1 Kinematics and Kinetics of a Particle Kinetics

Equations of Motion
Kinematics x; y; z coordinates
X X X
Rectilinear Motion Fx = m ax Fy = m ay Fz = m az
variable acceleration:
n; t; b coordinates
ds dv X X X
v= a= a ds = v dv Fn = m an Ft = m at Fb = 0
dt dt
Work and Energy
constant acceleration: Principle of work and energy for a particle
X
1 T1 + U1 2 = T2
s = s0 + v0 t + ac t2 v = v0 + ac t v 2 = v02 + 2ac (s s0 )
2
or
hX i
Curvilinear Motion T1 + V1 + U1 2 = T 2 + V2
x; y; z coordinates Work done by
nonconservative forces

vx = x_ vy = y_ vz = z_ Conservation of energy for a particle

ax = v_ x = x
• ay = v_ y = y• az = v_ z = z• If all the forces acting on the particle are conservative

T1 + V1 = T2 + V2
n; t; b coordinates Impulse and Momentum
Principle of Linear Impulse and Momentum for a Particle
dv v2
XZ
v = s_ at = v_ = v an = t2
ds
m v1 + F dt = m v2
t1
If the path is given in the form y = f (x), then the radius of curvature can be
calculated from Principle of Angular Impulse and Momentum for a Particle
X Z t2
h i3=2 (HO )1 + MO dt = (HO )2
2
1 + (dy=dx) t1
=
d2 y=dx2

1
2 Planar Kinematics and Kinetics of a Rigid Body Kinetics
Equations of motion: General Motion
Kinematics X X
Translation F x = m(a G )x ; Fy = m(aG )y
When a body moves with rectilinear or curvilinear translation, all the points on the body X X X
MG = IG or MP = (Mk )P
have the same motion:
Equations of motion: Rectilinear translation
vB = vA aB = aA X X
Fx = m(aG )x ; Fy = m(aG )y
Rotation About a Fixed Axis X X X
Variable Angular acceleration MG = 0 or MP = (Mk )P

d d! Equations of motion: Curvilinear translation

!= = d = ! d! X X
dt dt
Fn = m(aG )t ; Ft = m(aG )n
Constant angular acceleration X X X
MG = 0 or MP = (Mk )P
1 2
= 0 + !0 t + ct ! = !0 + ct ! 2 = ! 20 + 2 c( 0) Equations of motion: Rotation about a …xed axis (assume rotation axis is passing through
2
point O)
Motion of point P X X
Fn = m(aG )t ; Ft = m(aG )n
scaler eqns: v = !r vector eqns: v = ! r X X X
scaler eqns: at = r an = ! 2 r vector eqns: a = r !2 r MG = IG or MP = (Mk )P or
X X X
General Plane Motion - Relative Motion Analysis MO = (Mk )O or MO = IO
Translating axes
Assuming translating axes are placed at point A, the velocity and acceleration of point Mass Moment of Inertias of Some Simple Shapes
B are given by
Slender Rod Thin circular disk Thin rectangular plate
vB = vA + vB=A = vA + ! rB=A z

aB = aA + aB=A = aA + rB=A ! 2 rB=A

z
l
2

z
G
G
y
x l
2
a y
G y
r
x b

Ixx = Iyy = 1 m l 2 Izz @ 0 x Ixx = Iyy = 1 m r 2 Izz = 1 m r 2 Ixx = 1 m b 2 Iyy = 1 m a 2 Izz = 1 m ( a2 + b 2 )

12 4 2 12 12 12