RIGID BODY DYNAMICS

MENG 233
___________________________________
DR QASIM ZEESHAN
ASSOCIATE PROFESSOR
DEPARTMENT OF MECHANICAL ENGINEERING
EASTERN MEDITERRANEAN UNIVERSITY
Office: ME141
Email: qasim.zeeshan@emu.edu.tr
Tel: +90 392 6301361
Web: http://me.emu.edu.tr/zeeshan/
https://www.linkedin.com/in/qasim-zeeshan
LECTURE #1
 RIGID BODY DYNAMICS
MENG 233
___________________________________
WEEK 3

LECTURE #1
 KINEMATICS OF PARTICLES
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PROJECTILE MOTION

LECTURE #1
 Objectives of Today’s Lecture
Students will be able to analyze:
 Free-flightmotion of a projectile
 Kinematic equations for projectile motion
 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Projectile Motion

• Projectile: any body that is given an initial velocity

and then follows a path determined by the effects of
gravitational acceleration and air resistance.
• Trajectory – path followed by a projectile

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 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Concept of Projectile Motion
• Projectile motion can be treated as two rectilinear
motions, one in the horizontal direction experiencing
zero acceleration and the other in the vertical direction
experiencing constant acceleration (i.e., gravity).
Consider the two balls on the left.
The red ball falls from rest, whereas the
yellow ball is given a horizontal velocity. Each
picture in this sequence is taken after the
same time interval. Notice both balls are
subjected to the same downward acceleration
since they remain at the same
elevation/height at any instant. Also, note that
the horizontal distance between successive
photos of the yellow ball is constant since the
velocity in the horizontal direction is constant.
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 Horizontal Motion is Uniform Motion
Notice that the Horizontal motion is in no way affected by the Vertical motion.
 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Applications of Projectile Motion

• A kicker should know at what angle, q, and initial

velocity, vo, he must kick the ball to make a field
goal.
• For a given kick “strength”, at what angle should the
ball be kicked to get the maximum distance?

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 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Applications of Projectile Motion

• A fireman wishes to know the maximum height on

the wall he can project water from the hose. At what
angle, q, should he hold the hose?

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 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Kinematic Equations
Vertical Motion

Horizontal Motion

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 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Kinematic Equations
Horizontal Motion
Since ax = 0, the velocity in the horizontal direction remains
constant (vx = vox) and the position in the x direction can be
determined by:
x = xo + (vox)(t)

Why is ax equal to zero (assuming movement through the air)?

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 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Kinematic Equations
Vertical Motion
Since the positive y-axis is directed upward, ay = -g. Application of
the constant acceleration equations yields:
vy = voy – g(t)

y = yo + (voy)(t) – ½g(t)2
vy2 = voy2 – 2g(y – yo)

For any given problem, only two of these three equations can be used. Why?

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 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Kinematic Equations
• Horizontal and vertical components of velocity are
independent.
• Vertical velocity decreases at a constant rate due to the
influence of gravity.

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 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Mathematical Verification

Horizontal Motion

• Acceleration : ax= 0

() v  v0  ac t vx  (v0 ) x
 1 2
() x  x0  v0t  act x  x0  (v0 ) x t

2
() v 2  v0  2ac ( s  s0 ) vx  (v0 ) x
2

• Conclusion # 1: Horizontal velocity remains constant

• Conclusion # 2: Equal distance covered in equal time intervals

( x  x0 )
vx 
t
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 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Mathematical Verification

Vertical Motion
( ) v  v0  ac t v y  (v0 ) y  gt

1 1 2
( ) y  y0  v0t  ac t 2 y  y0  (v0 ) y t  gt
2 2
2
(   ) v  v 0  2 ac ( s  s 0 ) v  v0  2 g ( y  y0 )
2 2 2
y y

Conclusion # 1: Equal increments of speed gained in equal

increments of time
Distance increases in each time interval

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 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Projectile Motion

• Assumptions:
(1) free-fall acceleration
(2) neglect air resistance
• Choosing the y direction as positive upward:
ax = 0; ay = - g (a constant)
y v0
• Take x0= y0 = 0 at t = 0
• Initial velocity v0 makes an
angle q0 with the horizontal q
x
v 0 x  v 0 cosq 0 v 0 y  v 0 sin q 0

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 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Projectile Motion
Maximum Height [altitude]
At the peak of its trajectory, vy = 0.
From
v y  v0 y  gt  voy  gt  0
v0 y
Time t1 to reach the peak t1 
g
Substituting into: 1 2
y  v0 y t  gt
2

v02y
h  ymax 
2g
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 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Projectile Angle

• The optimal angle of projection is dependent on the

goal of the activity.
• For maximal height the optimal angle is 90o.
• For maximal distance the optimal angle is 45o.

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Projection angle = 10 degrees
10 degrees
Projection angle = 45 degrees
10 degrees
30 degrees
40 degrees
45 degrees
Projection angle = 60 degrees
10 degrees
30 degrees
40 degrees
45 degrees
60 degrees
Projection angle = 75 degrees
10 degrees
30 degrees
40 degrees
45 degrees
60 degrees
75 degrees

So angle that maximizes Range

(qoptimal) = 45 degrees
 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
REVISION

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 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Projectile Motion
A ball is given an initial velocity of V0 = 37 m/s at an angle of q = 53.1. Find
the position of the ball, and the magnitude and direction of its velocity, when t
= 2.00 s. Find the time when the ball reaches the highest point of its flight, and
find its height h at this point
The initial velocity of the ball has components:

v0x = v0 cos θ0 = (37.0 m/s) cos 53.1° = 22.2 m/s

v0y = v0 sin θ0 = (37.0 m/s) sin 53.1°= 29.6 m/s

a) position
x = v0xt = (22.2 m/s)(2.00 s) = 44.4 m
y = v0yt - ½gt2
= (29.6 m/s)(2.00 s) –½ (9.80 m/s2)(2.00 s)2
= 39.6 m
 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Projectile Motion
A ball is given an initial velocity of V0 = 37 m/s at an angle of q = 53.1. Find
the position of the ball, and the magnitude and direction of its velocity, when t
= 2.00 s. Find the time when the ball reaches the highest point of its flight, and
find its height h at this point

• Velocity
• vx = v0x = 22.2 m/s
• vy = v0y – gt = 29.6 m/s – (9.80 m/s2)(2.00 s) = 10.0 m/s

v  vx2  v y2  22.2 m / s 2  (10.0 m / s) 2

 24.3 m / s
 10.0 m / s 
q  arctan    arctan 0.450  24.2
 22.2 m / s 
 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Projectile Motion
A ball is given an initial velocity of V0 = 37 m/s at an angle of q = 53.1. Find
the position of the ball, and the magnitude and direction of its velocity, when t
= 2.00 s. Find the time when the ball reaches the highest point of its flight, and
find its height h at this point
• b) Find the time when the ball reaches the highest point of its flight, and find
its height H at this point.
v y  0  v0 y  gt1 1 2
H  v0 y t1  gt 1
2
v0 y 29.6 m / s
t1   2
 3.02 s  ( 29. 6 m / s )( 3. 02 s ) 
1
(9.80 m / s 2
)( 3.02 s ) 2
g 9.80 m / s 2
 44.7 m
 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Projectile Motion
A ball is given an initial velocity of V0 = 37 m/s at an angle of q = 53.1. Find
the position of the ball, and the magnitude and direction of its velocity, when t
= 2.00 s. Find the time when the ball reaches the highest point of its flight, and
find its height h at this point
c) Find the horizontal range R, (that is, the horizontal distance from the starting
point to the point at which the ball hits the ground.)

1 2 1
y  0  v0 y t 2  gt 2  t 2 (v0 y  gt 2 )
2 2
2v0 y
2(29.6 m / s )
t 2  0 and t 2   2
 6.04 s
g 9.80 m / s
R  v0 xt2  (22.2 m / s)(6.04 s) 134 m
 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Projectile Motion
A ball traveling at 25 m/s drive off of the edge of a cliff 50 m
high. Where does it land?
25 m/s Horizontally
x = x0 + (v0)x t
Initial Conditions
Vertically x = 25 *3.19 = 79.8 m
vx = 25 m/s
vy0 = 0 m/s v = v0-gt
a =- 9.8 m/s2 y = y0 + v0t + 1/2gt2 ….
t=0 v2 = v02 - 2g(y-y0)….
y0 = 0 m
y =- 50 m
-50 = 0+0+1/2(-9.8)t2 … t = 3.19 s
x0 =0 m 79.8 m
 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Example
Given: vo and θ
Find: The equation that defines
y as a function of x.
Plan: Eliminate time from the
kinematic equations.
Solution: Using vx = vo cos θ and vy = vo sin θ
x
We can write: x = (vo cos θ)t or t =
vo cos θ
y = (vo sin θ)t – ½ g(t)2
 Kinematics of Particles
Projectile Motion, Normal Tangential and Cylindrical Components
Solution

Simplifying the last equation, we get:

g x2
y = (x tanq) – ( 2vo2 ) (1 + tan2q)

The above equation is called the “path equation” which describes

the path of a particle in projectile motion. The equation shows that
the path is parabolic.
During a race the dirt bike was observed to leap up off the
small hill at A at an angle of 60° with the horizontal. If the
point of landing is 20 ft away, determine the approximate
speed at which the bike was traveling just before it left the
ground. Neglect the size of the bike for the calculation

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During a race the dirt bike was observed to leap up off the
small hill at A at an angle of 60° with the horizontal. If the
point of landing is 20 ft away, determine the approximate
speed at which the bike was traveling just before it left the
ground. Neglect the size of the bike for the calculation

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 EXAMPLE II

Given: Projectile is fired with vA=150 m/s at point

A.

Find: The horizontal distance it travels (R)

and the time in the air.

Plan: How will you proceed?

 EXAMPLE II

Given: Projectile is fired with vA=150 m/s at point

A.

Find: The horizontal distance it travels (R)

and the time in the air.

Plan: Establish a fixed x, y coordinate system (in this solution, the origin
of the coordinate system is placed at A). Apply the kinematic
relations in x- and y-directions.
 EXAMPLE II (continued)
Solution:
1) Place the coordinate system at point A.
Then, write the equation for horizontal
 xB = xA + vAx tAB
+motion.
where xB = R, xA = 0, vAx = 150 (4/5) m/s

Range, R, will be R = 120 tAB

2) Now write a vertical motion equation. Use the distance equation.

+ yB = yA + vAy tAB – 0.5 g tAB2
where yB = – 150, yA = 0, and vAy = 150(3/5) m/s
We get the following equation: –150 = 90 tAB + 0.5 (– 9.81) tAB2

Solving for tAB first, tAB = 19.89 s.

Then, R = 120 tAB = 120 (19.89) = 2387 m
 GROUP PROBLEM SOLVING I

y Given: A skier leaves the ski jump

ramp at qA = 25o and hits
x the slope at B.

Find: The skier’s initial speed vA.

Plan:
 GROUP PROBLEM SOLVING I

y Given: A skier leaves the ski jump

ramp at qA = 25o and hits
x the slope at B.

Find: The skier’s initial speed vA.

Plan: Establish a fixed x,y coordinate system (in this solution, the origin
of the coordinate system is placed at A). Apply the kinematic
relations in x and y-directions.
Plan: Establish a fixed x, y coordinate system (in this solution, the origin
of the coordinate system is placed at A). Apply the kinematic
relations in x and y-directions.

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PROBLEM

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SOLUTION

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PROBLEM

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SOLUTION

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SOLUTION

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 What we have learned today?

 Analyzed the free-flight motion of a projectile

 Studied the kinematic equations for projectile motion
ASSIGNMENT
DEADLINE  REVIEW EXAMPLES
 Example 12.11
 Example 12.12

 Example 12.13
QUESTIONS
THANK YOU
FOR YOUR
INTEREST