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ESC 17
Dynamics of rigid bodies
Refresher on Forces
Kinematics
Forces (just a refresher on terms)
Forces can be caused by physical contact, such as a push or
pull, or through non-contact interactions, such as magnetic or
gravitational forces.
Force is a vector quantity with both magnitude and direction

and is measured in newtons (N) in the SI unit system and
pounds (lb) in english
Types of Forces
- Applied Force
- Gravitational Force
- Normal Force
- Friction Force
- Air Resistance Force
- Tension Force
- Spring Force
- Torque
Applied Force
The force that’s applied to an object by a person or another object.
F=mxa
Where:
F – Force
m – mass
a - acceleration
Gravitational Force
The force exerted due to gravity; the weight of an object. It is a force directed
downwards in the direction towards the Earth’s center.
The force of gravity on earth is always equal to the weight of the object
F=mxg
Where:
m – mass
g – gravity (9.81 m/s2 or 32.2 ft/s2)
Normal Force
The Normal force is the support force exerted upon an object that
is in contact with another stable object. For example, if a block is
resting on a surface, then the surface is exerting an upward force
upon the block.
On occasions, a normal force is exerted horizontally between two

objects that are in contact with each other, like a person leaning
against the wall
Friction Force
The friction force is the force exerted by a surface as an object moves across it
or makes an effort to move across it. There are at least 2 types of friction
forces; sliding and static.
Though it’s not always the case, friction force often opposes the motion of an
object.
Air Resistance Force
The air resistance is a special type of frictional force that acts upon objects as
they travel through the air. The force of air resistance is often observed to
oppose the motion of an object. This force will frequently be neglected due to
its negligible magnitude (and how hard it is to predict its value) but it’s
noticeable for objects that travel at higher speeds. (a skydiver or a downhill
skier)
Tension Force
The tension force is the force that is transmitted through a string, rope, cable
or wire when it is pulled tight by forces acting from opposite ends.
The tension force is directed along the length of the wire and pulls equally on
the objects on the opposite ends of the wire
Spring Force
The spring force is the force exerted by a compressed or stretched spring upon
any object that is attached to it. An object compresses or stretches a spring is
always acted upon by a force that restores the object to rest or equilibrium
position.
May be further discussed when hooke’s law is involved

Torque
Torque is a measure of the force that can cause an object to rotate about an
axis. Just as force is what causes an object to accelerate in linear kinematics,
torque is what causes an object to acquire angular acceleration. Torque is a
vector quantity.
= torque
r = radius
f = force
=angle between F and the lever arm (if applicable)
Torque
Kinematics
Motion of a Particle
Particle is a term used to denote an object of point size. A system of

particles which formed into appreciable size is termed as body. These
terms may apply equally to the same object. The earth for example may
be assumed as a particle in comparison with its orbit, whereas to an
observer on the earth, it is a body with appreciable size. In general, a
particle is an object whose size is so small in comparison to the size of its
path.
Rectilinear Translation
Basically, motion along a straight line
rectilinear kinematics plays a pivotal role in understanding and

predicting how objects move. In practical application, it is widely utilized
in dynamic systems, robotics, and control systems design. Based on the
mathematical model, engineers can determine the path traversed,
velocity, acceleration, and perhaps even the force exerted by the object.
Literally see it in our everyday lives

Projectile Motion
Projectile motion follows a parabolic trajectory. The vertical component of
projectile is under constant gravitational acceleration and the horizontal
component is at constant velocity. For easy handling, resolve the motion into x
and y components and use the formulas in rectilinear translation.

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ESC 17

Dynamics of rigid bodies

Force is a vector quantity with both magnitude and direction

On occasions, a normal force is exerted horizontally between two

May be further discussed when hooke’s law is involved

Particle is a term used to denote an object of point size. A system of

rectilinear kinematics plays a pivotal role in understanding and

Literally see it in our everyday lives

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