DYNAMICS OF RIGID BODIES

INTRODUCTION

Prepared by:
ENGR. RANDY G. POLICARPIO
Definition:

Dynamics is the branch of mechanics which deals with the study of bodies in motion.
▪ Particle is a term usually denotes an object of point size.
▪ Body denotes a system of particles which form an object of appreciable size.
In other words, a particle is a body so small that any differences in the motions of its parts can be
neglected. The earth for example may be assumed as a particle in comparison with the size of its
path, whereas to an observer on the earth, it is a body with appreciable size

Branches of Dynamics:
Dynamics is divided into two branches
1. Kinematics is the geometry of motion. The term is used to define the motion of a particle or
body without consideration of the forces causing the motion. Kinematics is essentially a
treatment of the relations between displacement, velocity and acceleration.
2. Kinetics is the branch of mechanics that relates the force acting on a body to its mass and
acceleration.
MOTION OF A PARTICLE
𝐵
𝐴
The displacement of a particle is the vector distance ∆𝑠
from an origin to the position occupied by the
particle on its path of travel. The origin may be
selected anywhere as at O as shown in Figure 1.a. 𝑠𝐵
The displacements to positions A and B are the 𝑠𝐴
vectors 𝑠𝐴 and 𝑠𝐵 which change both in magnitude
and inclination. In the curve path, the change in
displacement ∆𝑠 is less than the arc distance AB.
In a straight path line motion as shown in Figure 1.b, 𝑂
the magnitude of the displacement vector can
change but not its inclination. The change in 𝐹𝑖𝑔𝑢𝑟𝑒 1. 𝑎
displacement ∆𝑠 and the distance AB are
numerically equal for a particle moving from A to B.
Thus if the particle travels from A to B and back to 𝑠𝐵
A, its final displacement will be the vector 𝑠𝐴 , its
change in displacement will be zero but the distance 𝑠𝐴 ∆𝑠
traveled will be the accumulated length from A to b
and back to A. 𝑂
𝐴 𝐵

𝐹𝑖𝑔𝑢𝑟𝑒 1. 𝑏
MOTION OF A PARTICLE
Velocity is defined as the time rate of change of displacement.

𝑠 ∆𝑠

𝐴 𝐵
1 2
𝐹𝑖𝑔𝑢𝑟𝑒 2.

In Figure 2, consider a particle traveling in a straight line from A to B and let points 1 and 2 be two positions a small distance
apart. If the displacement ∆𝑠 is traversed in the time ∆𝑡, the average velocity over that displacement will be
∆𝑠
𝑣𝑎𝑣𝑒 =
∆𝑡
The instantaneous velocity will be found as ∆𝑡 approaches as a limit;
∆𝑠 𝑑𝑠
𝑣 = limit ∆𝑡
= 𝑑𝑡 (a)
∆𝑡→0
MOTION OF A PARTICLE
Acceleration is defined as the time rate of change of velocity.
𝑣𝐴 𝑣𝐵
∆𝑣

𝐴 𝐵
𝐹𝑖𝑔𝑢𝑟𝑒 3.
The average acceleration, or the average rate of change of velocity, will be the difference between 𝑣𝐴 and 𝑣𝐵 divided by the
elapse time,
∆𝑣
𝑎𝑎𝑣𝑒 =
∆𝑡
The instantaneous acceleration will be found as ∆𝑡 approaches as a limit;
∆𝑣 𝑑𝑣
a = limit = (b)
∆𝑡→0 ∆𝑡 𝑑𝑡
𝑑𝑠
Since 𝑣 = , the instantaneous acceleration may also be written;
𝑑𝑡
𝑑𝑠
𝑑𝑣 𝑑 𝑑𝑡 𝑑2 𝑠
𝑎= = =
𝑑𝑡 𝑑𝑡 𝑑𝑡 2
Elimination of 𝑑𝑡 in Eqns. (a) and (b) leads to a third equation;\
𝑣 𝑑𝑣 = 𝑎 𝑑𝑠 (c)
Equations a, b and c are known as the differential kinematic equations of motion.
LESSON 2: DYNAMICS OF RIGID BODIES

Rectilinear Translation

Definition and Characteristics of Translation

Translation is defined as the motion of a rigid body in which a straight line passing through any two points of its particles
always remains parallel to its initial position. Let Fig. 10-1 represent a translating body at any instant. A straight line has
been drawn through two particles A and B. The position of the body at a later instant is shown by the dashed outline. The
line A’B’ passing through the same two particles is parallel to its initial position. Also, since the body is assumed to be rigid,
the distance separating the particles remains constant and the particles have no motion relative to each other. The term
translation cannot be applied to a non-rigid body such as a liquid or gas because the position of the separate particles
cannot be controlled; the particles may and usually do follow independent paths.

Translation may be either rectilinear or curvilinear, depending upon whether the path described by any particle is straight
or curved. The motion of a translating body moving in a straight line is called rectilinear translation. An example is a block
sliding down a plane surface. If the path of the translating body is curved, the motion becomes a curvilinear translation.
To illustrate further, if the path described by A in moving to position A’ in Fig. 10-1 is straight, the body has rectilinear
translation; but if the path were curved, the body would have curvilinear translation. In this chapter we shall consider only
rectilinear translation; curvilinear translation will be discussed in the next chapter.
The outstanding kinematic characteristics of the translation of a rigid body is the fact that all the particles travel the same
or parallel paths. It follows that all the particles have the same values of displacement, velocity, and acceleration, and the
motion may be completely described by the motion of any particle of the body. The particle usually selected is the one at
the center of gravity of the body. In other words, a translating body may be considered as a particle concentrated at its
center of gravity.

Rectilinear Motion with Constant Acceleration

One of the most common cases of straight-line motion is that in which the acceleration is constant. As will be seen later,
this condition arises when a body is acted upon by forces which remain constant in magnitude and direction, such as a
free falling body or a train acted upon by a constant draw-bar pull. Since it is so common, the student is urged to memorize
the kinematic equations of motion for this case.
The equations may be derived from the differential equations of kinematics by starting with the definition of acceleration
written in the form:
𝑑𝑣 = 𝑎 𝑑𝑡
And proceeding to integrate between definite limits, thus:
𝑣 𝑡
∫ 𝑑𝑣 = 𝑎 ∫ 𝑑𝑡
𝑣𝑜 0

Note that a is placed outside the integral sign because it is assumed constant.
Let us examine the meaning of limits. In relation to Fig. 10-2, the previous equation indicates that at some initial position
A from which time is to be measured, there is an initial velocity vo, whereas at some other position B reached after a time
interval t, the velocity will be v.

Integrating the previous equation, and evaluating the limits gives:

𝑣 𝑡
[𝑣]𝑣 = 𝑎[𝑡]
𝑜 𝑜
𝑣 − 𝑣𝑜 = 𝑎𝑡
𝑜𝑟
𝑣 = 𝑣𝑜 + 𝑎𝑡
Let us now consider the definition of velocity in previous equation written in the form:
𝑑𝑠 = 𝑣 𝑑𝑡
And again, proceed to integrate between the definite limits:
𝑠 𝑡 𝑡
∫ 𝑑𝑠 = ∫ 𝑣𝑑𝑡 = ∫ (𝑣𝑜 + 𝑎𝑡)𝑑𝑡
𝑜 𝑜 𝑜

Note that the variable v must be replaced by its equivalent expressed in terms of t. In relation to Fig. 10-2, the previous
equation indicates that at some initial position a from which time is to be measured, there is a zero initial displacement,
whereas at some other position B reached after a time interval t, the displacement will be s. Integrating the previous
equation and evaluating the limits gives:
𝑠 1 𝑡
[𝑠] = [𝑣𝑜 𝑡 + 𝑎𝑡 2 ]
𝑜 2 𝑜
𝑜𝑟
1
𝑠 = 𝑣𝑜 𝑡 + 𝑎𝑡 2
2
Finally, let us consider the remaining differential equation of kinematics from previous equation, and again proceed to
integrate between definite limits:
𝑣 𝑠
∫ 𝑣 𝑑𝑣 = 𝑎 ∫ 𝑑𝑠
𝑣𝑜 0

The limits are written as before, since by referring to Fig. 10-2 it is obvious that at zero displacement the corresponding
velocity is vo, while at a displacement s it is v. Integrating and evaluating the limits, we obtain:
𝑣2 𝑣 𝑠
[ ] 𝑣 = 𝑎[𝑠]
2 𝑜 𝑜
𝑣 2 − 𝑣𝑜 2
= 𝑎𝑠
2
𝑜𝑟
𝑣 2 = 𝑣𝑜 2 + 2𝑎𝑠

The three kinematic equations of motion with constant acceleration may be summarized as follows:
𝑣 = 𝑣𝑜 + 𝑎𝑡
1
𝑠 = 𝑣𝑜 𝑡 + 𝑎𝑡 2
2
𝑣 2 = 𝑣𝑜 2 + 2𝑎𝑠

Signs
It is important to observe that these equations involve only the magnitude of vector quantities. The direction of the vectors
of displacement, velocity, and acceleration is indicated by the following sign convention: The initial direction of motion
represents the positive direction for displacement, velocity, and acceleration. Hence a negative value of velocity is
obtained in applying the equations would mean that the velocity is directed oppositely to the initial direction of motion.
A negative value for displacement would indicate that the position of the moving particle is to be measured back from the
origin of displacement. Finally, if a particle moving along a straight line returns to the starting position, the displacement
s in the above equations will be the vector drawn from the origin to the final position; that is, s will be determined as zero,
not the distance actually traveled by the particle.

Freely Falling Bodies, Air Resistance Neglected

It has been seen that the acceleration of a body is directly proportional to the resultant force acting upon it. In the case of
a freely falling body, this resultant force is its own weight. The weight if a force that results from the attraction between
the mass of the body and the mass of the earth; it varies inversely as the square of the distance separating the two centers
of mass and is directly proportional to the product of the masses.
Since the mass of any body on the earth is insignificant compared with the mass of the earth, the gravitational force varies
only with the position of the body relative to the center of the earth’s mass. This variation in distance assumes significance
only when the body undergoes distinct changes in its position on the earth’s surface, such as being shifted from the
equator to one of the poles or being carried high above the earth in an airplane. For most cases over a given earth surface,
however, the gravitational force and the gravitational acceleration may be assumed to be constant. For our latitude, this
acceleration is approximately 32.2 ft per sec2 and is represented by the symbol g. This value of g will be used throughout
this book except as otherwise indicated.
In solving problems on falling bodies, a specified direction (up or down) is assumed to represent positive displacement.
Velocity and acceleration are positive when directed along positive displacement; they are negative when pointing in the
opposite direction. It should be observed that a negative value of acceleration does not per se indicate a slowing down.
We can only say that a body is accelerating if its velocity is increasing with time, and it is decelerating if its velocity is
decreasing with time. This is equivalent to stating that a body is speeding up if the directions of velocity and acceleration
are oppositely directed. As an illustration, consider a stone thrown vertically into the air from position A in Fig. 10-3. Let
the displacement be measured as positive upward from A. After a certain time the stone will reach its topmost position B
and then descend. Throughout the motion, the stone is subjected to a gravitational acceleration which is directed
downward and therefore considered negative, i.e., oppositely directed to +s. During the travel from A to B, the velocity of
the stone is positive, i.e., in the direction of positive displacement; but thereafter the velocity is downward or negative.
During the travel from A to B, v and a have opposite signs and the stone is slowing down, whereas after the stone leaves
B, v and a have the same sign and direction, and the stone is speeding up. Furthermore, during the time of travel from A
to C, the stone is above the initial position and will have positive displacement; but after passing C it will have negative
displacement measured from A because it will be below the initial position.
In any motion involving freely falling bodies, the general equations of motion for constant acceleration developed in
previous article may be applied by replacing a by g. No restriction on the equations need be made other than that velocity
and acceleration are to be taken as positive in the direction of positive displacement.
EXAMPLES
1. As shown in Fig. 10-4, a stone is thrown vertically into the air from a tower 100 ft high at the same instant that a second
stone is thrown upward from the ground. The initial velocity of the first stone is 50 ft per sec and that of the second stone
is 75 ft per sec. When and where will the stone be at the same height from the ground?

GIVEN:
𝑓𝑡
𝑣𝑜1 = 50 𝑠𝑒𝑐 (𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑠𝑡𝑜𝑛𝑒 1)
𝑓𝑡
𝑣𝑜2 = 75 𝑠𝑒𝑐 (𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑆𝑡𝑜𝑛𝑒 2)
ℎ = 100 𝑓𝑡 (ℎ𝑒𝑖𝑔ℎ𝑡 𝑜𝑓 𝑡𝑜𝑤𝑒𝑟)
REQUIRED:
a. 𝑡 (𝑡𝑖𝑚𝑒 𝑤ℎ𝑒𝑟𝑒 𝑡ℎ𝑒 𝑡𝑤𝑜 𝑠𝑡𝑜𝑛𝑒 𝑎𝑟𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑎𝑚𝑒 ℎ𝑒𝑖𝑔ℎ𝑡)
b. 𝑠1 𝑎𝑛𝑑 𝑠2 (𝑤ℎ𝑒𝑟𝑒 𝑡ℎ𝑒 𝑡𝑤𝑜 𝑠𝑡𝑜𝑛𝑒 𝑎𝑟𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑎𝑚𝑒 ℎ𝑒𝑖𝑔ℎ𝑡)
SOLUTION:
a. Solving for time t:
Using the relations of vertical distance (from Fig. 10-4)
𝑠2 − 𝑠1 = 100 eqn. 1
For Stone 1:
1
𝑠1 = 𝑣𝑜1 𝑡 + 2 𝑎𝑡 2
𝑓𝑡
Substitute: 𝑎 = 𝑔 = −32.2 𝑠𝑒𝑐 2 (𝑜𝑏𝑗𝑒𝑐𝑡 𝑔𝑜𝑖𝑛𝑔 𝑢𝑝)
1
𝑠1 = (50)𝑡 + 2 (−32.2)𝑡 2
For Stone 2:
1
𝑠2 = 𝑣𝑜2 𝑡 + 𝑎𝑡 2
2
𝑓𝑡
Substitute: 𝑎 = 𝑔 = −32.2 𝑠𝑒𝑐 2 (𝑜𝑏𝑗𝑒𝑐𝑡 𝑔𝑜𝑖𝑛𝑔 𝑢𝑝)
1
𝑠2 = (75)𝑡 + 2 (−32.2)𝑡 2

Substitute 𝑠1 𝑎𝑛𝑑 𝑠2 𝑖𝑛 𝑒𝑞𝑛 1:

1 1
(75)𝑡 + (−32.2)𝑡 2 − [(50)𝑡 + (−32.2)𝑡 2 ] = 100
2 2
1 1
(75)𝑡 − (32.2)𝑡 2 − (50)𝑡 + (32.2)𝑡 2 = 100
2 2

75𝑡 − 50𝑡 = 100

𝑓𝑡
(25 𝑠𝑒𝑐) 𝑡 = 100𝑓𝑡
100𝑓𝑡
𝑡= 𝑓𝑡
25𝑠𝑒𝑐

𝑡 = 4 𝑠𝑒𝑐
b. Solving for 𝑠1 𝑎𝑛𝑑 𝑠2 : origin
𝑓𝑡 1 𝑓𝑡 −𝑠1
𝑠1 = (50 ) (4 𝑠𝑒𝑐) + (−32.2 ) (4 𝑠𝑒𝑐)2
𝑠𝑒𝑐 2 𝑠𝑒𝑐 2
𝑠1 = −57.6 𝑓𝑡
+𝑠2

𝑓𝑡 1 𝑓𝑡
𝑠2 = (75 ) (4 𝑠𝑒𝑐) + (−32.2 ) (4 𝑠𝑒𝑐)2
𝑠𝑒𝑐 2 𝑠𝑒𝑐 2
𝑠2 = 42.4 𝑓𝑡
2. On a certain sketch of track, trains run at 60 mph. How far back of a stopped train should a warning torpedo be placed
to signal an oncoming train? Assume that the brakes are applied at once and retard the train at the uniform rate of 2 ft
per sec2.
GIVEN:
𝑣𝑜 = 60𝑚𝑝ℎ 𝑠 𝑣=0

Warning torpedo

𝑓𝑡⁄
𝑎 = −2 𝑠𝑒𝑐 2 (𝑡ℎ𝑒 𝑡𝑟𝑎𝑖𝑛 𝑑𝑒𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑒)
REQUIRED:
𝑠
SOLUTION:
Using the equation:
𝑣 2 = 𝑣𝑜 2 + 2𝑎𝑠
2
𝑚𝑖 5280 𝑓𝑡 1ℎ𝑟 𝑓𝑡
(0)2 = [(60 )( )( )] + 2 (−2 ⁄ 2 ) 𝑠
ℎ𝑟 1 𝑚𝑖 3600𝑠𝑒𝑐 𝑠𝑒𝑐
(60)(5280) 𝑓𝑡 2
−[ 3600 𝑠𝑒𝑐 ]
𝑠=
𝑓𝑡
2 (−2 ⁄ 2 )
𝑠𝑒𝑐
𝑠 = 1936 𝑓𝑡
3. A stone is thrown vertically upward and returns to earth in 10 seconds. What was its initial velocity and how high did it
go?
GIVEN:
𝑣𝐵 = 0

𝑣𝐴 (𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦)

REQUIRED:
a. 𝑣𝐴 (𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦)
b. 𝑠 (ℎ𝑒𝑖𝑔ℎ𝑡)

SOLUTION:
a. Solving for 𝑣𝐴
Using the equation
𝑣𝐵 = 𝑣𝐴 + 𝑎𝑡
Where:
𝑚
𝑎 = 𝑔 = −9.81 2
𝑠𝑒𝑐
𝑡 = 5𝑠𝑒𝑐

𝑚
0 = 𝑣𝐴 + (−9.81 ) (5𝑠𝑒𝑐)
𝑠𝑒𝑐 2
𝑚
𝑣𝐴 = (9.81 𝑠𝑒𝑐 2 ) (5𝑠𝑒𝑐)
𝑚
𝑣𝐴 = 49.05 𝑠
b. Solving for s
Using the equation
1
𝑠 = 𝑣𝐵 𝑡 + 𝑎𝑡 2
2
Where:
𝑣𝐵 = 0
𝑚
𝑎 = 𝑔 = 9.81
𝑠𝑒𝑐 2
𝑡 = 5𝑠𝑒𝑐
1 𝑚
𝑠 = (0)(5𝑠𝑒𝑐) + (9.81 ) (5𝑠𝑒𝑐)2
2 𝑠𝑒𝑐 2
𝑠 = 122.63 𝑚
4. A stone is dropped down a well and 5 sec later, the sound of the splash is heard. If the velocity of sound is 1120 ft per
sec, what is the depth of the well?
GIVEN:
𝑡𝑇 = 5 sec (𝑡𝑜𝑡𝑎𝑙 𝑡𝑖𝑚𝑒)
𝑓𝑡
𝑣𝑠 = 1120 𝑠𝑒𝑐 (𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑠𝑜𝑢𝑛𝑑)
REQUIRED: 𝑑
d (depth of well)
SOLUTION:
Let: 𝑡1 (𝑡𝑖𝑚𝑒 𝑓𝑜𝑟 𝑡ℎ𝑒 𝑠𝑡𝑜𝑛𝑒 𝑡𝑜 𝑟𝑒𝑎𝑐ℎ 𝑡ℎ𝑒 𝑤𝑎𝑡𝑒𝑟 𝑠𝑢𝑟𝑓𝑎𝑐𝑒 𝑖𝑛 𝑡ℎ𝑒 𝑤𝑒𝑙𝑙)
𝑡𝑠 = 𝑡𝑇 − 𝑡1 (𝑡𝑖𝑚𝑒 𝑓𝑜𝑟 𝑡ℎ𝑒 𝑠𝑜𝑢𝑛𝑑 𝑡𝑜 𝑏𝑒 ℎ𝑒𝑎𝑟𝑑)
Solve for 𝑡1
For the Stone:
1
𝑠 = 𝑣𝑜 𝑡 + 2 𝑎𝑡 2
Where:
𝑠 = 𝑑 (𝑠𝑡𝑜𝑛𝑒 𝑑𝑟𝑜𝑝𝑝𝑖𝑛𝑔 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒)
𝑣0 = 0 (𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑠𝑡𝑜𝑛𝑒)
𝑓𝑡
𝑎 = 𝑔 = 32.2 𝑠𝑒𝑐 2
1
𝑑 = 2 (32.2)𝑡1 2 eqn. 1

For the Sound:

𝑑 = 𝑣𝑠 𝑡𝑠
Where:
𝑑 (𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑡𝑟𝑎𝑣𝑒𝑙𝑙𝑒𝑑 𝑏𝑦 𝑡ℎ𝑒 𝑠𝑜𝑢𝑛𝑑)
𝑣𝑠 (𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑠𝑜𝑢𝑛𝑑)
𝑑 = (1120)(5 − 𝑡1 ) eqn. 2

Equate eqn.1 and eqn. 2:

1
(32.2)𝑡1 2 = (1120)(5 − 𝑡1 )
2

32.2𝑡1 2 + 2240𝑡1 − 11200 = 0

Using quadratic formula:
−(2240)±√(2240)2 −4(32.2)(−11200)
𝑡1 =
2(32.2)
𝑡1 (+) = 4.68 𝑠𝑒𝑐
𝑡1 (−) = −74.25 𝑠𝑒𝑐
Take 𝑡1 = 4.68 𝑠𝑒𝑐
Solve for the d (depth of well)
Substitute 𝑡1 = 4.68 sec 𝑖𝑛 𝑒𝑞𝑛. 1
1 𝑓𝑡
𝑑 = 2 (32.2 𝑠𝑒𝑐 2 ) (4.68 𝑠𝑒𝑐)2

𝑑 = 352.63 𝑓𝑡
5. A stone dropped from a captive balloon at an elevation of 1000 ft. Two seconds later, another stone is projected
vertically upward from the ground with velocity of 248 ft per sec. If g = 32.2 ft per sec 2, when and where will the stones
pass each other?
GIVEN:
𝐻 = 1000 𝑓𝑡 (𝑒𝑙𝑒𝑣𝑎𝑡𝑖𝑜𝑛 𝑤ℎ𝑒𝑟𝑒 𝑡ℎ𝑒 𝑠𝑡𝑜𝑛𝑒 1 𝑖𝑠 𝑑𝑟𝑜𝑝𝑝𝑒𝑑)
𝑓𝑡
𝑣𝑜2 = 248 𝑠𝑒𝑐 (𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑠𝑡𝑜𝑛𝑒 2)
𝑠1 = 1000 − ℎ
𝑓𝑡
𝑔 = 32.2 𝑠𝑒𝑐 2

REQUIRED: 𝐻 = 1000 𝑓𝑡
𝑡1 (𝑡𝑖𝑚𝑒 𝑓𝑜𝑟 𝑠𝑡𝑜𝑛𝑒 1 𝑡𝑜 𝑝𝑎𝑠𝑠 𝑠𝑡𝑜𝑛𝑒 2) The two stones
𝑡2 = 𝑡1 − 2 (𝑡𝑖𝑚𝑒 𝑓𝑜𝑟 𝑠𝑡𝑜𝑛𝑒 2 𝑡𝑜 𝑝𝑎𝑠𝑠 𝑠𝑡𝑜𝑛𝑒 1) 𝑠2 = ℎ will pass each
other
𝑠1 = 1000 − ℎ (𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑜𝑓 𝑠𝑡𝑜𝑛𝑒 1)
𝑠2 = ℎ (𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑜𝑓 𝑠𝑡𝑜𝑛𝑒 2)
SOLUTION:
Solve for 𝑡1
For Stone 1:
1
𝑠 = 𝑣𝑜1 𝑡 + 2 𝑎𝑡 2
Where:
𝑠 = 1000 − ℎ (𝑠𝑡𝑜𝑛𝑒1 𝑑𝑟𝑜𝑝𝑝𝑖𝑛𝑔 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒)
𝑣01 = 0 (𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑠𝑡𝑜𝑛𝑒1)
𝑓𝑡
𝑎 = 𝑔 = 32.2 𝑠𝑒𝑐 2
1
1000 − ℎ = 2 (32.2)𝑡1 2

ℎ = 1000 − 16.1𝑡1 2 eqn. 1

For Stone 2:
1
𝑠 = 𝑣𝑜2 𝑡 + 𝑎𝑡 2
2

Where:
𝑠 = ℎ (𝑠𝑡𝑜𝑛𝑒2 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑡𝑟𝑎𝑣𝑒𝑙𝑙𝑒𝑑)
𝑓𝑡
𝑣𝑜2 = 248 𝑠𝑒𝑐 (𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑠𝑡𝑜𝑛𝑒 2)
𝑓𝑡
𝑎 = 𝑔 = −32.2 𝑠𝑒𝑐 2
1
ℎ = (248)(𝑡1 − 2) + 2 (−32.2)(𝑡1 − 2)2

ℎ = 248𝑡1 − 496 − 16. 1𝑡1 2 + 64.4𝑡1 − 64.4

ℎ = −16. 1𝑡1 2 + 312.4𝑡1 − 560.4 eqn. 2

Equate eqn.1 and eqn. 2

1000 − 16.1𝑡1 2 = −16. 1𝑡1 2 + 312.4𝑡1 − 560.4
312.4𝑡1 = 1560.4
1560.4
𝑡1 = 312.4

𝑡1 = 5 𝑠𝑒𝑐
Solving for ℎ
Substitute 𝑡1 = 5 sec 𝑖𝑛 𝑒𝑞𝑛. 1
𝑓𝑡
ℎ = 1000𝑓𝑡 − 16.1 𝑠𝑒𝑐 2 (5𝑠𝑒𝑐)2

ℎ = 597.5 𝑓𝑡
 In terms of Displacements:
𝐹𝑜𝑟 𝑠𝑡𝑜𝑛𝑒 1: 𝑠1 = 1000 − ℎ = −402.5 𝑓𝑡 (𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝑠𝑖𝑛𝑐𝑒 𝑏𝑒𝑙𝑜𝑤 𝑡ℎ𝑒 𝑜𝑟𝑖𝑔𝑖𝑛 𝑜𝑓 𝑠𝑡𝑜𝑛𝑒 1)

𝐹𝑜𝑟 𝑠𝑡𝑜𝑛𝑒 2: 𝑠2 = +597.5 𝑓𝑡 (𝑝𝑜𝑠𝑖𝑡𝑖𝑣𝑒 𝑠𝑖𝑛𝑐𝑒 𝑎𝑏𝑜𝑣𝑒 𝑜𝑟𝑖𝑔𝑖𝑛 𝑜𝑓 𝑠𝑡𝑜𝑛𝑒 2)

6. A ball is shot vertically into the air at a velocity of 193.2 ft per sec. After 4 sec, another ball is shot vertically into the air.
What initial velocity must be the second ball have in order to meet the first ball 386.4 ft from the ground?
GIVEN:
𝑓𝑡
𝑣𝑜1 = 193.2 𝑠𝑒𝑐 (𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑏𝑎𝑙𝑙 1)
𝑡1 (𝑡𝑖𝑚𝑒 𝑓𝑜𝑟 𝑡ℎ𝑒 𝑏𝑎𝑙𝑙 1) 𝑏𝑎𝑙𝑙 1 𝑏𝑎𝑙𝑙 2
𝑡2 = 𝑡1 − 4 (𝑡𝑖𝑚𝑒 𝑓𝑜𝑟 𝑡ℎ𝑒 𝑏𝑎𝑙𝑙 2)
ℎ = 386.4 𝑓𝑡
REQUIRED:
𝑣𝑜2 (𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑏𝑎𝑙𝑙 2) ℎ = 386.4 𝑓𝑡
SOLUTION:
Solve for 𝑡1
For ball 1:
1
𝑠 = 𝑣𝑜1 𝑡1 + 𝑎𝑡1 2 𝑓𝑡
2 𝑣𝑜1 = 193.2 𝑣𝑜2
𝑠𝑒𝑐
Where:
𝑠 = ℎ = 386.4 𝑓𝑡
𝑓𝑡
𝑣01 = 193.2 𝑠𝑒𝑐 (𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑏𝑎𝑙𝑙 1)
𝑓𝑡
𝑎 = 𝑔 = −32.2 𝑠𝑒𝑐 2
1
386.4 = 193.2𝑡1 + 2 (−32.2)𝑡1 2

16.1𝑡1 2 − 193.2𝑡1 + 386.4 = 0

Using quadratic formula:
−(−193.2)±√(193.2)2 −4(16.1)(386.4)
𝑡1 =
2(16.1)
𝑡1 (+) = 9.46 𝑠𝑒𝑐
𝑡1 (−) = 2.54 𝑠𝑒𝑐

𝐶ℎ𝑒𝑐𝑘:
9.46 − 4 = 5.46 𝑠𝑒𝑐
2.54 − 4 = −1.46 𝑠𝑒𝑐
Take 𝑡1 = 9.46 𝑠𝑒𝑐

Solve for 𝑣𝑜2

For ball 2:
1
𝑠 = 𝑣𝑜2 𝑡2 + 2 𝑎𝑡2 2
1
386.4 = 𝑣𝑜2 (𝑡1 − 4) + 2 (−32.2)(𝑡1 − 4)2
1 𝑓𝑡
386.4𝑓𝑡+ (32.2 )(9.46𝑠𝑒𝑐−4𝑠𝑒𝑐)2
2 𝑠𝑒𝑐2
𝑣𝑜2 =
9.46𝑠𝑒𝑐−4𝑠𝑒𝑐
𝑓𝑡
𝑣𝑜2 = 158.68 𝑠𝑒𝑐
7. An automobile starting from rest speed up to 40 ft per sec with a constant acceleration of 4 ft per sec2, runs at this
speed for a time, and finally comes to rest with a deceleration of 5 ft per sec2. If the total distance traveled is 1000 ft, find
the total time required.
GIVEN:
𝑓𝑡
𝑎1 = 4 𝑠𝑒𝑐 2
𝑓𝑡
𝑎3 = −5
𝑠𝑒𝑐 2
𝑓𝑡
𝑣 = 4 𝑠𝑒𝑐

𝑠𝑇 = 1000 𝑓𝑡
REQUIRED:
𝑡𝑇 (𝑡𝑜𝑡𝑎𝑙 𝑡𝑖𝑚𝑒 𝑟𝑒𝑞𝑢𝑖𝑟𝑒𝑑)
SOLUTION:
Solving for 𝑡1
𝑣 = 𝑣𝑜 + 𝑎𝑡
𝑣 − 𝑣𝑜 = 𝑎𝑡1
40 − 0 = 4𝑡1
𝑡1 = 10 𝑠𝑒𝑐
Solving for 𝑠1
1
𝑠 = 𝑣𝑜 𝑡 + 𝑎𝑡 2
2
1
𝑠1 = 0(10) + (4)(10)2
2
𝑠1 = 200 𝑓𝑡

Solving for 𝑡3
𝑣𝑓 − 𝑣𝑜 = 𝑎𝑡3
0 − 40 = −5𝑡3
𝑡3 = 8 𝑠𝑒𝑐
Solving for 𝑠3
1
𝑠 = 𝑣𝑜 𝑡 + 𝑎𝑡 2
2
1
𝑠3 = 40(8) + (−5)(8)2
2
𝑠3 = 160 𝑓𝑡

Solving for 𝑠2
𝑠1 + 𝑠2 + 𝑠3 = 1000
𝑠2 = 1000 − 200 − 160 = 640 𝑓𝑡
Solving for 𝑡2
𝑠 = 𝑣𝑡
𝑠2 = 40𝑡2
𝑡2 = 16 𝑠𝑒𝑐

Solving for 𝑡𝑇
𝑡𝑇 = 𝑡1 + 𝑡2 + 𝑡3 = 10 + 16 + 8
𝑡𝑇 = 34 𝑠𝑒𝑐
8. An automobile moving at a constant velocity of 45 ft per sec passes a gasoline station. Two seconds later, another
automobile leaves the gasoline station and accelerates at the constant rate of 6 ft per sec2. How soon will the second
automobile overtake the first?
Given:

𝐹𝑜𝑟 𝑡ℎ𝑒 𝑓𝑖𝑟𝑠𝑡 𝑣𝑒ℎ𝑖𝑐𝑙𝑒

𝑣1 = 45 𝑓𝑡/𝑠𝑒𝑐
𝑎 = 6 𝑓𝑡/𝑠𝑒𝑐 2

Required:
𝑡2 = 𝑡 − 2 (𝑡𝑖𝑚𝑒 𝑡𝑟𝑎𝑣𝑒𝑙𝑙𝑒𝑑 𝑏𝑦 𝑎𝑢𝑡𝑜𝑚𝑜𝑏𝑖𝑙𝑒 2)
Solution:

𝐹𝑜𝑟 𝑡ℎ𝑒 𝑓𝑖𝑟𝑠𝑡 𝑣𝑒ℎ𝑖𝑐𝑙𝑒

t - time travelled by the automobile 1
𝑠 = 𝑣1 𝑡
𝑠 = 45𝑡 eqn. 1

𝐹𝑜𝑟 𝑡ℎ𝑒 𝑠𝑒𝑐𝑜𝑛𝑑 𝑣𝑒ℎ𝑖𝑐𝑙𝑒

1
𝑠 = 𝑣𝑜 𝑡 + 𝑎𝑡 2
2
1
𝑠 = 0 + (6)(𝑡 − 2)2 eqn. 2
2

Equate eqn. 1 and eqn. 2

1
45𝑡 = (6)(𝑡 2 − 4𝑡 + 4)
2
𝑡 2 − 19𝑡 + 4 = 0
Using quadratic formula:
−(−19) ± √(19)2 − 4(1)(4)
𝑡=
2(1)
𝑡(+) = 18.79 𝑠𝑒𝑐
𝑡(−) = 0.21 𝑠𝑒𝑐
𝐶ℎ𝑒𝑐𝑘:
𝑡2 = 18.79 − 2 = 16.79 𝑠𝑒𝑐
𝑡2 = 0.21 − 2 = −1.79 𝑠𝑒𝑐

𝑡2 = 16.79 𝑠𝑒𝑐
 Republic of the Philippines
TARLAC STATE UNIVERSITY
COLLEGE OF ENGINEERING AND TECHNOLOGY
Civil Engineering Department
Tarlac City

LESSON 3: DYNAMICS OF RIGID BODIES

RECTILINEAR MOTION WITH VARIABLE ACCELERATION

When bodies are acted upon by variable forces, they move with variable acceleration. To determine the
kinematic equations of motion in such cases, it is necessary to apply the given data to the differential
equations of kinematics. Since the acceleration may vary in many ways, no general equations can be
stated as was done in the case of constant acceleration. At most we can only indicate the procedure to be
followed.

Basically, we have three principal variables: s, v, and a, related by a common parameter t as in the
following box:

s
v t
a

Each of these principal variables may be expressed in terms of the time, or they may be expressed in terms
of each other or even a combination of the others. Let us consider here the simpler combinations.

CASE I: The displacement is given in terms of the time; i.e., 𝑠 = 𝑓(𝑡), to find 𝑣 and 𝑎.

Using successive differentiation of displacement with respect to time.

1. The general procedure is to start with equation of velocity

𝑑𝑠 𝑑[𝑓(𝑡)]
𝑣= =
𝑑𝑡 𝑑𝑡
𝑣 = 𝑔(𝑡)

2. Apply the equation of acceleration

𝑑𝑣 𝑑2 𝑠
𝑎= =
𝑑𝑡 𝑑𝑡 2
𝑑[𝑔(𝑡)]
𝑎=
𝑑𝑡
𝑎 = ℎ(𝑡)

3. Solve for 𝑣 𝑎𝑛𝑑 𝑎 for a required 𝑡:

𝑣 = 𝑔(𝑡)

𝑎 = ℎ(𝑡)

Course Code: Course Title: Prepared by:

Page 1 of 9
B222 Dynamics of Rigid Bodies ENGR. RANDY G. POLICARPIO
 Republic of the Philippines
TARLAC STATE UNIVERSITY
COLLEGE OF ENGINEERING AND TECHNOLOGY
Civil Engineering Department
Tarlac City

CASE II: The acceleration is expressed in terms of the time; i.e., 𝑎 = 𝑓(𝑡), to find 𝑣 and 𝑠.

1. The general procedure is to start with equation

𝑑𝑣 𝑑2 𝑠
𝑎= =
𝑑𝑡 𝑑𝑡 2
𝑑𝑣 = 𝑎 𝑑𝑡
Then integrate to find the velocity in terms of time
𝑣 𝑡 𝑡
∫ 𝑑𝑣 = ∫ 𝑎𝑑𝑡 = ∫ 𝑓(𝑡)𝑑𝑡
𝑣𝑖 𝑡𝑖 𝑡𝑖

Applying the limits. (𝑣𝑖 𝑖𝑠 𝑎 𝑘𝑛𝑜𝑤𝑛 𝑣𝑎𝑙𝑢𝑒 𝑜𝑓 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑎𝑡 𝑎 𝑔𝑖𝑣𝑒𝑛 𝑡𝑖𝑚𝑒 𝑡𝑖 )

𝑣 = 𝑔(𝑡)

2. Apply equation
𝑑𝑠
𝑣=
𝑑𝑡
𝑑𝑠 = 𝑣 𝑑𝑡

𝑑𝑠 = 𝑔(𝑡) 𝑑𝑡

likewise integrate to determine the displacement in terms of the time

𝑠 𝑡
∫ 𝑑𝑠 = ∫ 𝑔(𝑡)𝑑𝑡
𝑠𝑖 𝑡𝑖

Applying the limits. (𝑠𝑖 𝑖𝑠 𝑎 𝑘𝑛𝑜𝑤𝑛 𝑣𝑎𝑙𝑢𝑒 𝑜𝑓 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑎𝑡 𝑎 𝑔𝑖𝑣𝑒𝑛 𝑡𝑖𝑚𝑒 𝑡𝑖 )

𝑠 = ℎ(𝑡)

4. Solve for 𝑣 𝑎𝑛𝑑 𝑠 for a required 𝑡:

𝑣 = 𝑔(𝑡)

𝑠 = ℎ(𝑡)

CASE III: The velocity is given in terms of the time; i.e., 𝑣 = 𝑓(𝑡), to find a and s.

This case is a combination of Cases I and II.

1. Differentiating the given velocity time relation

𝑑𝑣 𝑑(𝑓(𝑡))
𝑎= =
𝑑𝑡 𝑑𝑡
𝑎 = 𝑔(𝑡)

2. Apply equation
𝑑𝑠
𝑣=
𝑑𝑡
𝑑𝑠 = 𝑣 𝑑𝑡

𝑑𝑠 = 𝑓(𝑡) 𝑑𝑡

Course Code: Course Title: Prepared by:

Page 2 of 9
B222 Dynamics of Rigid Bodies ENGR. RANDY G. POLICARPIO
 Republic of the Philippines
TARLAC STATE UNIVERSITY
COLLEGE OF ENGINEERING AND TECHNOLOGY
Civil Engineering Department
Tarlac City

likewise integrate to determine the displacement in terms of the time

𝑠 𝑡
∫ 𝑑𝑠 = ∫ 𝑓(𝑡)𝑑𝑡
𝑠𝑖 𝑡𝑖

Applying the limits. (𝑠𝑖 𝑖𝑠 𝑎 𝑘𝑛𝑜𝑤𝑛 𝑣𝑎𝑙𝑢𝑒 𝑜𝑓 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑎𝑡 𝑎 𝑔𝑖𝑣𝑒𝑛 𝑡𝑖𝑚𝑒 𝑡𝑖 )

𝑠 = ℎ(𝑡)

3. Solve for 𝑎 𝑎𝑛𝑑 𝑠 for a required 𝑡:

𝑎 = 𝑔(𝑡)

𝑠 = ℎ(𝑡)

Other Cases: When the principal variables are not given as functions of the time, direct differentiation or
integration cannot be performed as above without a preliminary treatment. There are two main variations
which follow:

CASE IV: One of the principal variables is expressed in terms of an adjacent variable; i.e., 𝑎 = 𝑓(𝑣) or
𝑣 = 𝑓(𝑠).

To relate the given variables in terms of the time and thereby reduce the problem to one of the variables
in terms of the time and thereby reduce the problem to one of the three proceeding cases.
𝑑𝑣 𝑑𝑠
1. The procedure here is to use either 𝑎 = or 𝑣 =
𝑑𝑡 𝑑𝑡

𝑑𝑣
𝑎= = 𝑓(𝑣)
𝑑𝑡

2. Separating the variables gives:

𝑑𝑣
𝑑𝑡 =
𝑓(𝑣)

𝑡 𝑣
𝑑𝑣
∫ 𝑑𝑡 = ∫
𝑡𝑜 𝑣𝑜 𝑓(𝑣)

Which is integration to give v in terms of the time t, which is Case III above.

CASE V: The given variables are not adjacent; i.e., 𝑎 = 𝑓(𝑠).

1. Substitute 𝑎 = 𝑓(𝑠) in
𝑣 𝑑𝑣 = 𝑎 𝑑𝑠
𝑣 𝑑𝑣 = 𝑓(𝑠) 𝑑𝑠
2. Separate the variables and integrate

∫ 𝑣 𝑑𝑣 = ∫ 𝑓(𝑠) 𝑑𝑠

3. Obtain one variable in terms of its adjacent variable

We obtain Case IV and proceed as indicated therein
𝑣 = 𝑔(𝑠)
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Page 3 of 9
B222 Dynamics of Rigid Bodies ENGR. RANDY G. POLICARPIO
 Republic of the Philippines
TARLAC STATE UNIVERSITY
COLLEGE OF ENGINEERING AND TECHNOLOGY
Civil Engineering Department
Tarlac City

PROBLEM No. 1

A rope of length L connects the wheel A and the weight B by passing over a pulley of negligible size at C
as shown in Fig. 10-5. At the instant when x = 9 ft, the center of wheel A has a velocity 𝑣𝐴 = 10 𝑓𝑡 𝑝𝑒𝑟 𝑠𝑒𝑐
and an acceleration 𝑎𝐴 = 4 𝑓𝑡 𝑝𝑒𝑟 𝑠𝑒𝑐 2 , both rightward. What is then the velocity and acceleration of B?

GIVEN:

REQUIRED:
a. 𝑣𝐵 (𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑎𝑡 𝐵)
b. 𝑎𝐵 (𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑎𝑡 𝐵)

SOLUTION:

1. If we denote the variable distance AC by z, the vertical length CB = L – z, and hence:

ℎ =𝐿−𝑧+𝑦 eqn. 1

From the figure we also have:

𝑧 2 = 𝑥 2 + ℎ2 eqn. 2

2. Differentiating the eqn. 1 with respect to the time, where ℎ and 𝐿 are constant.
𝑑𝑧 𝑑𝑦
0=− +
𝑑𝑡 𝑑𝑡
𝑑𝑦 𝑑𝑧
=
𝑑𝑡 𝑑𝑡
𝑑𝑦
hence: 𝑣𝐵 = 𝑑𝑡

𝑑𝑧
𝑣𝐵 =
𝑑𝑡

This result is not surprising if we note that the change in length z determines the rise (or fall) of B.

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B222 Dynamics of Rigid Bodies ENGR. RANDY G. POLICARPIO
 Republic of the Philippines
TARLAC STATE UNIVERSITY
COLLEGE OF ENGINEERING AND TECHNOLOGY
Civil Engineering Department
Tarlac City

3. Differentiate eqn. 2 with respect to the time:

𝑑𝑧 𝑑𝑥
2𝑧 = 2𝑥
𝑑𝑡 𝑑𝑡
𝑑𝑧 𝑑𝑥
Substitute: 𝑑𝑡 = 𝑣𝐵 and 𝑑𝑡
= 𝑣𝐴

𝑧 𝑣𝐵 = 𝑥 𝑣𝐴 eqn. 3

4. Differentiate eqn. 3:

𝑑𝑣𝐵 𝑑𝑧 𝑑𝑣𝐴 𝑑𝑥
𝑧 + 𝑣𝐵 =𝑥 + 𝑣𝐴
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑣𝐵 𝑑𝑣𝐴
Substitute: 𝑑𝑡
= 𝑎𝐵 and 𝑑𝑡
= 𝑎𝐴

𝑧𝑎𝐵 + 𝑣𝐵 2 = 𝑥𝑎𝐴 + 𝑣𝐴 2 eqn. 4

5. Solving for 𝑣𝐵 and 𝑎𝐵

If 𝑧 = 15 𝑓𝑡 when 𝑥 = 9 𝑓𝑡:

Using eqn. 3:

𝑧 𝑣𝐵 = 𝑥 𝑣𝐴

(15) 𝑣𝐵 = 9(10)

𝒗𝑩 = 𝟔 𝒇𝒕 𝒑𝒆𝒓 𝐬𝐞𝐜 𝒖𝒑

Using eqn. 4:

𝑧𝑎𝐵 + 𝑣𝐵 2 = 𝑥𝑎𝐴 + 𝑣𝐴 2

(15)𝑎𝐵 + (6)2 = 9(4) + (10)2

𝒂𝑩 = 𝟔. 𝟔𝟕 𝒇𝒕 𝒑𝒆𝒓 𝒔𝒆𝒄𝟐 𝒖𝒑

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B222 Dynamics of Rigid Bodies ENGR. RANDY G. POLICARPIO
 Republic of the Philippines
TARLAC STATE UNIVERSITY
COLLEGE OF ENGINEERING AND TECHNOLOGY
Civil Engineering Department
Tarlac City

𝑡3
2. The motion of a particle is given by the equation 𝑠 = 2𝑡 4 − 6
+ 2𝑡 2 where s is in feet and t in seconds.
Compute the values of v and a when t = 2 seconds.

𝑆𝑜𝑙𝑢𝑡𝑖𝑜𝑛:

1. Solving for 𝑣:

4 𝑡3 2
𝑑𝑠 𝑑(2𝑡 − 6 + 2𝑡 )
𝑣= =
𝑑𝑡 𝑑𝑡
3
𝑣 = 8𝑡 3 − 𝑡 2 + 4𝑡
6

For 𝑡 = 2 𝑠𝑒𝑐𝑜𝑛𝑑𝑠

3
𝑣 = 8(2)3 − (2)2 + 4(2)
6

𝑓𝑡
𝑣 = 70
𝑠

2. Solving for a:

3 3 2
𝑑𝑣 𝑑(8𝑡 − 6 𝑡 + 4𝑡)
𝑎= =
𝑑𝑡 𝑑𝑡
2
𝑎 = 24𝑡 2 − 𝑡 + 4
2

For 𝑡 = 2 𝑠𝑒𝑐𝑜𝑛𝑑𝑠

2
𝑎 = 24(2)2 − (2) + 4
2

𝑓𝑡
𝑎 = 98
𝑠2

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B222 Dynamics of Rigid Bodies ENGR. RANDY G. POLICARPIO
 Republic of the Philippines
TARLAC STATE UNIVERSITY
COLLEGE OF ENGINEERING AND TECHNOLOGY
Civil Engineering Department
Tarlac City

3. The velocity of a particle moving along the X axis is defined by 𝑣 = 𝑥 3 − 4𝑥 2 + 6𝑥 where v is in feet
per second and x is in feet. Compute the value of the acceleration when x = 2 ft.

𝑆𝑜𝑙𝑢𝑡𝑖𝑜𝑛:

1. Solve for velocity 𝑣:

Using the given eqn.

𝑣 = 𝑥 3 − 4𝑥 2 + 6𝑥

when 𝑥 = 2 𝑓𝑡

𝑣 = (2)3 − 4(2)2 + 6(2)

𝑓𝑡
𝑣=4
𝑠𝑒𝑐

2. Solve for the acceleration:

Using the eqn.

𝑣 𝑑𝑣 = 𝑎 𝑑𝑥
𝑣𝑑𝑣
𝑎= eqn. 1
𝑑𝑥

where:

Differentiate 𝑣 = 𝑥 3 − 4𝑥 2 + 6𝑥 with respect to x:

𝑑𝑣
= 3𝑥 2 − 8𝑥 + 6
𝑑𝑥

when 𝑥 = 2 𝑓𝑡

𝑑𝑣
= 3(2)2 − 8(2) + 6 = 2
𝑑𝑥
𝑓𝑡 𝑑𝑣
Substitute 𝑣 = 4 𝑠𝑒𝑐 and 𝑑𝑥
= 2 in eqn. 1

𝑓𝑡 2
𝑎 = (4 )( )
𝑠𝑒𝑐 𝑠𝑒𝑐

𝑓𝑡
𝑎=8
𝑠𝑒𝑐 2

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B222 Dynamics of Rigid Bodies ENGR. RANDY G. POLICARPIO
 Republic of the Philippines
TARLAC STATE UNIVERSITY
COLLEGE OF ENGINEERING AND TECHNOLOGY
Civil Engineering Department
Tarlac City

4. The motion of a particle is defined by the relation a = 4t, where a is in feet per sec2, and t is in seconds.
It is known that s = 1 ft and v = 2 ft per sec when t = 1 sec. Determine the relations between v and t, s and
t, v and s.

𝐺𝑖𝑣𝑒𝑛:
𝑎 = 4𝑡
𝑠 = 1 𝑓𝑡
𝑓𝑡
𝑣=2
𝑠𝑒𝑐
𝑡 = 1 𝑠𝑒𝑐
𝑆𝑜𝑙𝑢𝑡𝑖𝑜𝑛:

1. Derive the equation between the relation of 𝑣 𝑎𝑛𝑑 𝑡

Using the equation:
𝑑𝑣
𝑎=
𝑑𝑡
𝑑𝑣
= 4𝑡
𝑑𝑡

𝑑𝑣 = 4𝑡𝑑𝑡

∫ 𝑑𝑣 = ∫ 4𝑡𝑑𝑡

4
𝑣 = 𝑡2 + 𝐶
2

𝑣 = 2𝑡 2 + 𝐶

𝑖𝑓 𝑡 = 1 𝑎𝑛𝑑 𝑣 = 2, Solve for 𝐶

2 = 2(1)2 + 𝐶

𝐶=0

Therefore:

𝑣 = 2𝑡 2

2. Derive the equation between the relation of 𝑠 𝑎𝑛𝑑 𝑡

Using equation:
𝑑𝑠
𝑣=
𝑑𝑡
𝑑𝑠
= 2𝑡 2
𝑑𝑡

𝑑𝑠 = 2𝑡 2 𝑑𝑡

∫ 𝑑𝑠 = ∫ 2𝑡 2 𝑑𝑡

2
𝑠 = 𝑡3 + 𝐶
3
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B222 Dynamics of Rigid Bodies ENGR. RANDY G. POLICARPIO
 Republic of the Philippines
TARLAC STATE UNIVERSITY
COLLEGE OF ENGINEERING AND TECHNOLOGY
Civil Engineering Department
Tarlac City

If 𝑠 = 1 𝑓𝑡, 𝑡 = 1 𝑠𝑒𝑐, 𝑆𝑜𝑙𝑣𝑒 𝑓𝑜𝑟 𝐶

2
1 = (1)3 + 𝐶
3
1
𝐶=
3

Therefore:

2 1
𝑠 = 𝑡3 +
3 3

1
𝑠 = (2𝑡 3 + 1)
3

3. Derive the equation between the relation of 𝑣 𝑎𝑛𝑑 𝑠

From
𝑣 = 2𝑡 2

√𝑣
𝑡=
√2
√𝑣 1
Substitute 𝑡 = in 𝑠 = 3 (2𝑡 3 + 1)
√2

3
1 √𝑣
𝑠 = [2 ( ) + 1]
3 2 √

3
√𝑣
3𝑠 = 2 ( ) +1
√2

2(√𝑣)3
3𝑠 = 3 +1
(√2)

2(√𝑣)3
3𝑠 = +1
2√2

(3𝑠 − 1)√2 = 𝑣 3/2

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B222 Dynamics of Rigid Bodies ENGR. RANDY G. POLICARPIO