CO-4 OUTCOME

Analyze the rigid

bodies under translation and
rotation with and without
considering forces.
 DYNAMICS SYLLABUS
 
Kinematic of Rigid Body: Introduction, Plane
Motion of Rigid Body, Velocity and Acceleration
under Translation and Rotational Motion.
 
Kinetics of Rigid Body: Introduction, Force,
Mass and Acceleration, Work and Energy, Impulse
and Momentum, D’Alembert’s Principles and
Dynamic Equilibrium.
 
 SESSION OUTCOMES
At the end of this session, Students will
be able to

1.Understand the kinematics of rigid

body.  
2.Solve relevant problems.
 INTRODUCTION
Dynamics: Dynamics is the branch of mechanics which
deals with forces and their effects while acted upon bodies
which are in motion.

Dynamics classified into two types

a) Kinematics and b)Kinetics

Kinematics: Kinematics is the branch of mechanics which

deals with motion parameters without considering the forces
responsible for motion.

Kinetics: Kinetics is the branch of mechanics which deals

with motion parameters as well as forces responsible for
motion.

Statics & Dynamics.exe Bridges.exe

Translation:

A rigid body is said to have a translatory motion if an

imaginary straight line drawn on the body remains parallel to
its original position

Rotation:
All the particles of a rigid body move in concentric
circular paths.

plane motion:

It is neither a translation nor a rotation

Motion Parameters:
• Displacement
• Velocity
• Uniform Velocity
• Acceleration
• Uniform Acceleration
• Retardation (or) Decceleration
• Jerk

MotionDiagram.swf
Kinematic Equations of Motion =
 Introduction
• Kinematics of rigid bodies: relations between
time and the positions, velocities, and
accelerations of the particles forming a rigid
body.
• Classification of rigid body motions:
- translation:
• rectilinear translation
• curvilinear translation
- rotation about a fixed axis
- general plane motion

Kinematics of Rigid Bodies.mp4

 Translation
• Consider rigid body in translation:
- direction of any straight line inside the
body is constant,
- all particles forming the body move in
parallel lines.
• For any two particles in the body,
  
rB  rA  rB A
• Differentiating with respect to time,
   
rB  rA  rB A  rA
 
vB  v A
All particles have the same velocity.
• Differentiating with respect to time again,
rB  rA  rB A

 rA
 
aB  a A
All particles have the same acceleration.
1.A ship being launched slips down the skids
with uniform acceleration. If 10s is required
to traverse the first 4.8m, what time will be
required to slide the total distance of 120m?
with what velocity v will the ship strike the
water?
(Ans. t = 50s; v=4.8m/s)
 Participative session
Quiz

1. If a rigid body is in translation only, the

velocity at points A and B on the rigid
body _______ .
A) are usually different
B) are always the same
C) depend on their position
D) depend on their relative position
2. _______is the branch of mechanics which
deals with motion parameters without
considering the forces responsible for
motion.
a)Kinematics b)Kinetics
c) Dynamics d) None
Rotation About a Fixed Axis. Velocity
• Consider rotation of rigid body about a
fixed axis AA’

 
• Velocity vector v  dr dt of the particle P is
tangent to the path with magnitude v  ds dt
s   BP     r sin   
ds 
v  lim  r sin    r sin 
dt t 0 t

• The same result is obtained from


 dr  
v r
dt

   kˆ  kˆ  angular velocity
Rotation About a Fixed Axis. Acceleration
• Differentiating to determine the acceleration,

 dv d  
a    r 
dt dt
 
d   dr
  r  
dt dt

d   
  r  v
dt

d 
•    angular acceleration
dt
  kˆ   kˆ  kˆ
• Acceleration of P is combination of two
vectors,
     
a = α × r + ω×( ω× r )
 
α × r = tangential acceleration component
  
ω × ( ω × r ) = radial acceleration component
Equaations Defining the Rotation of a
Rigid Body About a Fixed Axis
• Motion of a rigid body rotating around a fixed axis
is often specified by the type of angular
acceleration.
d d
• Recall   or dt 
dt 
d d 2 d
  2 
dt dt d

• Uniform Rotation,  = 0:
   0  t

• Uniformly Accelerated Rotation,  = constant:

  0   t
   0   0t  12  t 2
 2   02  2    0 
 General Plane Motion

• General plane motion is neither a translation nor

a rotation.
• General plane motion can be considered as the
sum of a translation and rotation.
• Displacement of particles A and B to A2 and B2
can be divided into two parts:
- translation to A2 and B1
- rotation of B1 about A2 to B2
Absolute and Relative Velocity in Plane Motion

• Any plane motion can be replaced by a translation of an

arbitrary reference point A and a simultaneous rotation
about A.
  
vB  v A  vB A
  
v B A   k  rB A v B A  r
   
v B  v A   k  rB A
 Absolute and Relative Velocity in Plane Motion

• Assuming that the velocity vA of end A is known, wish to determine the

velocity vB of end B and the angular velocity  in terms of vA, l, and .
• The direction of vB and vB/A are known. Complete the velocity diagram.
vB vA vA
 tan    cos
vA v B A l
v B  v A tan  vA

l cos
 Absolute and Relative Velocity in Plane Motion

• Selecting point B as the reference point and solving for the velocity vA of end
A and the angular velocity  leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the
relative velocity is dependent on the choice of reference point.
• Angular velocity  of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
 EQUATION OF MOTION
Equation of linear motion
mẌ= Σ F or ma= Σ F
Ẍ or a = acceleration , m= mass and Σ F= algebraic sum of the forces
acting on the body

Equation of motion in rotation

IӪ= Σ M or I α = Σ M
I= moment of inertia about axis of rotation, Ӫ or α= angular acceleration
Σ M= algebraic sum of moments about, axis of rotation.

In plane motions both the equations

are used
2.The wheel of a small gyroscope is set
spinning by pulling on a string wound
around the shaft. Its moment of inertia is
I=5562.5 kg-mm2 and the diameter of the
shaft on which the string is wound is
12.5mm. If 750mm of string is pulled off
with a constant force of 53.4N, what angular
velocity will be imparted to the wheel?
(Ans.ω=120 rad/s)
3.A solid right circular drum of radius r =0.3m and weight
W=143.3N is free to rotate about its geometric axis as shown
in Fig.1.Wound around the circumference of the drum is a
flexible cord carrying at its free end a weight Q=44.5 N. If
the weight Q is released from rest, (a) find the time t
required for it to fall through the height h=3m. (b) With
what velocity v will it strike the floor? (Ans. (a) t
=1.275 s; (b) v=4.71 m/s)

Fig.1
4.Figure 2 represents a system consisting of a block A of weight Wa=
3853.7N, connected to a block B of weight Wb= 2865.8N by a flexible
cord which runs over a pulley of radius r= 300mm and weight Wc =
1432.9N. The block A slides along a plane inclined to the horizontal
by the angle α = 30 0 and for which the coefficient of friction is µ=
0.1. Friction of the axle of the pulley is assumed to supply a constant
resisting torque of 13.35Nm.Assuming that no slipping occurs
between the cord and the pulley, determine (a) the acceleration of the
blocks and (b) the maximum tensile force in the cord.
(Ans. (a) a= 0.73m/s2; (b) Smax = 2647.75N)

Fig.2