2 – 15 t + 40

Distance at t = 4s

x4 = 43 – 6x42 – 15x4 + 40

= 64 – 96 – 60 + 40 = – 52 m
 Rectilinear Motion
Solution:
Case d: Distance traveled by the particle from t = 4 s to t = 6 s.

From Eqn. 1, x = t3 – 6t2 – 15 t + 40

Distance at t = 6s  x6 = 63 – 6x62 – 15x6 + 40

= 216 – 216 – 90 + 40 = – 50 m
 Rectilinear Motion
So, Total distance traveled by the particle from t = 4 s to t = 6 s.
= distance traveled by the particle from t = 4 s to t = 5 s

+ distance traveled by the particle from t = 5 s to t = 6 s

Distance traveled by the particle from t = 4 s to t = 5 s

= x5 – x4 = – 60 –(–52) = –60+52 = –8 m

Distance traveled by the particle from t = 5 s to t = 6 s

= x6 – x5 = –50 –(–60) = –50 + 60= +10 m

Tot. distance between{ t=4 s and t= 6 s} = 8m + 10 m = 18 m

18 m

-8m O + 10 m
 Rectilinear Motion
Result:
a) When, v = 0 m/s, t = 5 s

b) Initial position = 40 m
When t = 5s, x = -100 m
c) When t = 5s, a = 18 m/s2

d) Between t = 4s and t = 6s, x = 18 m

 Rectilinear Motion
Exercise:
A ball is tossed with a velocity of 10 m/s directed vertically
upward from a window located 20 m above the ground. Knowing
that the acceleration of the ball is constant and equal to 9.81 m/s 2
downward, determine
a) the velocity v and elevation x of the ball above the ground at
any time t,
b) the highest elevation reached by the ball and the corresponding
value of t,
c) the time when the ball will hit the ground and the
corresponding velocity.
 Rectilinear Motion
Given Data:
y Case a:
At t = 0:
Initial Velocity, Vo = 10 m/s
V0 = 10
m/s Initial Position, x = 20 m
Initial Acceleration, a = - 9.81 m/s2
a = 9.81
20
m
m/s2 Solution:
W.k.t.,
Acceleration, a = dv/dt
x \ dv = a * dt
Integrating from t = 0 to t = t
& v = v0 to v = v
 Rectilinear Motion y

V0 =
Integrating from t = 0 to t = t & v = v0 to v = v 10 m/s

dv = a dt 20 m a=
9.81
=)=) m/s2

[ v ] v= -9.81 [ t ] t
0
v – 10 10
= -9.81 (t – 0)
v – 10 = -9.81t
v = 10 – 9.81 t
Similarly,
W.k.t, Velocity, v = dx/dt or
Applying the limits t = 0 to t = t & x = 20 m to x = x
=
 Rectilinear Motion y

V0 =
= 10 m/s

= 20 m a=
9.81
- 9.81 = m/s 2

10 [ t ] - 9.81 [ t2 / 2 ] = [x] x
t
10 x (t0– 0) -9.81 x (t2 /2 t– 02 / 2) = (x –x20)
0 20
10 t – 4.905 t = x – 20
2

i.e., x = 10 t – 4.905 t2 + 20
Case b: When the ball reaches the highest elevation (height), the final
velocity, v = 0.
Substituting v = 0 in the velocity equation,
W.k.t., v = 10 -9.81 t
i.e., 0 = 10 – 9.81 t
9.81 t =10  t = 10 / 9.81 = 1.019 s
 Rectilinear Motion
So, when t = 1.019 s, the ball reaches the max. height.
So the max. displacement at t = 1.019 s will be the max. height.
i.e. Substitute t = 1.019 s in the displacement eqn.
x = 10 t – 4.905 t2 + 20
= 10 (1.019) – 4.905 (1.0192 ) + 20
= 10.19 – (4.905 x 1.038) + 20
= 10.19 – 5.091 + 20
x = 25.099 m
Case c:
The time when the ball hits the ground, the displacement, x = 0
Substituting x = 0 in the displacement equation,
10 t – 4.905 t2 + 20 = x
– 4.905 t2 + 10 t + 20 = 0
 Rectilinear Motion
– 4.905 t2 + 10 t + 20 = 0 Finding the roots for the binomial eqn.
ax2 + b x + c = 0
x=
t = { - 10 } / {2 x (- 4.905)}
= {-10 } / - 9.81
= {-10 } / - 9.81
= {-10 22.186} / - 9.81
So, t = (-10 + 22.186) / - 9.81 or t = (-10 – 22.186) / -
9.81
t = 12.186 / - 9.81 or t = -32.186 / - 9.81
t = - 1.242 s or t = 3.281 s
Since ‘t’ can’t be negative, t = 3.281 s
 Rectilinear Motion
The corresponding velocity at t = 3.281 s,
v = 10 – 9.81t
= 10 – (9.81 x 3.281)
= 10 – 32.187
v = - 22.187 m/s or + 22.187 m/s (Downwards)
Result:
a) The velocity v and elevation x of the ball above the ground at any
time t,
v = 10 – 9.81 t

x = – 4.905 t2 + 10 t + 20
 Rectilinear Motion
Result:
b) The highest elevation reached by the ball and the corresponding
value of t,
x = 25.009 m & t = 1.019 s

c) The time when the ball will hit the ground and the corresponding
velocity.
t = 3.281 s & v = + 22.187 m/s
 Curvilinear Motion
When a particle moves along a curve other than a straight line,
we say that the particle is in curvilinear motion.

Let us assume a particle is moving in a curve. At any instant let

the position of the particle be defined as
r = xi + y j + z k
Then the velocity of the particle are given as
v = dr/dt = +
 Curvilinear Motion
The velocity of the particle are given as

a = dv/dt = i + j + k
 Curvilinear Motion
Let us assume that ‘v 0’ is the initial velocity of a particle and ‘v’
is the final velocity of a particle. The distance travelled is ‘x’ m
within the time ‘t’, then

v = v0 + at

&

v2 – v02 = 2 ay
 Curvilinear Motion
Exercise: 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 and
b) the greatest elevation above the ground reached by the
projectile.
 Curvilinear Motion
Solution:
Let us consider the vertical and the horizontal motions separately.

Vy
a = 9.81
m/s2

Vx
 Curvilinear Motion
Solution:
Resolving Vertical Forces: Uniformly Accelerated Motion
v y = 180 m/s * Sin 30°
= 180 * ½
= 90 m/s
W.k.t., The equations of Uniformly Accelerated motion
v = v 0 + at Vy

v = 90 + (-9.81)*t …………….…. Eqn. 1

y = = a = 9.81 Vx
= 90 t – 9.81 (t2 / 2) m/s 2

y = 90 t – 4.905 t2 ……………. Eqn. 2

v2 = v0 2 + 2ay
v2 = 902 + {2 * (-9.81) * y
= 8100 – 19.62 y…………….. Eqn. 3
 Curvilinear Motion
Solution:
Resolving Horizontal Forces: Uniform Motion
v 0 = 180 m/s * Cos 30°
Vy

= 180 * 0.866 a = 9.81

m/s2

= 155.9 m/s
Vx
W.k.t., The equations of Uniform motion
x = v0 * t
x = 155.9 t ………………. Eqn. 4

Case a: Horizontal distance when the projectile strikes the ground

When projectile strikes the ground, y = - 150 m
Substitute y = -150 min Eqn. 2
y = 90 t – 4.905 t2
-150 = 90 t – 4.905 t2
 Curvilinear Motion
Solution:
-150 = 90 t – 4.905 t2
i.e., 4.905 t2 – 90t -150 = 0
Finding the roots of this eqn.
t = =
= {90 } / 9.81
= (90+105.086) / 9.81
t = 19.9 s
Substituting t = 19.9 s in Eqn. 4
x = 155.9 t = 155.9 * 19.9
= 3102.49 m
Solution:
Curvilinear Motion
Case b: The greatest or the max. height reached by the projectile
The final velocity, v = 0, when the projectile reaches the highest
elevation.
Substituting v = 0 in Eqn. 3
v2 = 8100 – 19.62 y
0 = 8100 – 19.62y
y = 8100 / 19.62
= 412.844 m
Subtracting the height of the cliff, 150 m
Max. height, y max = 412.844 – 150 = 262.844 m
Result:
Case a) Horizontal distance when the projectile hits the ground,
x = 3102.49 m
Case b) The greatest height, y = 262.844 m
Solution:
Curvilinear Motion
Case b: The greatest or the max. height reached by the projectile
The final velocity, v = 0, when the projectile reaches the highest
elevation.
Substituting v = 0 in Eqn. 3
v2 = 8100 – 19.62 y
0 = 8100 – 19.62y
y = 8100 / 19.62
= 412.844 m
Subtracting the height of the cliff, 150 m
Max. height, y max = 412.844 – 150 = 262.844 m
Result:
Case a) Horizontal distance when the projectile hits the ground,
x = 3102.49 m
Case b) The greatest height, y = 262.844 m
 Kinetics – Newton’s II Law of Motion
The law states that if the resultant force acting on a particle is not
zero, the particle will have an acceleration proportional to the
magnitude of the resultant and in the direction of this resultant force.
W.k.t., when a particle of mass ‘m’ is subjected to a force ‘F’,
then it moves with an acceleration ‘a’.
i.e., F = m*a
If the particle is acted upon by many forces with varying
magnitude and direction, then
F = m*a
 Kinetics – Newton’s II Law of Motion
The product of mass and velocity is called the linear momentum,
L.
F = m*a

= m * (dv/dt)
= d/dt (m * v)
F = d/dt (L)
Thus the resultant force F is equal to the rate of change of
Linear Momentum.
 Equations of Motion
Consider a particle of mass ‘m’ acted upon by 2 forces F1 and F2
as shown.

So the resultant force will be.

 Equations of Motion
So the equation of motion will be

(Fx i+ Fy j + Fz k) = m ( ax i + ay j + az k)

So, Fx = m*ax ; Fy = m*ay & Fz = m*az

 Work
Work: Work can be defined as the product of force and displacement.

If a force ‘F’ moves an object to a distance of ‘x’, the work done by

the force,
W = F * x Joules
Work of Gravitational force:

The force of attraction between two masses ‘m1’ and ‘m2’ is

F = G m1*m2/ r2
where G is the gravitational pull and ‘r’ is the distance between the
masses.
Then, Work = F * r = (G m1*m2/ r2) * r
= G m1*m2/ r
 Kinetic Energy
The ability to effect a work in an object is known as energy.It s
equivalent to work, as it is the product of mass ‘m’ and the distance.

The major forms of Energies are:

• Potential Energy – The energy which is inherent or stored in an
matter or object. P.E = m*g*h N.m or Joules, J
• Kinetic Energy – The energy possessed by an object due to its
movement. K.E = m v2 N.m or J
Also, Work done, W= Change of energy state

W = K.E Final - K.E Initials

 Principle of K.E and Work
Work done, W= Change of energy state

W = K.E Final - K.E Initials

W = m v 22 - m v 12

= m (v 22 - v 12 )
 Applications of Principle of K.E and Work
Simple Pendulum:

Consider a pendulum as shown.

Then, Potential Energy, P.E. = W * l J

Kinetic Energy, K.E. = m v 22 (Initial K.E = 0)

 Simple Pendulum

Simple Pendulum:

Then, Work done = W * l J

Kinetic Energy, K.E. = m v 22 (Initial K.E = 0)

w.k.t., Work = K. E2 – K.E1

W * l = m v2 2 – 0

(m*g) * l = m v22

v22 = 2gl

v2 =
 Simple Pendulum

Exercise:

A bullet of mass 30 g is fired into a body of mass 10 kg, which is

suspended by a string 0.8 m long. Due to this impact, the body swings
through an angle 30°. Find the velocity of the bullet.
 Simple Pendulum
Given Data:
Mass of bullet, m = 30 g = 30 * 10-3 kg = 0.03 kg
Mass of body, M = 10 kg
length of string, l = 0.8 m
Angle of swinging,  = 30°
Let,
When the bullet hits the body, it swings
up to a height = h
Initial velocity of bullet = u m/s
Final velocity of body = v m/s
To Find:
Velocity of bullet, u = ?
Solution: Simple Pendulum
From the dia.,
h = 0.8 m – 0.8 Cos 
= 0.8 – (0.8 * Cos 30°)
= 0.8 – (0.8 * 0.866)
= 0.1072 m
W.k.t., Kinetic energy of body + bullet at ‘A’
= (m + M) v2
= 0.5 * (0.03 + 10) * v2
= 0.5 * 10.03 v2
= 5.015 v2 N.m or J
W.k.t., Potential energy of body + bullet at ‘B’
= (m + M) g h
= (0.03 + 10) * 9.81 * 0.1072
= 10.548 N.m or J
Solution: Simple Pendulum
W.k.t., When the body swings from ‘A’ and stops at ‘B’
Kinetic energy = Potential energy
i.e., 5.015 v2 = 10.548
v2 = 10.548 / 5.015 = 2.103
v = 1.451 m/s
W.k.t., Momentum of body + bullet (After Impact)
= (m + M) * v
= (0.03 + 10) * 1.451
= 14.554 kg*m/s
Momentum of bullet (Before Impact)
= m*u = 0.03 u
Moment before impact = Moment after impact
0.03 u = 14554
u = 14.554 / 0.03 = 485.133 m/s
 Simple Pendulum
Result:
The velocity of the bullet, u = 485.133 m/s
 Dynamic Equilibrium
D’ Alembert’s Principle

It states, “If a rigid body is acted upon by a system of forces, this

system may be reduced to a single resultant force whose magnitude,
direction and the line of action may be found out by the methods of
graphic statics.”
i.e., F = m *a
or
F – (m*a) = 0
 Principle of Impulse and Momentum
Impulse:

Impulse is defined as the force acting for a short time interval.

i.e., I = F * t ….. N.s
W.k.t., F = m * a = m * dv/dt

= d/dt (m * v)
Integrating between the velocities v1 and v2,
=

= m v2 – mv1
i.e., mv1 + = mv2  mv1 + I = mv2
 Rolling Motion
Rolling on a rough horizontal plane without slipping
Consider a body A tied to a string passing over a smooth pulley and
pulling another circular body B, which rolls on a rough horizontal
plane without slipping as shown.
 Rolling Motion
Let
m = Mass of the hanging body A,
P = Tension in the string,
M = Mass of the rolling body B,
I = Moment of inertia of the rolling body B,
k = Radius of gyration of the rolling body B,
r = Radius of the rolling body B,
μ = Coefficient of friction between the plane and the body,
a = Linear acceleration of the rolling body B, and
α = Angular acceleration of the rolling body B.
 Rolling Motion
W.k.t., Normal reaction, R = W = m*g
& Friction force, F =  * R = *m*g
As the body rolls:
1. A force equal to P – F (acting towards right)
2. A couple whose moment is equal to F × r
This couple is responsible for rolling of the body.
On further calculation,
Acceleration, a =
 Rolling Motion
Exercise:

A solid right circular roller of mass 15 kg is being pulled by

another body of mass 15 kg along a horizontal plane as shown. Find
the acceleration of the roller, assuming that there is no slipping of the
roller and string is inextensible.
 Rolling Motion
Given Data:
Mass of roller, M = 15 kg
Mass hanging, m = 15 kg
W.k.t., For a circular roller,
Radius of Gyration, k = mm
i.e., k2 = r2 / 2 = 0.5 r2
To Find:
Acceleration of the roller, a = ?
 Rolling Motion
Solution:
W.k.t., Acceleration, a =
a=
a = 147.15 / (15+30+7.5)
= 147.15 / 52.5
a = 199.65 m/s2
Result:
Acceleration of the roller, a = 199.65 m/s2
 Rolling Motion
Exercise:
A solid uniformly thick wheel of radius 1 m and mass 40 kg is
released with no initial velocity at the top of an inclined plane, which
makes an angle of 30° with the horizontal.
It rolls down without slipping. Determine (i) the minimum value of
coefficient of friction, (ii) the velocity of the centre of the wheel after it
has travelled a distance 4 m down the inclined plane.
Given Data:
Radius of wheel, r = 1 m
Mass of wheel, m = 40 kg
Inclination,  = 30°
To find:
a. Min. coeff. of friction,  = ?
b. Velocity after 4 m, v = ?
 Rolling Motion
Solution:
a. W.k.t, For a circular wheel,
k2 = 0.5 r2
Also, min. coeff . of friction,
 = tan  / )
= tan 30 / )
= 0.577 / (1.5/0.5)
= 0.577 / 3
= 0.192
b. W.k.t, Acceleration,
a = g*Sin  / ) = 9.81 * Sin 30 / )
 Rolling Motion
a = 9.81 * Sin 30 / )
= (9.81 * 0.5 ) / (1.5)
= 4.905 / 1.5
a = 3.27 m/s2
W.k.t.,
v2 = u2 + 2as
= 0 + (2 * 3.27 * 4 m)
v2 = 25.16
v=
= 5.016 m/s
Result:
a.  = 0.192 b. v = 5.016 m/s
 Rolling Motion
Exercise:
A wagon of mass 50 ton, starts from rest and travels 30 m down a
1% grade and strikes a post with bumper spring as shown. If the rolling
resistance of the track is 50 N/t, find the velocity with which the
wagon strikes the post. Also find the amount by which the spring will
be compressed, if the bumper spring compreses1 mm per 20 kN force.
 Rolling Motion
Given Data:
Mass of wagon, m = 50 Ton
Initial Velocity, u = 0 m/s
Distance, s = 30 m
Inclination, Sin  = 1% = 1/100 = 0.001
Rolling resistance = 50 N/ Ton = 50 N * 50 Ton
= 2500 N = 2.5 kN
Spring constant, k = 1 mm / 20 kN
= 0.05 mm /kN
To Find:
Final Velocity of the Wagon, v = ?
Compression of the spring, x = ?
 Rolling Motion
Solution: a. Velocity when the wagon hits the bumper, v
Wagon is travelling down the gradient due to gravity
So, Gravitational pull = m*g* Sin 
= 50 * 9.81 * 0.01 (Since Sin  = Gradient)
= 4.905 kN
Force acting on the wagon, F
= Gravitational Pull – Rolling or Track resistance\
= 4.905 – 2.5 kN
F = 2.405 kN
W.k.t. This net force, F = m*a
2.405* 103 = 50*103 * a
Acceleration, a = (2.405* 103) /(50*103 )
= 0.048 m/s2
 Rolling Motion
W.k.t., v2 = u2 + 2 a*s
= 0 + (2 * 0.048 * 30)
= 2.88
v =  2.88 = 1.697 m/s
b. Compression of the bumper spring, x
W.k.t., K.E of Wagon = m v2
= 0.5 * 50 * 1.6972
= 71.995 kN.m
= 71995 kN . mm
W.k.t., Spring Constant, k = Compression / Load
or Compressive Load = Compression / Spring Constant
= x / 0.05
= 20 x
 Rolling Motion
Work done = Avg. load * Displacement
= (20 x / 2) * x
= 10 x2
W.k.t., K.E = Work done
71995 = 10 x2
x2 = 71995 / 10 = 7.2
x =  7199.5 =84.849 m
Result:
a. Velocity of the wagon when it hits the bumper,
v = 71.995 kN.m
b. Compression of the spring,
x = 84.849 m
 Rotating Motion - Flywheel
Flywheel
It is a circular wheel, usually heavy and fitted to the rotating shaft
of the engine.
It is used the surplus energy and release it when the energy or
power out put is low, thus balancing the energy output of the engine.
 Rotating Motion - Flywheel
Flywheel
It is a circular wheel, usually heavy and fitted to the rotating shaft
of the engine.
It is used the surplus energy and release it when the energy or
power out put is low, thus balancing the energy output of the engine.
 Syllabus

Module 5 - Dynamics of Particles

Kinematics - Rectilinear Motion and Curvilinear Motion of
Particles. Kinetics- Newton’s Second Law of Motion - Equations of
Motions, Dynamic Equilibrium, Energy and Momentum Methods -
Work of a Force, Kinetic Energy of a Particle, Principle of Work and
Energy, Principle of Impulse and Momentum, Impact, Method of
Virtual Work - Work of a Force, Potential Energy, Potential Energy
and Equilibrium.