Dynamics MDB 2043

Introduction to Dynamics

May 2016 Semester

Lesson Outcomes

At the end of this lecture you should be able to:

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Identify classifications of dynamics

Statics

VS.

Dynamics

Bodies at REST Bodies in MOTION

or in equilibrium

Dynamics of
Liquids

Dynamics of
Solid Bodies

Why Dynamics
So Important?

e.g. Robotics

e.g. Hydrodynamics

Dynamics of
Gasses/Air
e.g. Aerodynamics

Introduction
Mechanics:

The action and effects of forces on bodies

Bodies at rest,
or in equilibrium

Statics
Mechanics

Bodies in motion,
or out of equilibrium

Dynamics

In Equilibrium

v=0

Out of Equilibrium

Be static or move with constant velocity

v=0.2 m/s

Static

Move with v=constant

Accelerate with the change of velocity

m

a=0.5 m/s2

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Study of motion without reference to the

Kinematics forces producing motion: Relations applied

only between position, velocity, acceleration
and time

Dynamics
Kinetics

Relation between unbalanced forces and the

change in motion they produce

v
a

Kinematics: how fast, how far and how long

the motion takes

A

Kinematics:
e.g. Motion of rocket
from position A to B

Kinetics: What forces were involved to

produce the motion?

F
Kinetics:
e.g. Motion of pendulum
ball applied by F

- Weight
- Friction
- Tension
- Spring Force
- Support Force
How about the resulting acceleration?

Basic Concepts
Particles:

- a body of negligible dimensions

- a body with dimensions irrelevant to the motion or
the action of forces upon it
B

A
Rigid Body:

Equivalent
Particle

- important overall dimensions of the body or changes

in position of the body
- negligible deformation (change in shape) of the body
Negligible spring
deformation

Rigid body

Flexible Body: - deformed body under loads

- beyond the scope of this course

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Newtons Laws of Motion

These are fundamental laws relating forces and motion.
Law I. A particle remains at rest or continues to move in a straight
line with a constant velocity if there is no unbalanced force
acting on it.
F=0

Sir Isaac Newton

(1643-1727)

In equilibrium

Law II. The acceleration of a particle is proportional to the resultant

force acting on it and is in the direction of this force.
F=ma

Out of equilibrium

Law III. The forces of action and reaction between interacting bodies
are equal in magnitude, opposite in direction, and collinear.
F

F'

F= F'

Laws I and II are strictly true only in an absolute frame of reference (i.e. A particle
does not accelerate for Law I and does not rotate for Law II)

Law II (Most commonly used in dynamics)

F=ma
F: resultant force acting on a body (vector)

Where

m: mass of the body (scalar)

a: the resulting acceleration of the body (vector)

This equation relates applied forces (F) to the motion of a body (a).

F1

Fn

F2

m
Fn-1
F4

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F3

F=F1+F2+F3+F4+..Fn-1+Fn=ma

Motion can be constrained (forced to follow a specific path: e.g. car trip, train
on tracks)
or unconstrained (can move in any direction: e.g. aircraft flight path, trajectory
of a ball after it is thrown)

Tennis Ball Bouncing

Unconstrained Motion

Train Running on Tracks

Constrained Motion

2-D Coordinate Systems to Describe Motion:

Rectangular coordinate (x, y)

Polar coordinate (r,)

n
Normal (perpendicular) and Tangent (along the path) coordinates

An Overview of Mechanics
Mechanics: The study of how bodies
react to forces acting on them.

Statics: The study of

bodies in equilibrium.

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Dynamics:
1. Kinematics concerned with
the geometric aspects of motion
2. Kinetics - concerned with
the forces causing the motion

Kinematics & Kinetics

Kinematics study of geometrical
aspect of motion

Kinetics

study of force or
torque driving or
generated by the
motion

Parameters: position,
distance, speed
velocity &
acceleration (linear or
angular).
Parameters: force,
torque, impulse,
momentum, work,
energy.

Dynamics = Kinematics + Kinetics

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Particle vs Rigid Body Dynamics

Dynamics of
Particles
Rotation of the body
about its centre of
mass is neglected
Only the mass is
considered.
The
size and shape of
the
body
are
ignored.

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Dynamics of
Rigid Bodies
Rotation of a body
about its centre of
mass is accounted
for.
Besides its mass, the
body size and shape are
considered in analysing
its motion

Rectilinear vs Curvilinear Motion

Rectilinear Motion

Curvilinear
Motion

Motion along a
straight line (1D)

Planar
Motion

Spatial
Motion

Motion
within a
plane (2-D).

Motion within
a volume (3D)

Tips for solving dynamics problems

1.

2.
3.

4.

5.

6.

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Read the problem carefully and try to correlate the actual physical
situation with the theory you have studied.
Draw any necessary diagrams and tabulate the problem data.
Establish a coordinate system and apply the relevant
principles, generally in mathematical form.
Solve the necessary equations algebraically as far as practical;
then, use a consistent set of units and complete the solution
numerically. Report the answer with no more significant figures
than the accuracy of the given data.
Study the answer using technical judgment and common sense
to determine whether or not it seems reasonable.
Once the solution has been completed, review the problem. Try to
think of other ways of obtaining the same solution

References:

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R.C. Hibbeler, Engineering Mechanics: Dynamics,

SI 13th Edition, Prentice-Hall, 2012.