ENGG002

Dynamics of Rigid Bodies

(Particle Kinematics)

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 Introduction
• Dynamics includes:
- Kinematics: study of the motion (displacement,
velocity, acceleration, & time) without reference to
the cause of motion (i.e. regardless of forces).
- Kinetics: study of the forces acting on a body,
and the resulting motion caused by the given
forces.
• Rectilinear motion: position, velocity, and acceleration of
a particle as it moves along a straight line.
• Curvilinear motion: position, velocity, and acceleration of
a particle as it moves along a curved line.

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Rectilinear Motion: Position, Velocity & Acceleration

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Rectilinear Motion: Position, Velocity & Acceleration

• Particle moving along a straight line is said

to be in rectilinear motion.
• Position coordinate of a particle is defined
by (+ or -) distance of particle from a fixed
origin on the line.
• The motion of a particle is known if the
position coordinate for particle is known for
every value of time t. Motion of the particle
may be expressed in the form of a function,
e.g.,
x = 6t 2 − t 3
or in the form of a graph x vs. t.

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Rectilinear Motion: Position, Velocity & Acceleration

• Consider particle which occupies position P

at time t and P’ at t+∆t,
∆x
Average velocity =
∆t
∆x
Instantaneous velocity = v = lim
∆t →0 ∆t

• Instantaneous velocity may be positive or

negative. Magnitude of velocity is referred
to as particle speed.
• From the definition of a derivative,
∆x dx
v = lim =
∆t →0 ∆t dt
e.g., x = 6t 2 − t 3
dx
v= = 12t − 3t 2
dt
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Rectilinear Motion: Position, Velocity & Acceleration
• Consider particle with velocity v at time t and
v’ at t+∆t,
∆v
Instantaneous acceleration = a = lim
∆t →0 ∆t

• From the definition of a derivative,

∆v dv d 2 x
a = lim = = 2
∆t →0 ∆t dt dt
e.g. v = 12t − 3t 2
dv
a= = 12 − 6t
dt

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Rectilinear Motion: Position, Velocity & Acceleration

• Consider particle with motion given by

x = 6t 2 − t 3
dx
v= = 12t − 3t 2
dt

dv d 2 x
a= = 2 = 12 − 6t
dt dt

• at t = 0, x = 0, v = 0, a = 12 m/s2

• at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0

• at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

• at t = 6 s, x = 0, v = -36 m/s, a = -24 m/s2

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Determining the Motion of a Particle

• Recall, motion is defined if position x is known for all time t.

v=
dx
a=
dv d 2x a=
dv dv dx
= =v
dv
a= 2
dt dt dt dt dx dt dx

• If the acceleration is given, we can determine velocity and

position by two successive integrations.

• Three classes of motion may be defined for:

- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)

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 Determining the Motion of a Particle

• Acceleration given as a function of time, a = f(t):

v t t
dv
a = f (t ) = ⇒ dv = f (t )dt ⇒ ∫ dv = ∫ f (t )dt ⇒ v − v0 = ∫ f (t )dt
dt v0 0 0
x t t
dx
v= ⇒ dx = vdt ⇒ ∫ dx = ∫ vdt ⇒ x − x0 = ∫ vdt
dt x0 0 0

•Acceleration given as a function of position, a = f(x):

v x x
dv 1 2 1 2
a = f ( x) = v ⇒ vdv = f ( x)dx ⇒ ∫ vdv = ∫ f ( x)dx ⇒ v − v0 = ∫ f ( x)dx
dx v0 x0
2 2 x0

x t
dx dx dx
v= ⇒ = dt ⇒ ∫ = ∫ dt
dt v x0
v 0

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Determining the Motion of a Particle

• Acceleration given as a function of velocity, a = f(v):

v t v
dv dv dv dv
a = f (v ) = ⇒ = dt ⇒ ∫ = ∫ dt ⇒ ∫ =t
dt f (v ) v0
f (v ) 0 v0
f (v )

x v v
dv vdv vdv vdv
a = f (v ) = v ⇒ dx = ⇒ ∫ dx = ∫ ⇒ x − x0 = ∫
dx f (v ) x0 v0
f (v ) v0
f (v )

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Summary

Procedure:
1. Establish a coordinate system & specify an origin
2. Remember: x,v,a,t are related by:

v=
dx
a=
dv d 2x a=
dv dv dx
= =v
dv
a= 2
dt dt dt dt dx dt dx
3. When integrating, either use limits (if known) or add
a constant of integration

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Uniform Rectilinear Motion

Uniform rectilinear motion acceleration = 0 velocity = constant

dx
= v = constant
dt
x t
∫ dx = v ∫ dt
x0 0
x − x0 = vt
x = x0 + vt

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Uniformly Accelerated Rectilinear Motion
Uniformly accelerated motion acceleration = constant

v t
dv
= a = constant ∫ dv = a ∫ dt v − v0 = at
dt v0 0
v = v0 + at
x t
dx
dt
= v0 + at ∫ dx = ∫ (v0 + at )dt x − x0 = v0 t + 12 at 2
x0 0

x = x0 + v0 t + 12 at 2

(v 2 − v02 ) = a(x − x0 )
v x
dv
Also: v = a = constant ∫ v dv = a ∫ dx 1
2
dx v0 x0

v 2 = v02 + 2a( x − x0 )
Application: free fall 13
Sample Problem 1:

The car moves in a straight line such that for a

short time its velocity is defined by
= 3 +2 / , where t is in seconds.
Determine its position and acceleration when t =
3 s. When t = 0, s = 0.

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Sample Problem 2:

A small projectile is fired

vertically downward into a
fluid medium with an initial
velocity of 60 m/s. Due to
the drag resistance of the fluid, the projectile
experiences a deceleration of = −0.4 / ,
where v is in m/s. Determine the projectile’s velocity
and position 4 seconds after it is fired.

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Sample Problem 3:

During a test, a rocket travels upward

at 75 m/s. When it is 40 m from the
ground, its engine fails. Determine
the maximum height reached by the
rocket and its speed before it hits the
ground.
While in motion the rocket is
subjected to a constant acceleration
of 9.81 m/s2 due to gravity. Neglect
the effect of air resistance.

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Sample Problem 4:

A metallic particle is subjected

to the influence of magnetic
field as it travels downward
through a fluid that extends
from plate A to plate B. If the particle is released from
rest at the midpoint C, s = 100 mm, and the acceleration
is = 4 / , where s is in meters, determine the
velocity of the particle when it reaches plate B, s = 200
mm , and the time it takes to travel from C to B.

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