Vector Mechanics for Engineers: Dynamics

Edition
Tenth

Introduction

ESDYNA220 - DYNAMICS
Dynamics of Rigid Bodies

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 Vector Mechanics for Engineers: Dynamics
Edition
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An Overview of Mechanics
MECHANICS:
The study of how bodies react to forces
acting on them

STATICS: DYNAMICS:
The study of bodies in equilibrium The study of of bodies in motion and
changes in that motion
1. Kinematics – concerned with the
geometric aspects of motion
2. Kinetics - concerned with the
forces causing the motion
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 Vector Mechanics for Engineers: Dynamics
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Introduction
• Dynamics includes:
Kinematics: study of the geometry of motion.
Relates displacement, velocity, acceleration, and time without reference
to the cause of motion.
Fthrust

Fdrag

Flift

Kinetics: study of the relations existing between the forces acting on

a body, the mass of the body, and the motion of the body. Kinetics is
used to predict the motion caused by given forces or to determine the
forces required to produce a given motion.
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 Vector Mechanics for Engineers: Dynamics
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Kinematic relationships are used to

help us determine the trajectory of a
golf ball, the orbital speed of a
satellite, and the accelerations
during acrobatic flying.

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 Vector Mechanics for Engineers: Dynamics
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Introduction
• Particle kinetics includes:

• 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 in two or three
dimensions.
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Uniform Rectilinear Motion

During free-fall, a parachutist
For a particle in uniform
reaches terminal velocity when
rectilinear motion, the
her weight equals the drag
acceleration is zero and
force. If motion is in a straight
the velocity is constant.
line, this is uniform rectilinear
motion.

Careful – these only apply to

uniform rectilinear motion!
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 Vector Mechanics for Engineers: Dynamics
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Uniformly Accelerated Rectilinear Motion

If forces applied to a body

are constant (and in a
constant direction), then
you have uniformly
accelerated rectilinear
motion.

Another example is free-

fall when drag is negligible

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 Vector Mechanics for Engineers: Dynamics
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Uniformly Accelerated Rectilinear Motion

For a particle in uniformly accelerated rectilinear motion, the
acceleration of the particle is constant. You may recognize these
constant acceleration equations from your physics courses.

Careful – these only apply to uniformly

accelerated rectilinear motion!
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RECTILINEAR KINEMATICS: CONTINUOUS MOTION

A particle travels along a straight-line path
defined by the coordinate axis s.

The position of the particle at any instant,

relative to the origin, O, is defined by the
position vector r, or the scalar s. Scalar s
can be positive or negative. Typical units
for r and s are meters (m) or feet (ft).

The displacement of the particle is

defined as its change in position.
Vector form:  r = r’ - r Scalar form:  s = s’ - s
The total distance traveled by the particle, sT, is a positive scalar
that represents the total length of the path over which the particle
travels.
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 Vector Mechanics for Engineers: Dynamics
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VELOCITY
Velocity is a measure of the rate of change in the position of a particle.
It is a vector quantity (it has both magnitude and direction). The
magnitude of the velocity is called speed, with units of m/s or ft/s.
The average velocity of a particle during a
time interval t is
vavg = r / t
The instantaneous velocity is the time-derivative of position.
v = dr / dt

Speed is the magnitude of velocity: v = ds / dt

Average speed is the total distance traveled divided by elapsed time:

(vsp)avg = sT / t

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 Vector Mechanics for Engineers: Dynamics
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ACCELERATION
Acceleration is the rate of change in the velocity of a particle. It is a
vector quantity. Typical units are m/s2 or ft/s2.

The instantaneous acceleration is the time

derivative of velocity.

Vector form: a = dv / dt

Scalar form: a = dv / dt = d2s / dt2

Acceleration can be positive (speed

increasing) or negative (speed decreasing).

As the book indicates, the derivative equations for velocity and

acceleration can be manipulated to get a ds = v dv

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 Vector Mechanics for Engineers: Dynamics
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SUMMARY OF KINEMATIC RELATIONS:

RECTILINEAR MOTION
• Differentiate position to get velocity and acceleration.

v= ; a= ; a=v

• Integrate acceleration for velocity and position.

Velocity: Position:
v t v s s t

ò dv = ò a dt or ò v dv = ò a ds ò ds = ò v dt
vo o vo so so o

• Note that so and vo represent the initial position and

velocity of the particle at t = 0.

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 Vector Mechanics for Engineers: Dynamics
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CONSTANT ACCELERATION
The three kinematic equations can be integrated for the special case
when acceleration is constant (a = ac) to obtain very useful equations.
A common example of constant acceleration is gravity; i.e., a body
freely falling toward earth. In this case, ac = g = 9.81 m/s2 = 32.2 ft/s2
downward. These equations are:
v t

ò dv = ò a
vo o
c
dt yields v=v +at
o c

s t

ò ds = ò v dt yields s = s + v t + (1/2) a t 2
o o c
so o
v s

ò v dv = ò a ds c
yields v 2 = (vo )2 + 2a (s - s )
c o
vo so

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 Vector Mechanics for Engineers: Dynamics
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Determination of the Motion of a Particle

• We often determine accelerations from the forces applied

(kinetics will be covered later)
• Generally have three classes of motion
- 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)

• Can you think of a physical example of when force is

a function of position? When force is a function of velocity?

a spring drag
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Acceleration as a function of time, position, or velocity

If…. Kinematic relationship Integrate

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 Vector Mechanics for Engineers: Dynamics
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RECTILINEAR KINEMATICS:
CONTINUOS MOTION
• PROCEDURE FOR ANALYSIS:
• Coordinate System
• Establish a position coordinate s along the path and
specify its fixed origin and positive direction
• Since motion is along a straight line, the vector quantities
position, velocity, and acceleration can be represented as
algebraic scalars. For analytical work the sense of s, v,
and a is then defined by their algebraic signs

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 Vector Mechanics for Engineers: Dynamics
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RECTILINEAR KINEMATICS:
CONTINUOS MOTION
• PROCEDURE FOR ANALYSIS:
• Kinematic Equations
• If a relation is known between any two of the four
variables a, v, s, and t, then a third variable can be
obtained by using one of the kinematic equations a = , v =
or ads = vdv, since each equation relates all three
variables.

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 Vector Mechanics for Engineers: Dynamics
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RECTILINEAR KINEMATICS:
CONTINUOS MOTION
• PROCEDURE FOR ANALYSIS:
• Kinematic Equations
• Whenever integration is performed, it is important that the
position and velocity be known at a given instant in order
to evaluate either the constant of integration if an
indefinite integral is used, or the limits of integration if a
definite integral is used
• If acceleration is constant, use kinematic equations for
constant acceleration

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 Vector Mechanics for Engineers: Dynamics
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SAMPLE PROBLEMS

1.) What is the acceleration of a body

that increases in velocity from 20 m/s to
40 m/s in 3 seconds?

Ans: 6.67

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 Vector Mechanics for Engineers: Dynamics
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SAMPLE PROBLEMS

2.) From a speed of 75 kph, a car

decelerates at the rate of 500 m/ along a
straight path. How far in meters will it
travel in 45 seconds?

Ans: 796.875 m

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 Vector Mechanics for Engineers: Dynamics
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SAMPLE PROBLEMS

3.) If a particle position is given by the

expression x(t) = meters, what is the
acceleration of the particle after t = 5
seconds?

Ans: 102 m

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 Vector Mechanics for Engineers: Dynamics
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SAMPLE PROBLEMS

4.) The velocity of a particle moving

along a straight line is v = ( m/s, where t
is in seconds. If its position s = 0 when t
= 0, determine: (A) its acceleration and
(B) its position when t = 4 s.

Ans: (A): a = 10
(B): s = 37.3 m
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 Vector Mechanics for Engineers: Dynamics
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SAMPLE PROBLEMS

5.) The acceleration of a particle moving

along a straight line is a = m/, where s is
in meters. If its position s = - and
velocity v = 0 when t = 0, determine its
(A) velocity when s = 16 m and (B) what
time is that?

Ans: (A): v = 9.24

(B): t = 6.93 s
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 Vector Mechanics for Engineers: Dynamics
Edition
Tenth

Fundamental Problems

6.) Ball tossed with 10 m/s vertical velocity from window 20 m

above ground.
Determine:
(A) The velocity and elevation above
ground at time, t,
(B) The highest elevation reached by ball
and corresponding time, and
(C) The time when ball will hit the ground
and corresponding velocity.
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 Vector Mechanics for Engineers: Dynamics
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Fundamental Problems
SOLUTION:
• Integrate twice to find v(t) and y(t).

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 Vector Mechanics for Engineers: Dynamics
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Fundamental Problems
• Solve for t when velocity equals zero and evaluate
corresponding altitude.

• Solve for t when altitude equals zero and evaluate

corresponding velocity.

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 Vector Mechanics for Engineers: Dynamics
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Fundamental Problems
• Solve for t when altitude equals zero and evaluate
corresponding velocity.

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 Vector Mechanics for Engineers: Dynamics
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Fundamental Problems

7.) The car starts from rest and

accelerates according to the relationship

It travels around a circular track that has a radius of 200 meters.

Calculate the velocity of the car after it has travelled halfway around the
track. What is the car’s maximum possible speed?

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