Engineering Mechanics-II

(Engineering Dynamics)
By:
Engr. Muhammad Ishfaq Khan
 Course Outline
Chapter 12- Kinematics of a Particle
(5 sessions)
• Rectilinear Kinematics: Continuous Motion
• Rectilinear Kinematics: Erratic Motion
• General Curvilinear Motion
• Curvilinear Motion: Rectangular Components
• Motion of a Projectile
• Curvilinear Motion: Normal and Tangential Components
• Curvilinear Motion: Cylindrical Components
• Absolute Dependent Motion Analysis of Two Particles
• Relative-Motion of Two Particles Using Translating Axes
 Chapter 13- Kinetics of a Particle: Force and
Acceleration
(3 sessions)
• Newton's Second Law of Motion
• The Equation of Motion
• Equation of Motion for a System of Particles
• Equations of Motion: Rectangular Coordinates
• Equations of Motion: Normal and Tangential Coordinates
• Equations of Motion: Cylindrical Coordinates
 Chapter 14- Kinetics of a Particle: Work and Energy
(3 sessions)
• The Work of a Force
• Principle of Work and Energy
• Principle of Work and Energy for a System of Particles
• Power and Efficiency
• Conservative Forces and Potential Energy
• Conservation of Energy
Chapter 15- Kinetics of a Particle: Impulse and Momentum
(4 sessions)
• Principle of Linear Impulse and Momentum
• Principle of Linear Impulse and Momentum for a System of Particles
• Conservation of Linear Momentum for a System of Particles
• Impact
 Chapter 16- Planar Kinematics of a Rigid Body
(4sessions)
• Planar Rigid-Body Motion
• Translation
• Rotation about a Fixed Axis
• Absolute Motion Analysis
• Relative-Motion Analysis: Velocity
• Instantaneous Center of Zero Velocity
• Relative- Motion Analysis: Acceleration
• Relative-Motion Analysis using Rotating Axes
Chapter 17- Planar Kinetics of a Rigid Body: Force and Acceleration
(4 sessions)
• Moment of Inertia
• Planar Kinetic Equations of Motion
• Equations of Motion: Translation
• Equations of Motion: Rotation about a Fixed Axis
• Equations of Motion: General Plane Motion
 Chapter 18- Planar Kinetics of a Rigid Body: Work and Energy
(5 sessions)
• Kinetic Energy
• The Work of a Force
• The Work of a Couple
• Principle of Work and Energy
• Conservation of Energy
Chapter 19- Planar Kinetics of a Rigid Body: Impulse and
Momentum
(4 sessions)
• Linear and Angular Momentum
• Principle of Impulse and Momentum
• Conservation of Momentum
Course Materials
Recommended Book(s)
Engineering Mechanics (Vol. 1)12th Edition By R.C. Hibbler,Prentice
Hall,
Reference Book(s)
1- Engineering Mechanics 6thEdition By Merriam&L.G.KraigeJohn
Wiley & Sons
2- Vector Mechanics For Engineers (Dynamics) 4thEditionby Ferdinand
P. Beer & E. Russell Johnston Jr.McGraw-Hill Science
Course Objectives
• Students will learn about Cartesian coordinate system, Position,
Velocity, Acceleration, and Position-Time, Velocity-Time,
Acceleration –Time Graphs, Rectilinear, curvilinear motion and
projectile motion. Students would be able to solve the problems
related to Polar coordinate system and its application on space
curvilinear motion. Students would be familiarized with Newton’s
second law and its application in Cartesian, Normal and tangential and
polar coordinates system. Students would learn to apply principles of
work energy impulse and momentum for particles and rigid bodies
Course Learning Outcomes (CLO)
• CLO-1:
Comprehend key concepts related to position, velocity and acceleration
in Cartesian, Normal and Tangential and Polar Coordinate Systems,
kinetics, work and energy for particles and rigid bodies. (C2)
• CLO-2:
Analyze the problems related to kinematics of particles and rigid bodies
using different coordinate systems. (C4)
• CLO- 3:
Analyze the problems related to Kinetics of rigid bodies using different
principles and techniques for their solution. (C4)
 Evaluation Criteria
Title Applicable to
• As per Following Rubric
During Class
Class Participation & Attitude
During Class
Regularity & Punctuality
Assignment
Quiz
Assignment
Genuity
Quiz
During Class
Presentation
Assignment
Quiz
 Marks Break Down
•
Assessment Modules \ CLOs Weightage
Assignments (10%) 10%

Home Works (10%) 10%

Midterm Exam (30%) 30%

Final Exam (50%) 50%

 Quizzes & Assignments
Title Number Expected % Weightage of Each
• Chapters

Assignments All Chapters 3 % Each

3
Home Works All Chapters 3 % Each
3
Total 6 Complete 20%
Course
Expected Format Subjective, Numerical and Short
Questions
 Introduction
• Engineering Mechanics: Physical Science to Study State of Rest or Motion
of Body subjected to Action of Force
• Engineering Mechanics has two streams:
• Statics: Study of Equilibrium of Body at Rest or moving with Constant Velocity
• Dynamics: Accelerated Motion of a Body
• Dynamics has two streams as:
• Kinematics: Analysis of Only Motion (Geometrical Aspects of Motion), ex. Google
maps/ walk calculating software
• Kinetics: Analysis of Forces Causing Motion
• Fundamental Core Concepts:
1- Frame of Refence 2-Position 3-Time 4- Speed & Velocity
5- Linear & Angular Acceleration 6- Linear & Angular Momentum
History
• Dynamics came into being by invention of means to Accurately
Record Time (Pendulum…….Gallilio Galilei)
• Universal Gravitational Attraction of Isaac Newton
• Fundamental Laws of Motion of Isaac Newton
• Euler…..Linear Momentum, Angular Momentum
• D’ Alembert & Lagrange ….. Virtual Work
Steps to Solve Dynamics Question
1. Reading the problem & correlating with actual physical conditions
2. Drawing Diagrams & Tabulating Data
3. Establishing Coordinate System & Applying Relevant Principles in
Mathematical Form
4. Solving Algebraically the Equations and Getting Answer with
Significant Figure Rules
5. Analyzing the Answer Technically and with Common Sense to be
True
6. Thinking of Other Ways to Solve the Problem
Chapter 12-
Kinematics of a Particle (5 sessions)
1. Rectilinear Kinematics: Continuous Motion
2. Rectilinear Kinematics: Erratic Motion
3. General Curvilinear Motion
4. Curvilinear Motion: Rectangular Components
5. Motion of a Projectile
6. Curvilinear Motion: Normal and Tangential Components
7. Curvilinear Motion: Cylindrical Components
8. Absolute Dependent Motion Analysis of Two Particles
9. Relative-Motion of Two Particles Using Translating Axes
Key Concepts
• Position
• Displacement
• Time
• Velocity
• Acceleration
Rectilinear Kinematics
• Particle has mass but negligible size and shape (w.r.t. path it
follows)
• Motion of Mass Centre and No Rotation
• Study of Kinematics of a Particle Moving along a Straight Line is
called Rectilinear Motion,
• Kinematics Means Specifying with respect to time
1. Position,
2. Velocity and
3. Acceleration
• Rectilinear Kinematics is either:
• Continuous Rectilinear Kinematics, or,
• Erratic Rectilinear Kinematics
Rectilinear Kinematics: Continuous Motion
• If during a given interval of time of a particle motion is continuous along
a straight line, the motion will be called Rectilinear Kinematics
Continuous Motion
• During that interval position, velocity and acceleration are known/can be
known at any instant
• Ex. Travelling 24 hours continuously on a car to reach Karachi vs. same person
staying at Karachi for next 24 hours!
• Key Concepts to be Understood are:
1. Rectilinear Position
2. Rectilinear Displacement
3. Rectilinear Distance
4. Rectilinear Velocity
5. Rectilinear Acceleration
Rectilinear Position o r
Particle P
s
s

• A single coordinate axis s along the path of the particle

• The origin O of the path is a fixed point
• From O, Position Vector r is used to specify the location of the particle
• r is always along s-Axis
• r is positive if particle is located on the right side and negative if
particle on the left side
Rectilinear Displacement
• Change in Position of a Particle
• Vector Subtraction
• Δr = r’-r
• Algebraic Scalars
• Δs= s’-s
• Displacement:
• Positive if r’>r
• Negative if r’<r
• Distance Scalar, so, Always Positive
Rectilinear Velocity
• Δr displacement covered in time Δt => vavg
• Δt => 0, vavg becomes v=dr/dt
• Δt is scalar, the velocity sign is dependent on Δr
• Speed is scalar and is positive and is v= ds/ dt
• Velocity is dependent on Δr , so, may be positive or negative
• Speed is total distance divided by time taken to cover that distance,
while velocity is change in position vector divided by time taken to
change the position
 Rectilinear Acceleration
• The change in velocity over a given time is called Rectilinear Acceleration
aavg = Δv/ Δt, Δv = v’-v
• Δt => 0, a = dv/dt
• Scalar a = dv/dt Or a = d2s/dt2
• aavg = Δv/ Δt, Δv = v’-v
• If, v’>v the object is accelerating and a is in the direction of v and
• If v’<v, a, the object is deaccelerating
• If v is constant a is 0
• a ds = v dv (dt=dv/a=ds/v =>a ds=v dv)
• Acceleration may be constant or variable
Constant Rectilinear Acceleration
• Any thing you remember from junior classes regarding acceleration?
• Newton’s Equations of Motion
• What is major assumption in deriving these equations?
• Any example of Constant Acceleration?
• Any thing falling towards earth from height
• Newton’s 1st Law of Motion (Velocity as function of time)
𝑣 𝑡
• ‫𝑣𝑑 𝑣׬‬ = ‫׬‬0 𝑎𝑐 𝑑𝑡
0
• 𝑣(𝑡) = 𝑣0 + 𝑎𝑐 𝑡
Rectilinear Kinematics: Continuous Motion
• Newton’s 2nd Law of Motion
𝑠 𝑡 𝑑𝑠
• ‫𝑠𝑑 𝑠׬‬ = ‫׬‬0 (𝑣0 + 𝑎𝑐 𝑡)𝑑𝑡 𝑣 = ⇒ 𝑑𝑠 = 𝑣𝑑𝑡
0 𝑑𝑡
1
• 𝑠(𝑡) = 𝑣0 𝑡 + 𝑎𝑐 𝑡 2
2
• Newton’s 3rd Law of Motion
𝑣 𝑠
• ‫𝑠𝑑 𝑐𝑎 𝑠׬ = 𝑣𝑑𝑣 𝑣׬‬
0 0
• 𝑣 2 = 𝑣0 2 + 2𝑎𝑐 (𝑠 − 𝑠0 )
Rectilinear Kinematics: Erratic Motion
• “When a particle’s motion during a time period is erratic or there is a
discontinuity in the motion, then it may be difficult to obtain a
mathematical function to describe its position, velocity and
acceleration”
• How can we get the required information?
• Experimentally relationship between any two quantities among a,v,s
and t should be found out
• Other quantities may be found out from the relationship
Rectilinear Kinematics: Erratic Motion
• When s-t Graph is known experimentally:
𝑑𝑠
• =𝑣
𝑑𝑡
𝑑𝑠
• = 𝑠𝑙𝑜𝑝𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑔𝑟𝑎𝑝ℎ 𝑖. 𝑒. 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑡ℎ𝑒 𝑝𝑎𝑟𝑡𝑖𝑐𝑙𝑒
𝑑𝑡
• Slope at a point of s-t means a point on v-t graph
Rectilinear Kinematics: Erratic Motion
• When v-t Graph is known experimentally:
𝑑𝑣
• =𝑎
𝑑𝑡
𝑑𝑣
• = 𝑠𝑙𝑜𝑝𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑔𝑟𝑎𝑝ℎ 𝑖. 𝑒. 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑡ℎ𝑒 𝑝𝑎𝑟𝑡𝑖𝑐𝑙𝑒
𝑑𝑡
• Slope at a point of v-t means a point on a-t graph
Rectilinear Kinematics: Erratic Motion
• When v-t and a-t Graphs are known experimentally:
𝑑𝑠 𝑡2
• =𝑣 => ∆s=‫𝑡𝑑𝑣 𝑡׬‬
𝑑𝑡 1
𝑑𝑣 𝑡2
• =𝑎 => ∆v=‫𝑡𝑑𝑎 𝑡׬‬
𝑑𝑡 1
Rectilinear Kinematics: Erratic Motion
• When a-s Graph is known experimentally:
• v-s graph may be attained using v dv=a ds
1 𝑠1
• 𝑣12 − 𝑣02 = ‫𝑠𝑑𝑎 𝑠׬‬
2 0
1
𝑠1
• 𝑣1 = (2 ‫𝑠𝑑𝑎 𝑠׬‬ + 𝑣02 )2
0
Rectilinear Kinematics: Erratic Motion
• When v-s Graph is known experimentally:
𝑑𝑣
•𝑎= 𝑣
𝑑𝑠
General Curvilinear Motion: Rectangular
Components
• Position:
• r = xi+yj+zk𝐫 = 𝑥2 + 𝑦2 + 𝑧2
• Velocity:
𝑑𝒓 𝑑 𝑑 𝑑
• 𝑣= = 𝑥𝒊 + 𝑦𝒋 + 𝑧𝒌,
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑 𝑑𝑥 𝑑𝒊
• while, 𝑥𝒊 = 𝒊 + 𝑥(Chain Rule!!!!!)
𝑑𝑡 𝑑𝑡 𝑑𝑡
• What does this equation mean?
• (both magnitude & direction are changing)
𝑑𝒊
• 𝑥=0
𝑑𝑡
• Why?
• because both its direction and magnitude are not changing
𝑑𝑥
• 𝒊 = 𝒗𝒙 𝒊
𝑑𝑡
𝒅𝒓
• =>𝒗 = = 𝒗𝒙 𝒊 + 𝒗𝒚 𝒋 + 𝒗𝒛 𝒌𝒗𝒙 = 𝒙,ሶ 𝒗𝒚 = 𝒚,ሶ 𝒗𝒛 = 𝒛ሶ
𝒅𝒕

• 𝒗= 𝒗𝒙 𝟐 + 𝒗𝒚 𝟐 + 𝒗𝒛 𝟐
General Curvilinear Motion: Rectangular
Components
• Acceleration:
𝒅𝒗
• 𝒂= = 𝒂𝒙 𝒊 + 𝒂𝒚 𝒋 + 𝒂𝒛 𝒌
𝒅𝒕
• 𝒂𝒙 = 𝒗ሶ 𝒙 = 𝒙ሷ , 𝒂𝒚 = 𝒗ሶ 𝒚 = 𝒚ሷ , 𝒂𝒛 = 𝒗ሶ 𝒛 = 𝒛ሷ
• 𝒂= 𝒂𝒙 𝟐 + 𝒂𝒚 𝟐 + 𝒂𝒛 𝟐
Motion of a Projectile
• It is a specific case of Rectangular Coordinate Motion!
• Constant Acceleration in Vertical Direction Only
• Side View and Top View!!!!!
• Newton’s Equations
• 𝑣 = 𝑣0 + 𝑎𝑐 𝑡 a = -gj
1
• 𝑥 = 𝑥0 + 𝑣0 𝑡 + 2 𝑎𝑐 𝑡 2
• 𝑣 2 = 𝑣02 + 2𝑎𝑐 (𝑠 − 𝑠0 ) x x
• X-Direction
v0 v0y v
• 𝑣𝑥 = 𝑣0 𝑥 vy
• 𝑥 = 𝑥0 + 𝑣0 𝑥 𝑡
• 𝑣𝑥 = 𝑣0 𝑥 x0 v0x vx
r
• y-Direction
• 𝑣𝑦 = 𝑣0 𝑦 𝑡 − 𝑔𝑡 y0
1 y
• 𝑦 = 𝑦0 + 𝑣0 𝑦 𝑡 − 2 𝑔𝑡 2
• 𝑣𝑦2 = 𝑣0 2
𝑦 − 2𝑔(𝑦 − 𝑦0 )
• What if there is acceleration in
horizontal direction as well?
y
o
Curvilinear Motion and Coordinate System
•
 Curvilinear Motion: Normal and Tangential Components
• When the “path of motion of a particle is known”, normal (n) and tangential (t) coordinates are
often used
• Any Example of known path?...... to deliver a package to a place known to you/ google map
direction indicator
• Origin is located on the particle (the origin moves with the particle)
• Some device is installed on you to track your movement on the way to deliver the package/
the google tracing your movement in real time
• Above paths you are following are not known in mathematical form, there are instances
when the paths are known in mathematical form, the method is very handy to analyze
the motion
• When space ships/missiles are fired/launched, their paths are rigorously worked out
to be known mathematically
• Curves are designed on roads as per known curvatures i.e. known mathematically
• Aero planes take off as per mathematically known path
 Radius of Curvature
• Every curve is part of a circle
• The center of that circle, of which the curve is part of, is also the
center of the curvature and radius of the circle is called radius of
the curvature
𝟑
𝒅𝒚 𝟐 𝟐
𝟏+ ρ
𝒅𝒙
ρ= 𝒅𝟐 𝒚
𝒅𝒙𝟐
• Where is the center of a straight line? O
• What is the radius of curvature of circle?
 Normal and Tangential Components

• s ds
s
O
O ρ v
′
v 𝑂 ρ
′
𝑂
dθ v
 Normal and Tangential Components ds

• v = vutv=𝑠a ሶ 𝒕 + 𝑣 𝒖ሶ 𝒕
ሶ = 𝑣𝒖 dθ
𝑠ሶ 𝑣
ሶ
• 𝒖ሶ 𝒕 = 𝜃𝒖𝒏 = 𝒖𝒏 = 𝒖𝒏
O
𝜌 𝜌 ύt = ut+dut
𝒖𝒏
dθ d ut= (1)dθ along un
=>d ut = dθ un
ρ
𝒖′ 𝒕 ′ ሶ 𝒏
𝒖ሶ 𝒕 = 𝜃𝒖
𝒖 𝒕 𝒅𝒔 = 𝝆 𝒅𝜽
𝒔ሶ
ሶ𝜽 =
u
ρ
ό

t 𝝆
ut 𝒔ሶ
𝒅𝒖𝒕 ሶ
𝒖ሶ 𝒕 = 𝜽𝒖𝒏 = 𝒖𝒏
𝝆
𝒗
= 𝒖𝒏
𝝆
Normal and Tangential Components
𝒔ሶ 𝒗
• a = 𝑣𝑢 ሶ
ሶ 𝑡 + 𝑣 𝑢ሶ 𝑡 𝒖ሶ 𝒕 = 𝜽𝒖𝒏 = 𝒖𝒏 = 𝒖𝒏
𝝆 𝝆
𝑣2
• 𝑎 = 𝑎𝑡 𝑢𝑡 + 𝑎𝑛 𝑢𝑛 𝑎𝑛 = 𝑣 𝑢ሶ 𝑡 = 𝑢𝑛 𝑎𝑡 = 𝑣ሶ
𝜌

• 𝑎 = 𝑎𝑡 2 + 𝑎𝑛 2
• Why this system?/What benefits it has?
Curvilinear Motion: Cylindrical
Components
• What is a cylinder?
• What is a truncated cone?
• Have you seen a Screw?
• Have you observed its motion?
• In how many directions does it have a motion?
Curvilinear Motion: Cylindrical
Components
• Problems involving angular displacement and radial distance
• r, θ, z for 3-D and r,θ for plane 2-D problems
• r is radial, θ is transverse coordinate θ

• θ is between r and a fixed line in counterclockwise direction u’θ

u’r
r

• r is position vector θ
r=rur
uθ

• 𝒗 = 𝒓ሶ = 𝑟𝒖 ሶ 𝒓 +𝑟𝒖ሶ 𝑟 r
Δs
r

uθ ur r’
ur
Δθ
r
r
θ

θ O

O
 θ

Δθ

Cylindrical Components θ
Δuθ

u’r Δur uθ

• 𝒗 = 𝒓ሶ = 𝑟𝒖
ሶ 𝒓 +𝑟𝒖ሶ 𝑟 r
u’θ

• 𝑢ሶ 𝑟 𝑎𝑛𝑑𝑢ሶ θ 𝑐ℎ𝑎𝑛𝑔𝑒 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 𝑜𝑛𝑙𝑦 their r

Magnitude remains 1 so does not change ur

Δθ

• 𝑢′𝑟 = 𝑢𝑟 + ∆𝑢𝑟 𝑢′θ = 𝑢θ + ∆𝑢θ

∆𝑢𝑟 = 1Δθ 𝑎𝑙𝑜𝑛𝑔 𝑢θ 𝑎𝑛𝑑 ∆𝑢θ = 1Δθ 𝑎𝑙𝑜𝑛𝑔 − 𝑢θ
=>∆𝑢𝑟 = Δθ 𝑢θ 𝑎𝑛𝑑 ∆𝑢θ = −Δθ 𝑢𝑟
• Taking time derivatives
ሶ 𝜃 𝑎𝑛𝑑 𝑢ሶ 𝜃 = −𝜃𝑢
• 𝑢ሶ 𝑟 = 𝜃𝑢 ሶ 𝑟
Cylindrical Components
• 𝒗 = 𝒓ሶ = 𝑟𝒖 ሶ 𝒓 +𝑟𝒖ሶ 𝑟
• 𝑢ሶ 𝑟 = 𝜃𝑢ሶ 𝜃 𝑎𝑛𝑑 𝑢ሶ 𝜃 = −𝜃𝑢 ሶ 𝑟
• 𝑣 = 𝑟𝑢 ሶ 𝑟 + 𝑟𝜃𝑢 ሶ 𝜃
• 𝑎 = 𝑣ሶ = 𝑟𝑢 ሶ 𝜃 + 𝑟𝜃𝑢
ሷ 𝑟 + 𝑟ሶ 𝑢ሶ 𝑟 + 𝑟ሶ 𝜃𝑢 ሷ 𝜃 + 𝑟𝜃ሶ 𝑢ሶ 𝜃
• 𝑎 = 𝑟ሷ −𝑟𝜃ሶ 2 𝑢𝑟 + 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ 𝑢𝜃
• 𝑎 = 𝑎𝑟 𝒖𝒓 + 𝑎𝜃 𝒖𝜽
Absolute Dependent Motion Analysis of Two
Particles
• Motion of one particle depend on motion of an other particle
• Particles connected via inextensible strings
SB
• Characteristics of axes of such motion are:
1. Referenced from fixed point SA
2. Measured along direction of motion
3. Positive away from reference point
• 𝑆𝐴 + 𝑆𝐵 + 𝑙𝐶𝐷 = 𝑙 𝑇
• 𝑣𝐵 = −𝑣𝐴
• 𝑎𝐵 = −𝑎𝐴
• Any Example? clutches
Relative-Motion of Two Particles Using
Translating Axes
• When path of motion of a particle is too complicated, it becomes very
difficult and cumbersome to track its trajectory w.r.t. absolute F.O.R.
studied so far
• For example Imagine:
• Motion of a point on front shock of motorcycle on a bumpy road
• Motion of a point on spoke of front wheel of motorcycle on a flat road
• How to handle such situations?
• Using Relative-Motion of Two Particles Using Translating Axes
• Motion Analysis in Parts
• Fix F.O.R. on Major Translating Body called Translating F.O.R.
• Superimpose motion of minor body w.r.t. T.F.O.R. onto Motion w.r.t. Fixed F.O.R.
Relative-Motion of Two Particles Using
Translating Axes
• 𝒓𝐵 = 𝒓𝐴 + 𝒓𝐵/𝐴 y’

• 𝒗𝐵 = 𝒗𝐴 + 𝒗𝐵/𝐴 y A x’
B
• 𝒂𝐵 = 𝒂𝐴 + 𝒂𝐵/𝐴 rA z’
rB/A

rB
O
x

z
Numerical
• 12.9-12.15,
• 12.19-12.20, 12.22, 12.23,12.28, 12.31, 12.34
• 12.40-12.51, 12.58
• 12.64, 12.67, 12.66
• 12.73-12.79
• 12.81-12.88
• 12.89-12.107, 112, 113
• 12.116-12.122, 127-130,136*,137, 139-142, 148
• 12.156-12.161
• 12.29, 12.30, 12.141, 12.154,12.156,
• 12.171-12.173, 12.176, 12.177, 12.180, 12.181, 12.197, 12.198
• 12.199-12.209
• 12.213-12.216
• 12.222-12.225, 12.227, 12.228 12.231, 12.233
 Chapter 13-
Kinetics of a Particle: Force and Acceleration (3
sessions)
1. Newton's Second Law of Motion
2. The Equation of Motion
3. Equation of Motion for a System of Particles
4. Equations of Motion: Rectangular Coordinates
5. Equations of Motion: Normal and Tangential Coordinates
6. Equations of Motion: Cylindrical Coordinates
Newton's Second Law of Motion
“A particle acted upon by an unbalanced force F experiences an
acceleration a that has same direction as force and a magnitude that
is directly proportional to the force.”
𝑭∝𝒂
• If known force F is applied and corresponding acceleration a is
measured in a laboratory, F is directly proportional to a, constant
of proportionality is called m.
• For a given mass m, Newton’s 2nd Law may be defined as:
𝑭=𝑚𝒂
Equation of Motion
• A particle acted upon by an unbalanced force F experiences an
acceleration a that has same direction as force and a magnitude that
is directly proportional to the force
෍𝑭 = 𝑚 𝒂
Inertial Frame of Reference
• To apply equation of motion, measurements of acceleration must be
made from Newtonian or Inertial Frame of Reference defined as:
“A coordinate system that does not rotate and is either fixed or
translates in a given direction with a constant velocity”

ap

a0
V0

O O
Equations of Motion: Rectangular
Coordinates
• σ 𝑭 = 𝑚 𝒂 σ 𝑭𝑥 𝒊 + σ 𝑭𝑦 𝒋+σ 𝑭𝑧 𝒌 = 𝑚(𝒂𝑥 𝒊 + 𝒂𝑦 𝒋 + 𝒂𝑧 𝒌)
෍ 𝐹𝑥 = 𝑚𝑎𝑥

෍ 𝐹𝑦 = 𝑚𝑎𝑦

෍ 𝐹𝑧 = 𝑚𝑎𝑧
Equations of Motion: Normal and
Tangential Coordinates
• σ 𝑭 = 𝑚𝒂
• σ 𝐹𝑡 𝒖𝑡 + σ 𝐹𝑛 𝒖𝑛 + σ 𝐹𝑏 𝒖𝑏 = 𝑚𝑎𝑡 +𝑚𝑎𝑛
• σ 𝐹𝑡 = 𝑚𝑎𝑡
• σ 𝐹𝑛 = 𝑚𝑎𝑛
• σ 𝐹𝑏 = 0
Equations of Motion: Cylindrical
Coordinates
• σ 𝑭 = 𝑚𝒂
• σ 𝐹𝑟 𝒖𝑟 + σ 𝐹θ 𝒖θ + σ 𝐹𝑧 𝒖𝑧 = 𝑚𝑎𝑟 +𝑚𝑎θ + 𝑚𝑎𝑧
• σ 𝐹𝑡 = 𝑚𝑎𝑡
• σ 𝐹𝑛 = 𝑚𝑎𝑛
• σ 𝐹𝑧 = 𝑚𝑎𝑧
θ

uθ r
ψ

ur

O
Numerical
• 13.5, 13.11, 13.15, 13.17, 13.18-13.22, 13.31, 13.33, 13.34, 13.41-
13.43, 13.46, 13.47
• 13.52-13.54, 13.57, 13.58, 13.59, 13.66, 13.75, 13.76, 13.80-13.82
• 13.89, 13.90, 13.91, 13.93, 13.95, 13.96, 13.97, 13.99-13.103, 13.109,
13.110
Chapter 14-
Kinetics of a Particle: Work and Energy (3 sessions)
1. The Work of a Force
2. Principle of Work and Energy
3. Principle of Work and Energy for a System of Particles
4. Power and Efficiency
5. Conservative Forces and Potential Energy
6. Conservation of Energy
The Work of a Force
• Generally:
• 𝑑𝑈 = 𝐹𝑑𝑠𝑐𝑜𝑠𝜃 ⇒ 𝑑𝑈 = 𝑭. 𝒅𝒓
• Variable Force:
𝑟2 𝑠2
• 𝑈1−2 = ‫𝑭 𝑟׬‬. 𝑑𝒓 = ‫𝑠𝑑𝜃𝑠𝑜𝑐𝐹 𝑠׬‬
1 1

• Constant Force:
𝑠
• 𝑈1−2 = 𝐹𝑐 𝑐𝑜𝑠𝜃 ‫ 𝑠׬‬2 𝑑𝑠 ⇒ 𝑈1−2 = 𝐹𝑐 𝑐𝑜𝑠𝜃(𝑠2 − 𝑠1)
1

• Work of a Weight:
𝑟 𝑦
• 𝑈1−2 = ‫ 𝑟׬‬2 −𝑊𝒋 . (𝑑𝑥𝒊 + 𝑑𝑦𝒋 + 𝑑𝑧𝒌) = ‫ 𝑦׬‬2 −𝑊𝒋. 𝑑𝑦𝒋 = −𝑊 (𝑦2 − 𝑦1 )=−wΔ𝑦
1 1

• Spring Force:
𝑠 𝑠
• 𝑈1−2 = ‫ 𝑠׬‬2 𝐹𝑠 𝑑𝑠 ‫ 𝑠׬‬2 𝑘𝑠 𝑑𝑠
1 1
1 1
• 𝑈1−2 = ( 𝑘𝑠 2 2 − 𝑘𝑠 21 )
2 2
Principle of Work and Energy
• a mass m and is subjected to a system of external forces represented
by the resultant ΣFR = ΣF, then the equation of motion for the particle
in the tangential direction is ΣFt = mat.
• Applying the kinematic equation at = v dv/ds and integrating both
sides, assuming initially that the particle has a position s = s1 and a
speed v = v1 , and later at s = s2 , v=v2
Principle of Work and Energy
• work, which can be either positive or negative,
• kinetic energy is always positive, regardless of the direction of motion
of the particle
Principle of Work and Energy for a System
of Particles
• the arbitrary ith particle, having a mass mi, is subjected to a resultant external
force Fi and a resultant internal force fi which all the other particles exert on the
ith particle.
• the principle of work and energy is applied to this and each of
the other particles in the system,
• work and energy are scalar quantities, the equations can be summed
algebraically, which gives

• a translating rigid body, or a series of connected translating bodies, then all the
particles in each body will undergo the same displacement, Therefore, the work of
all the internal forces will occur in equal but opposite collinear pairs and so it
will cancel out.
Principle of Work and Energy for a System
of Particles
• For a non-rigid, the particles of the body may be displaced along
different paths, and some of the energy due to force interactions
would be given off and lost as heat or stored in the body if permanent
deformations
Power and Efficiency
• 14.4,6,7,10-15,19,23,31,32,33
• 47,58,62,58,65
• 70,71,76,77,86,89,95,96.
Conservative Forces and Potential Energy
Conservation of Energy
•
Chapter 15-
Kinetics of a Particle: Impulse and Momentum (4
sessions)
1. Principle of Linear Impulse and Momentum
2. Principle of Linear Impulse and Momentum for a System of
Particles
3. Conservation of Linear Momentum for a System of Particles
4. Impact
Newton’s 2nd Law: Linear Impulse and
Momentum
•
Momentum & Linear Impulse
• Linear Momentum
L=mv
• Linear Impulse
Principle of Linear Impulse and Momentum
•
Conservation of Linear Momentum for a
System of Particles
• the sum of the external impulses acting on a system of particles is
zero
• becomes

• referred to as the conservation of linear momentum

• applied when particles collide or interact
Impact
• Linear Momentum
L=mv
• Linear Impulse
Numerical
• 15.1-15.15, 15.17, 15.19, 15.21, 15.23-15.25, 15.29, 15.30, 15.33
Chapter 16-
Planar Kinematics of a Rigid Body (4sessions)
1. Planar Rigid-Body Motion
2. Translation
3. Rotation about a Fixed Axis
4. Absolute Motion Analysis
5. Relative-Motion Analysis: Velocity
6. Instantaneous Center of Zero Velocity
7. Relative- Motion Analysis: Acceleration
8. Relative-Motion Analysis using Rotating Axes
 Planar Rigid-Body Motion
• important for the design of gears, cams, and mechanisms used for many
mechanical operations
• The planar motion of a body occurs when all the particles of a rigid body move
along paths which are equidistant from a fixed plane
• three types of rigid body planar motion
1. Translation
a line in the body remains parallel to its
original orientation throughout the motion
2. Rotation about a fixed axis
When a rigid body rotates about a fixed
axis, all the particles of the body, except those
which lie on the axisof rotation, move along
circular pathsotion
3. General plane motion
A combination of translation and rotation
Planar Rigid-Body Motion
•.
Translation Planar Rigid-Body Motion
• Position
• points A and B on the body
• translating x' ,y' coordinate system is fixed in the body and has its
• origin at A (the base point)

• Velocity
• 𝒗𝑨 = 𝒗𝑩 + 𝒗𝑩/𝑨 𝒗𝑩/𝑨 =0 as 𝒓𝑩/𝑨 =constant
• 𝒗𝑨 = 𝒗𝑩
• Acceleration
• all points in a rigid body subjected to either rectilinear or curvilinear translation move
with the same velocity and acceleration
• 𝒂𝑨 = 𝒂𝑩
Rotation a bout a Fixed Axis
• Angular Motion
• a point is without dimension, it cannot have angular motion
• Only lines or bodies undergo angular motion
• the angular motion of a radial line r located within the shaded plane
• Angular Position
• the angular position of r is defined by the angle θ, measured from a
fixed reference line to r
• Angular Displacement
• The change in the angular position, which can be measured as
a differential dθ, is called the angular displacement
• a magnitude of dθ measured in degrees, radians, or revolutions
• direction is always along this axis determined by the right-hand
rule
Rotation a bout a Fixed Axis
• Angular Velocity
• time rate of change in the angular position
• a magnitude which is often measured in rad/s.
• direction is also along the axis of rotation
• rotation as clockwise or counterclockwise
𝑑θ
• ω=
𝑑𝑡
• An gular Acceleration
• angular acceleration α(alpha) measures the time rate of change of the angular
velocity
• a magnitude which is often measured in rad/s.
• direction is also along the axis of rotation
• rotation as clockwise or counterclockwise
𝑑ω
• α=
𝑑𝑡
Rotation a bout a Fixed Axis
• Motion of Point P
• Position and Displacement

• Velocity.

• Acceleration
Numerical
• 16.1-16.10
• 17-20
Chapter 17-
Planar Kinetics of a Rigid Body: Force and
Acceleration (4 sessions)
1. Moment of Inertia
2. Planar Kinetic Equations of Motion
3. Equations of Motion: Translation
4. Equations of Motion: Rotation about a Fixed Axis
5. Equations of Motion: General Plane Motion
Moment of Inertia

• moment of inertia is a measure of the resistance of a body to angular

acceleration (M = Iα) in the same way that mass is a measure of the
body's resistance to acceleration
• moment of inertia as the integral of the "second moment“ about an
axis of all the elements of mass dm which compose the body

• "moment arm" r is the perpendicular distance from the z axis to the

arbitrary element dm.
Moment of Inertia
•.
Parallel-Axis Theorem
•.

• => =

=0 & =m So,
Radius of Gyration
• the moment of inertia of a body about a specified axis is using the
radius of gyration, k
• a geometrical property which has units of length
• Composite Bodies:
a body consists of a number of simple shapes such as disks, spheres, and rods,
the moment of inertia of the body about any axis can be determined by adding
algebraically the moments of inertia of all the composite shapes computed about
the axis
Numerical
• 17.1-17.22
• 17.5 concept discussion(why dx and why 𝜋𝑦 2
1
• 𝐼𝑥 = 𝑚𝑟 2 for circle ex 17.3
2
Chapter 18-
Planar Kinetics of a Rigid Body: Work and
Energy (5 sessions)
1. Kinetic Energy
2. The Work of a Force
3. The Work of a Couple
4. Principle of Work and Energy
5. Conservation of Energy
Kinetic Energy
• problems involving force, velocity, and displacement
• subjected to translation, rotation about a fixed axis, or
general plane motion
• a slab moving in the inertial x-y reference plane, an arbitrary ith
particle of the body, having a mass dm, located a distance r from the
arbitrary point P.
• If at the instant shown the particle has a velocity vi, then the particle's
1
kinetic energy is 𝑇𝑖 = 𝑑𝑚𝑣𝑖 2
2
• kinetic energy of the entire body is determined by
𝟏
𝑻 = න 𝒅𝒎 𝒗𝒊 𝟐
𝟐 𝒎
Kinetic Energy 𝟏
𝑻 = න 𝒅𝒎 𝒗𝒊 𝟐
𝟐 𝒎
Work of a Couple Moment
•,
18.1-3,18.5-7,10
Chapter 19-
Planar Kinetics of a Rigid Body: Impulse and
Momentum (4 sessions)
1. Linear and Angular Momentum
2. Principle of Impulse and Momentum
3. Conservation of Momentum
Linear and Angular Momentum
• Linear Momentum
Linear Momentum
• Linear Momentum
Angular Momentum
•.
Angular Momentum
•