ME3026 Dynamics Chap1 2 Merged - Removed

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Engineering •
Mechanics: •
Dynamics •
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Chapter 1. Introduction to Dynamics -2-
1.1 Introduction
WHAT IS MECHANICS?
Study of what happens to a “thing” (the technical name is

“BODY”) when FORCES are applied to it
(relationship: Motion-Force)
Either the body or forces can be large or small.
Department of Applied Mechanics-SME

Contents of Engineering Mechanics
• Statics: deals with the equilibrium of bodies
(either at rest or move with a constant velocity), Mechanics
hence the equilibrium of force systems
• Dynamics: dealing with the motions of material

bodies under the action of given forces. The Statics Dynamics
force acts on a body with its properties as mass
and inertia moment.
- Kinematics: examines geometrically the
motion of particles / bodies/ mechanical
systems, regardless of the cause of motion. Kinematics Kinetics
- Kinetics: examines the relationship between
the motion of the bodies/systems and the
force acting on the system

Contents of Dynamics
Classification of Dynamics: Kinematics and Kinetics
DYNAMICS
KINETICS
KINEMATICS
Theory of interaction between
Theory of motion, regardless of
forces and motion of a mechanical
force - causes a change in motion.
systems

BRANCHES OF MECHANICS
Motion of some mechanical systems in engineering

v
Relationship between motor

speed and vehicle velocity?
Relationship between motion of
particles and bodies in a system ?
B
l2 A
A l
r
l3
2 O
l1 3
B
O 1 l0 C x


sewing machine Model of a sewing machine
belt transmission
belt
r1
transmission 2
1
 r2
Crankshaft mechanism
(Slider crank mech.)
A
needle
r l
Four-link mechanism B
l2 O
A B
2
l3 x
l1 3
Pedal
l0 …..
O 1 C

E 
D E D
C C
h
0
0
O A O A
 h 
 u
 u
B
B
x D
E x
Metalworking
C 
machine D
0 C
O A

 u
 
B
B B


Kinematics in robot design elevator, conveyor,…
2 r 1
1
B
r1
r2

1. How to determine the shaft diameter?
2. Relationship between motor speed and motion of links, of load?
3. Motion of the link/load when knowing the motor torque? Ref. William J. Palm III. System Dynamics-
McGraw-Hill, 2009


Chapter 1. Introduction to Dynamics-11-
1.2 Basic concepts of Dynamics

Fundamental physical quantities.
• Space: the geometric region occupied by bodies whose positions are described
by linear and angular measurements
• Length: needed to locate the position of a point in space and thereby describe
the size of a physical system.
• Mass: a quantitative measure of the inertia of matter which is its resistance to a
change in velocity.
• Time: a measure of the succession of events and is considered an absolute
quantity in Newtonian mechanics.
• Force: the vector action of one body on another
1.2 Basic concepts of Dynamics

Fundamental physical quantities.
• Particle: a body which has a mass but its size can be neglected
• Rigid body: a combination of a large number of particles in which all the
particles remain at a fixed distance from one another both before and after
applying a load
• Mechanical system: consists of particles and rigid bodies. The interaction
between the components of the mechanical systems is expressed only by
forces. In constrained mechanical system the motion of particles and rigid
bodies are restricted by constraints in positions and velocities.

Two models using in Kinematics: Particle and Rigid body
Particle model Rigid body model B

z z
P
rP rA A
O O
y x y
x
Motion of a rigid body:
• Translation
Motion of a particle: • Rotation about a fixed axis / fixed point
• Motion in plane, motion in space • General spatial motion
• Rectilinear & Curvilinear motion • General planar motion
• Velocity and Acceleration of a • Helical motion (screw motion)
particle • Velocity and Acceleration of a point and angular
• Maximum 3 position parameters (3 velocity vector, angular acceleration vector
Degree of Freedom) • Maximum 6 position parameters (6 Degree of
Freedom)
4. Some kind of motion of a particle
Rectilinear motion
Curvilinear motion
Motion of a particle :
P • Path (Trajectory)
• Velocity vector
• Acceleration vector
• Constraints on motion of a particle.

5. Some kind of motion of a rigid body
B Motion of a rigid body:

• Position of one point and the body’s
orientation
rA A
• Types of motion: translation, rotation
O about a fixed axis (fixed point), general
planar motion, helical, spatial motion, ..
• Velocity vector and acceleration vector
of a point belong to the body,
• Angular velocity vector and angular
acceleration vector,
Translation • Relationship between velocity and
D D C acceleration of points belong to the
body
B
A B • Constraints on motion of bodies in the
A
system.
5. Some kind of motion of a rigid body
Translation
General planar motion
Rotation about a
fixed axis
B
rA A
z (t ) O
Rotation about a fixed

Helical motion point General spatial motion

Basic Laws in Dynamics

First dynamic axiom F3
When the sum of the forces acting on a particle F2
is zero, its velocity is constant. In particular if (F1, F2 , F3 ) 0
the particle is initially stationary, it will remain
stationary. v const
F1
Second dynamic axiom

When the sum of the forces acting on a particle F =  Fk
is not zero, the sum of the forces is equal to the
rate of change of the linear momentum of the
ma F Fk
particle. If the mass is constant, the sum of the
d
dt
(mv)
forces is equal to the product of the mass of the
particle and its acceleration
Force of A Force of B
Third dynamic axiom on B on A
The forces of action and reaction between
interacting bodies are equal in magnitude,
Body A Body B
opposite in direction and collinear.
Action = reaction
Basic Laws in Dynamics

F2
m a
Fourth dynamic axiom
The acceleration of a particle acted upon by several
forces is the sum of accelerations which each force F1
gives the particle individually
(commonly known as the principle of superposition)
a1 F1 / m, a2 F2 / m
a (F1 F2 ) / m a1 a 2
Fifth dynamic axiom

The constrained body can be considered as a
free body when it is released from constraints
and subjected by corresponding reactive
forces instead.
constrained body
free body

Inertia Coordinate System
2nd dynamic axiom: In inertia system d
(mv ) Fk
dt
What does the inertia system means:
In this system the 1st dynamics axiom is valid.

A free particle under action of no force is at rest or moves with
constant velocity (rectilinear motion with constant velocity)
(No inertial forces)
In the Earth: Inertia system is fixed with the earth (we neglect the
influence of the motion of the earth.
Other example?
https://en.wikipedia.org/wiki/Earth-centered_inertial
UNITS OF MEASUREMENT
Four fundamental physical quantities (or dimensions) .

• Length
• Mass
• Time
• Force
Newton’s 2nd Law relates them: F = m a

Hence only 3 quantities are independent.
We use this equation to develop systems of units.

UNIT SYSTEMS
Force, mass, time and acceleration are related by Newton’s

2nd law. Three of these are assigned units (called base units)
and the fourth unit is derived. Which one is derived varies by
the system of units.
We will work with 2 unit systems in statics:
• International System (SI)
• U.S. Customary (USCS or FPS)
Chapter 1. Introduction to Dynamics

Summary of the unit systems.
Chapter 1. Introduction to Dynamics
Click to edit Master title style

NUMERICAL CALCULATIONS
Homogeneity: Dimensions have to be the same on both sides

of the equal sign, (e.g. distance = speed  time.)
Use an appropriate number of significant figures (3 for

answer, at least 4 for intermediate calculations). Why?
Be consistent when rounding off.

- greater than 5, round up (3528  3530)
- smaller than 5, round down (0.03521  0.0352)
- equal to 5, see your textbook for an explanation.

1.5 Basic Problems of Dynamics
Both the forces applied to a body and its motion must be taken
into account, hence We can distinguish two basic problems of
dynamics:
1. Forward problem: in such problem the motion of the body

is known and the task is to determine the forces causing that
motion
2. Inverse problem: in this case the forces acting on the body

and the initial condition of the body motion are known and the
task is to specify the motion of the body.
Chapter 2
Particle
Kinematics
Three kinematical concepts, when
dealing with the motion of point, will
be of interest. Each is represented by
a vector:
(i). Position represented by a

Particle position vector
Kinematics (ii). Rate of change of position

represented by a velocity vector
(iii). Rate of change of rate of change

of position represented by an
acceleration vector.
Motion of a particle
Rectilinear motion
• r = r(t) => Path (Trajectory) and s =s(t)
• Velocity vector v(t)
• Acceleration vector a(t)
Curvilinear motion

Rectilinear Kinematics
The average velocity approaches the instantaneous
velocity of the particle:
Representing v as an algebraic scalar (due to the properties of rectilinear motion):
We do the same for the acceleration:
or also
We get also
a ds = v dv
• For coupling 4 quantities: a(t), v(t), s(t)

we have 3 expressions (or 4)
• However, only 2 are independent
• Using which ones? It depends on the
specifical cases (which quantities are
Rectilinear under consideration)
Kinematics • Examples: (text book)

• a= const
• a=f(t)
• a=f(v)
• a=f(s)
Rectilinear
Kinematics
v
•
v
ms t t
s
t
v(t), s a
Solution
Given v(t) of a car. Determine the
acceleration and traveled
distance after 3 second.
d
a(t ) = v(t ) = 6t + 2, m/s2 a(t = 3) = 20, m/s2
dt
d
v(t ) = s(t ) = (3t 2 + 2t ), ds(t ) = v(t)dt = (3t 2 + 2t)dt
dt
s(t ) − s 0 = t 3 + t 2  s(t ) = t 3 + t 2
s(t = 3) = 27 + 9 = 36 m
-6- Chapter 2 Particle Kinematics
Velocity and Acceleration of a Particle

Considering a particle P in space, the position of
P relative to fixed point O: trajectory
P
r r (t ) – position vector
Trajectory of P is a line that the point P draws in r (t )
the space. O
Rectilinear Trajec. Curvilinear Trajec.
Rectilinear Motion Curvilinear Motion

Some kinds of motion of a particle
Rectilinear motion
Curvilinear motion
P • Path (Trajectory)
• Velocity vector
• Acceleration vector
• Constraints on motion of a particle.
Three kinematical concepts, when

dealing with the motion of point, will
be of interest. Each is represented by
a vector:
(i). Position represented by a

position vector
(ii). Rate of change of position

represented by a velocity vector
(iii). Rate of change of rate of change

of position represented by an
acceleration vector.
Rectilinear Kinematics
The average velocity approaches the instantaneous velocity of the particle:
Representing v as an algebraic scalar:
We do the same for the acceleration:

or also
We get also
a ds = v dv
•
•
•
•
•
•
•
•
•
Solution
Solution for velocity: Separating the variables and integrating, with v0 = 60 m/s when t = 0, yields
dv
a= = -0.4v 3
dt
v t
dv
60 −0.4v 3 = 0 dt
1 11 v
  | =t −0
-0.4  -2  v 2 v 0

 1 
−1/ 2


v =  2
+ 0.8t   When t = 4 s, one gets easily
 (60)  
  v = 0.559 m/s
Solution for s (position):

The equation relates s, v, and t and using the initial condition (s = 0, when t = 0 ) yield
−1/ 2
ds  1 
v= =  2
+ 0.8t 
dt  (60) 
−1/ 2
s t
 1 
 ds =
0
0 (60)2 + 0.8t 

dt
1   1 1 
1/2

s=  + 0.8t  − 
0.4   (60)2  60 
 
When t = 4s, we get easily

s = 4.43 m
2.3 General Curvilinear Motion
r , v,a
◼ The particle moves along a curved path

◼ Vector presentation: r , v, a
◼ 3 types of coordinate systems
• Cartesian coordinate systems (Rectangular components)
• Normal and tangential components (Natural coordinates)
• Cylindrical components (special case for 2D: Polar coordinates)

◼ Velocity vector: characterizes the position change of the
particle over time.
P r P
Assume that motion of P during time t is
r (from P to P’), average velocity of the r(t) r+r
particle in this period time t :
O
r
vaverage - unit [m/s] v
t P
Velocity at time point t r(t)

r dr
v lim r O Velocity tangent
t 0 t dt to the trajectory

◼ Acceleration vector: characterizes the velocity change of
the particle over time.
Assume that the change of velocity in time
period t is v, average acceleration of the v(t)
particle in this period time t : P
v(t+t)
v v (t t) v (t ) r(t) v
aavg . [m/s 2]
t t
Accel. vector toward
acceleration at time point t O the concave side of
the trajectory.
v dv
a lim v r
t 0 t dt
d 2 0 Faster
Motion: faster or slow down v 2v a
dt 0 Slow down
General Curvilinear Motion
◼ Velocity represented by a vector
(tangent to the path)
◼ Vector acceleration (not tangent to the path):

•
d d d d
v= r= (x i) + (y j) + (z k)
dt dt dt dt
d dx di
(xi) = i +x
dt dt dt
dv
a= = ax i + ay j + az k
dt
Chapter 2 Particle Kinematics
QUIZ FOR TODAY
1. If the position of a particle is defined by r = [(1.5t2 + 1) i +

(4t – 1) j ] (m), its speed at t = 1 s is ________.
A) 2 m/s B) 3 m/s
C) 5 m/s D) 7 m/s
2. The path of a particle is defined by y = 0.5x2. If the

component of its velocity along the x-axis at x = 2 m is
vx = 1 m/s, its velocity component along the y-axis at this
position is ____.
A) 0.25 m/s B) 0.5 m/s
C) 1 m/s D) 2 m/s
Example (parabol motion of a particle in a vertical plane)
Motion of a bullet in vertical plane (subjected to gravity)

x v0t cos y
y v 0t sin 1
2
gt 2
P
v0 , , g const
e y v0
Determine: trajectory, maximum

height, and maximum distance. O ex x
Ans.
Eliminating the time variable t in the two motion equations of x and
y, we get
x sin g
t y x x2
v0 cos cos 2v 02 cos2
Example (cont’)
Determine: velocity and acceleration y
P
x (t ) v 0t cos
e y v0
1 2
y(t ) v0t sin gt
2 O ex xmax
vx d
dt
x v0 cos ax 0
sin g
vy d
dt
y v0 sin gt ay g y x 2 2
x2
2v cos cos 0
Determine: maximum height and distance from trajec. equation:
sin cos
2 v02
y(x max ) 0 x max 2v 0
sin 2
g g
sin 1 g
ymax y( 12 x max ) ( x ) ( 12 x max )2 ...
cos 2 max 2
2v cos
0
2

Method of Cartesian Coordinates: rectilinear motion
Equations of motion x
x x (t ), r (t ) x (t )ex
O M x
Velocity
Uniform motion
Acceleration v const, x x0 vt
Motion with constant

Faster / slow down motion accelleration
0 Faster a const, v v0 at
v a xx
0 Slow down x x0 v0t 1
2
at 2
EXAMPLE
At any instant the horizontal position of the weather balloon is defined by x=8t m,
where t is in seconds. If the equation of the path is y = x2/10, determine when t = 2 s:
(a) the distance of the balloon from the station at A,

(b) the magnitude and direction of the velocity,
(c) the magnitude and direction of the acceleration.
Solution AA
Ground
(a) Position
When t = 2, x = 8(2) = 16 m, and so y = (16)2 /10 = 25.6 m
The straight-line distance from A to B is therefore
r = (16)2 + (25.6)2 = 30.2 m
(b) Velocity
Using the chain rule of calculus the components of velocity when t = 2 s are
d
vx = x = (8t ) = 8 m/s
dt
d 2
vy = y = (x /10) = 2xx /10 = 2(16)(8)/10 = 25.6 m/s
dt AA
Ground
v= (8)2 + (25.6)2 = 26.8 m/s
vy 25.6
v = tan−1 = tan−1 = 72.6o
vx 8
Baloon
(c) Acceleration.
The components of acceleration are determined from application of the chain rule:
d 2 (8t )
a x = vx = x = =0
dt 2
d (2xx /10)
ay = vy = = 2(x)x /10 + 2xx /10 = 2(8)2 /10 + 2(16)(0)/10 = 12.8 m/s 2
dt
a= (0)2 + (12.8)2 = 12.8 m/s 2

ay 12.8
a = tan−1 = tan−1 = 90o
ax 0
EXAMPLE
The motion of a box B moving along the spiral
conveyor is defined by the position vector r = (0.5
sin(2t)i + 0.5 cos(2t)j - 0.2t k) m, where t is in
seconds and the arguments for sine and cosine
are in radians (rad). Determine the location of the
box when t = 0.75 s and the magnitudes of its
velocity and acceleration at this instant.
Solution
Evaluating r when t = 0.75 s yields

r = (0.5 sin (1.5 rad)i + 0.5 cos (1.5 rad)j - 0.2(0.75)k
= (0.499i + 0.0354j - 0.150k) m
r = (0.499)2 + (0.0354)2 + (− 0.150)2 = 0.522 m
The direction of r is obtained from the components of the unit vector ur = r/r
ur = (0.499i + 0. 0354j - 0.150k)/0.522 = 0.955i + 0.0678j - 0.287k
Hence:
α = cos-1(0.955) = 17.2° β = cos-1 (0. 0678) = 86.1 o γ = cos-1 (-0.287) = 107°
The velocity:
dr
v= = [0.5sin(2t )i + 0.5 cos(2t) j − 0.2tk =
dt
= (1 cos(2t )i − 1 sin(2t ) j − 0.2k) m/s
The velocity is tangent to the path and (when t = 0.75 s) the magnitude (or the speed), is
v= [(1 cos (1.5 rad)]2 + [l sin (1.5 rad)]2 + (-0.2)2 = 1.02 m/s
The acceleration a:
dv
a= = [-2sin(2t )i − 2 cos(2t )j] m/s 2
dt
2.3 General Curvilinear Motion
◼ The particle moves along a curved path

◼ Vector presentation: r , v, a or r ,v,a
◼ 3 types of coordinate systems
• Cartesian coordinate systems (Rectangular components)
• Normal and tangential components (Natural coordinates)
• Cylindrical components (special case for 2D: Polar coordinates)
General Curvilinear Motion
◼ Velocity represented by a vector
(tangent to the path)
◼ Vector acceleration (not tangent to the path):

•
r xi yj zk
Velocity and acceleration

d d d d
v= r= (x i) + (y j) + (z k)
dt dt dt dt
d dx di
(xi) = i+x
dt dt dt
dv
a= = ax i + ay j + az k
dt
i,j,k
•
Concepts related to curved path:

- osculating plane at point P,
- the curvature and the radius of

curvature,
- (the natural coordinate system):

tangential, normal and binormal
components
(What????)
Coordinate systems
The osculating plane at point P
P and P’: two points on the path.
Defining: e en eb
If the distance s = PP  is small enough, e
the arc PP can be considered as a n
planar arc. The plane containing this en
arc is the osculating plane of the
trajectory at P.
s e
(or by plane contructed by ea and ,e ''
parallel to e' )
For a planar curve: The osculating plane is the plane containing

the curve.
The curvature
The curvature at P
 d e
k = lim =
s →0 s ds
The radius of curvature at P: e
1
=
k
E.g., a circle trajectory has a r

constant curvature
1
k= = const
r
Natural coordinates
On the osculating plane at P: e

• Tangential axis (unit vector ) n
• Normal axis n (unit vector ) en
and outside the plane: e
• Binormal axis b (unit vector) s
eb
Remark: Right handed coordinate system (axes): t,n,b (12312312….)
Description of the motion:
•
• s s(t)
Genenal curvilinear motion
Equation of motion of P eb
s = s(t )
s(t) P ds et
Velocity of P P0 r+dr
r
dr ds en
v = = e = set , v =s O
dt dt t
dr = etds
Acceleration of P
dv d de dr / ds = et
a = = (set ) = set + s t
dt dt dt
P et
det P‘
= ??? en et '
dt
Acceleration of point P (cont.)
det det P et
a = set + s = ???
dt dt d P‘
et '
a = set + (s / )en
2 en det
det = et − et
a = a t + an
= 1d en
at = set ,
det d d ds 1
an = (s 2 / )en = en = en = sen
dt dt ds dt
at = s = v,
P
an = s 2 / , ab = 0 at
a
an
Example v
et
The motion of point P, moving on an arc
of a circle of radius R, governed by s(t) = P
at 2/2. Determine the velocity and R
acceleration of P at t = 2 s. s(t)
Solution en
P0
v = set = atet ,
v (t = 2) = 2aet m/s at
s2 (at )2
a = v = set + en = aet + en , P
R R R
2
4a
a (t = 2) = aet + en , m/s2
R P0
an

Example (textbook)
The boxes travel along the industrial

conveyor. If a box starts from rest
at A and increases its speed such that
at = (0.2t) m/s2, where t is in
seconds, determine the magnitude of
its acceleration when it arrives at
point B.
Solution
Coordinate System
The position of the box at any instant is defined from the
fixed point A using the position or path coordinate s, hence
the origin of the n, t axes is at this point A.
Since vA = 0 when t = 0, then velocity and acceleration can be

evaluated at any point:.
v t
 dv =  0.2tdt v = 0.1t 2
0 0
The time needed for the box to reach point B can be determined
by realizing that the position of B is sB = 3 + 2 (2)/4 = 6.142 m,

Solution (…)
sB = 6.142 m and from the expression for s:
6.142 tB
ds
 ds =  0.1t dt
2
v= = 0.1t 2
dt 0 0
6.142 = 0.0333 t 3
B
tB = 5.690 s
Substituting to the expression for velocity and tangent acceleration at point B yields:
(aB )t = vB = 0.2(5.690) = 1.138m / s 2 vB = 0.1(5.69)2 = 3.238m / s 2
At B, ρB = 2 m, so that vB2 (3.238m/s)2

(aB )n = = = 5.242m / s
B 2
The magnitude of aB
aB = (1.138)2 + (5.242)2 = 5.36m/s2
• x(t), y(t),z(t)
•  (t )
•
Algorithm
◼ 1 vx = x , vy = y , v z = z
◼ 2 v = v x2 +vy2 + vz2
dv
◼ 3 at =
dt
◼ 4 ax = x , ay = y, a z = z
◼ 5 a = a x2 +ay2 + az2
◼ 6 an = a 2 − a t2
2
◼ 7  (t ) = v
an
Example
The equations of screw motion of P is written in the Cartesian

coordinate system as
x = r cos t, y = r sin t, z = pt
r, , p = const
Determine:
• velocity, tangential
acceleration, normal
acceleration of P
• radius of curvature
P
Solution
Velocity: x = −r sin t, y = r cos t, z = p
v = x 2 + y2 + z 2 = r 2 2
+ p 2 = const
Acceleration:
x = −r 2
cos t, y = −r 2
sin t, z =0
a = x 2 + y2 + z 2 = r 2
= const
at = v = 0  an = a = v 2 /  a 2 = at2 + an2
Radius of curvature:
r2 2
+ p2
= v / an =
2
2
r
•
r,  , z
•
z
• r 
d
Polar coordinate system
Coordinates r = r(t), = (t)

M
Unit vectors er , e r
e er
Position vector r = r(t )er
O x
Velocity vector
de = −1d er der = 1d e
d d
v = r = [r (t )er ] e
dt dt
de d er
= rer + r r d
dt O
der d
v = rer + r e = vr + v , = e = e
dt dt
d
Polar coordinate system (cont’)
d de = −1d er der = 1d e
er = e = e
dt e
d er
e =− e = − er d
dt r d
O
Acceleration vector v
d
a =v = (re + r e )
dt r a
M
= rer + rer + r e + r e + r e e r
er
= (r − r 2
)er + (r + 2r )e O x
d
Polar coordinate system (cont’)
Special case: a circular motion r = const  r = 0, r =0

v = rer + r e = r e
y y y
a
v
M M ar M
rM
er
e   
O x O x O x
a = (r − r 2 )er + (r + 2r )e
a = (−r 2 )er + (r )e
= an + at
d
Relationship btw. Polar and Cartersian coordinate systems
y
r = r (t )er
yM M
x M = r cos
yM = r sin r
e er
x M = r cos − r sin O xM x
yM = r sin + r cos
x M = (r − r 2
)cos − (r + 2r )sin
yM = (r − r 2
)sin + (r + 2r )cos
EXAMPLE
Given: The platform is rotating such

that, at any instant, its angular
position is = (4t3/2) rad, where
t is in seconds.
A ball rolls outward so that its
position is r = (0.1t3) m.
Find: The magnitude of velocity and acceleration of the ball when t = 1.5 s.
Hint: Use a polar coordinate system and related kinematic equations.

EXAMPLE (continued)
Solution:
𝑟 = 0.1𝑡 , 𝑟̇ = 0.3 𝑡 , 𝑟̈ = 0.6 𝑡
𝜃 = 4 t3/2, 𝜃̇ = 6 t1/2, 𝜃̈ = 3 t−1/2
At t=1.5 s,
r = 0.3375 m, 𝑟̇ = 0.675 m/s, 𝑟̈ = 0.9 m/s2
𝜃 = 7.348 rad, 𝜃̇ = 7.348 rad/s, 𝜃̈ = 2.449 rad/s2
Substitute into the equation

.
for velocity
.
v = 𝑟u ̇ r + r 𝜃̇ uθ = 0.675 ur + 0.3375 (7.348) uθ
= 0.675 ur + 2.480 uθ
v = (0.675)2 + (2.480)2 = 2.57 m/s
EXAMPLE (continued)
Substitute in the equation for acceleration:

.. . .. . .
a = (𝑟̈ – r 𝜃̇ 2)ur + (r 𝜃̈ + 2 𝑟̇ 𝜃)̇ uθ
a = [0.9 – 0.3375(7.348)2] ur
+ [0.3375(2.449) + 2(0.675)(7.348)] uθ
a = – 17.33 ur + 10.75 uθ m/s2
a = (– 17.33)2 + (10.75)2 = 20.4 m/s2

Cylindrical Coordinate System

Coordinates zM
r = r (t ), = (t ), M
z = z (t ) r
Position vector ez
e z
r = rer + zez O r yM
xM er
Velocity vector
v =r er = e ,
= rer + rer + zez + zez e = − er ,
= rer + r e + zez ez = 0
Acceleration vector
a = v = (r − r 2
)er + (r + 2r )e + zez
Relationship btw. Cylindrical and Cartersian coordinate systems
x M = r cos zM
yM = r sin
zM = z M
r
ez
x M = r cos − r sin e z
yM = r sin + r cos O r yM
xM er
zM = z
x M = (r − r 2
) cos − (r + 2r ) sin
yM = (r − r 2
) sin + (r + 2r )cos
zM = z

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Chapter 1. Introduction to Dynamics -2-

Study of what happens to a “thing” (the technical name is

Department of Applied Mechanics-SME

• Dynamics: dealing with the motions of material

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Chapter 1. Introduction to Dynamics -4-

Department of Applied Mechanics-SME

Department of Applied Mechanics-SME

Chapter 1. Introduction to Dynamics -6-

Motion of some mechanical systems in engineering

Relationship between motor

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Motion of some mechanical systems in engineering

Department of Applied Mechanics-SME

Chapter 1. Introduction to Dynamics -8-

Motion of some mechanical systems in engineering

Department of Applied Mechanics-SME

Motion of some mechanical systems in engineering

Relationship between motion of

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Chapter 1. Introduction to Dynamics -10-

Motion of some mechanical systems in engineering

Relationship between motion of

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1.2 Basic concepts of Dynamics

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Chapter 1. Introduction to Dynamics-12-

1.2 Basic concepts of Dynamics

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Two models using in Kinematics: Particle and Rigid body

Particle model Rigid body model B

Chapter 1. Introduction to Dynamics -14-

4. Some kind of motion of a particle

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5. Some kind of motion of a rigid body

B Motion of a rigid body:

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Chapter 1. Introduction to Dynamics -16-

5. Some kind of motion of a rigid body

Rotation about a fixed

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Basic Laws in Dynamics

Second dynamic axiom

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Chapter 1. Introduction to Dynamics-18-

Basic Laws in Dynamics

Fifth dynamic axiom

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What does the inertia system means:

In this system the 1st dynamics axiom is valid.

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Chapter 1. Introduction to Dynamics-20-

Four fundamental physical quantities (or dimensions) .

Newton’s 2nd Law relates them: F = m a

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Force, mass, time and acceleration are related by Newton’s