1

MM203
Mechanics of
Machines: Part 1
2
Module
Lectures
Tutorials
Labs
Why study dynamics?
Problem solving
3
Vectors
P Q Q P + = +
R Q P = +
) Q R Q R P + = =

4
7
1
2
3
5
) ) R Q P R Q P + + = + +

3
5
3
5
4
Unit vectors - components
k j i v
z y x
v v v + + =
|

1
0
3
0
1
4
3
4
?
3
4
=

2 2 2
z y x
v v v v + + = = v

0
3
4
3
4
5
Direction cosines
l, m, and n direction cosines between v and
x-, y-, and z-axes
v
v
n
v
v
m
v
v
l
z
y
x
= = = , ,
Calculate 3 direction cosines for

|

4
3

8
6
) 1 ,
2 2 2
= + + + + = n m l n m l v k j i v
6
Dot (or scalar) product
Component of Q in P
direction
z z y y x x
Q P Q P Q P + + = Q P
U cos PQ = Q P
P
Q Q
P
Q P
= = U cos
7
Angle between vectors
Q P Q P Q P
z z y y x x
n n m m l l
PQ
Q P Q P Q P
PQ
+ + =
+ +
=

=
Q P
U cos
?
?
=
=
j i
i i
2
P = P P
8
Dot product
Commutative and distributive
) R P Q P R Q P
P Q Q P
+ = +
=
9
Particle kinematics
What is kinematics?
What is a particle?
Rectilinear motion - review
Plane curvilinear motion - review
Relative motion
Space curvilinear motion
10
Combining gives
What do dv and ds represent?
Rectilinear motion
dt
dv
a
dt
ds
v
=
=
ds a dv v =
11
Example
The acceleration of a particle is a = 4t 30
(where a is in m/s
2
and t is in seconds).
Determine the velocity and displacement in
terms of time. (Problem 2/5, M&K)
12
Vector calculus
)
P P
P

u u
dt
u d
+ =
k j i P
z y x
P P P

+ + =
Vectors can vary both in length and in
direction
13
Plane curvilinear motion
Choice of coordinate system (axes)
Depends on problem how information is given
and/or what simplifies solution
Practice
14
Plane curvilinear motion
Rectangular coordinates
Position vector - r
j i j i r v a
j i j i r v
j i r
y x
y x
a a y x
v v y x
y x
+ = + = = =
+ = + = =
+ =


e.g. projectile motion
ENSURE CONSISTENCY IN DIRECTIONS
15
Plane curvilinear motion
Normal and tangential coordinates
Instantaneous radius of curvature V
What is direction of v?
F V d ds =
dt
d
dt
ds
v
F
V = = = v
Note that dV/dt can be ignored in this case
see M&K.
16
Plane curvilinear motion
t t
v e e v F V

= =
)
t t
t
v v
dt
v d
e e
e
v a

+ = = =
n t
e e F

=
s v a
v
v a
t
n


= =
= = =
V
F V F
2
2
17
Example
A test car starts from rest on a horizontal
circular track of 80 m radius and increases its
speed at a uniform rate to reach 100 km/h in
10 seconds. Determine the magnitude of the
acceleration of the car 8 seconds after the
start. (Answer: a = 6.77 m/s
2
). (Problem 2/97, M&K)
18
Example
To simulate a condition of weightlessness in its
cabin, an aircraft travelling at 800 km/h moves an a
sustained curve as shown. At what rate in degrees
per second should the pilot drop his longitudinal line
of sight to effect the desired condition? Use g = 9.79
m/s
2
. (Answer: dF/dt = 2.52 deg/s). (Problem2/111, M&K)
F

19
Example
A ball is thrown horizontally at 15
m/s from the top of a cliff as shown
and lands at point C. The ball has a
horizontal acceleration in the
negative x-direction due to wind.
Determine the radius of curvature of
the path at B where its trajectory
makes an angle of 45 with the
horizontal. Neglect air resistance in
the vertical direction. (Answer: V =
41.8 m). (Problem 2/125, M&K)
20
Plane curvilinear motion
Polar coordinates
r
re r =
r r
e e e e U U
U U

= = ,
U
Ue e v
e e r v

r r
r r
r
r r
+ =
+ = =
21
Plane curvilinear motion
) U U U
U
U
U U

2
2
1
2 r
dt
d
r
r r a
r r a
where
a a
r
r r
= + =
=
+ = e e a
22
Example
An aircraft flies over an observer with a constant
speed in a straight line as shown. Determine the
signs (i.e. +ve, -ve, or 0) for
for positions
A, B, and C.
(Problem2/134, M&K)
U U U


and r r r , , , , ,
23
Example
At the bottom of a loop at point P as shown, an aircraft has
a horizontal velocity of 600 km/h and no horizontal
acceleration. The radius of curvature of the loop is 1200 m.
For the radar tracking station shown, determine the
recorded values of d
2
r/dt
2
and d
2
U/dt
2
for this instant.
(Answer: d
2
r/dt
2
= 12.5 m/s
2
, d
2
U/dt
2
= 0.0365 rad/s
2
). (Problem
2/141, M&K)
24
Relative motion
Absolute (fixed axes)
Relative (translating axes)
Used when measurements are taken from a
moving observation point, or where use of
moving axes simplifies solution of problem.
Motion of moving coordinate system may be
specified w.r.t. fixed system.
25
Relative motion
Set of translating
axes (x-y) attached to
particle B (arbitrarily).
The position of A
relative to the frame
x-y (i.e. relative to B)
is
j i r y x
B A
+ =
/
26
Relative motion
Absolute positions of points A and B (w.r.t.
fixed axes X-Y) are related by
B A A B
A B A B
B A B A
where
or
/ /
/
/
r r
r r r
r r r
=
+ =
+ =
27
Relative motion
Differentiating w.r.t. time gives
Coordinate systems may be rectangular,
tangential and normal, polar, etc.
B A B A
B A B A
B A B A
/
/
/
a a a
v v v
r r r
+ =
+ =
+ =
A B B A
A B B A
/ /
/ /
a a
v v
=
=
28
Inertial systems
A translating reference system with no
acceleration is known as an inertial system. If
a
B
= 0 then
Replacing a fixed reference system with an
inertial system does not affect calculations (or
measurements) of accelerations (or forces).
B A A /
a a =
29
Example
A yacht moving in the direction
shown is tacking windward
against a north wind. The log
registers a hull speed of 6.5
knots. A telltale (a string tied to
the rigging) indicates that the
direction of the apparent wind is
35 from the centerline of the
boat. What is the true wind
velocity? (Answer: v
w
= 14.40
knots). (Problem 2/191, M&K)
30
Example
To increase his speed, the water skier A cuts across the
wake of the boat B which has a velocity of 60 km/h as
shown. At the instant when U = 30, the actual path of the
skier makes an angle F = 50 with the tow rope. For this
position, determine the velocity v
A
of the skier and the value
of dU/dt. (Answer: v
A
= 80.8 km/h, dU/dt = 0.887 rad/s). (Problem
2/193, M&K)
31
Example
Car A is travelling at a constant
speed of 60 km/h as it rounds a
circular curve of 300 m radius. At the
instant shown it is at U = 45. Car B is
passing the centre of the circle at the
same instant. Car A is located
relative to B using polar coordinates
with the pole moving with B. For this
instant, determine v
A/B
and the values
fo dU/dt and dr/dt as measured by an
observer in car B. (Answer: v
A/B
=
36.0 m/s, dU/dt = 0.1079 rad/s, dr/dt =
15.71 m/s). (Problem2/201, M&K)
32
Space curvilinear motion
Rectangular coordinates (x, y, z)
Cylindrical coordinates (r, U, z)
Spherical coordinates (R, U, J)
Coordinate transformations not covered
Tangential and normal system not used due to
complexity involved.
33
Space curvilinear motion
Rectangular coordinates (x, y, z) similar to
2D
k j i a
k j i v
k j i R
z y x
z y x
z y x


+ + =
+ + =
+ + =
34
Space curvilinear motion
Cylindrical coordinates (r, U, z)
k e R z r
r
+ =
k e e v z r r
r

+ + =
U
U
) ) k e e a z r r r r
r

+ + + =
U
U U U 2
2
35
Space curvilinear motion
Spherical coordinates (R, U, J)
)
) J J U J
J J U U
J
J U J
J J U
J
U
J J U U
J U
cos sin
1
sin 2
cos
cos
cos
2 2
2
2 2 2




R R
dt
d
R
a
R R
dt
d
R
a
R R R a
where
a a a
R R R
R
R R
R
+ =
=
=
+ + =
+ + =
e e e a
e e e v
36
Example
A section of a roller-coaster is a horizontal cylindrical helix.
The velocity of the cars as they pass point A is 15 m/s. The
effective radius of the cylindrical helix is 5 m and the helix
angle is 40. The tangential acceleration at A is gcosK.
Compute the magnitude of the acceleration of the
passengers as they pass A. (Answer: a = 27.5 m/s
2
). (Problem
2/171, M&K)
37
Example
The robot shown rotates about a
fixed vertical axis while its arm
extends and elevates. At a given
instant, J = 30, dJ/dt = 10 deg/s =
constant, l = 0.5 m, dl/dt = 0.2 m/s,
d
2
l/dt
2
= 0.3 m/s
2
, and ; = 20
deg/s = constant. Determine the
magnitudes of the velocity and
acceleration of the gripped part P.
(Answer: v = 0.480 m/s, a = 0.474
m/s
2
). (Problem 2/177, M&K)
38
Particle kinetics
Newtons laws
Applied and reactive forces must be
considered free body diagrams
Forces required to produce motion
Motion due to forces
a F m =

39
Particle kinetics
Constrained and unconstrained motion
Degrees of freedom
Rectilinear motion covered
Curvilinear motion
40
Rectilinear motion - example
The 10 Mg truck hauls a 20 Mg trailer. If the unit starts from
rest on a level road with a tractive force of 20 kN between the
driving wheels and the road, compute the tension T in the
horizontal drawbar and the acceleration a of the rig. (Answer:
T = 13.33 kN, a = 0.667 m/s
2
). (Problem 3/5, M&K)
ma F =

41
Example
The motorized drum turns at a constant speed causing the
vertical cable to have a constant downwards velocity v.
Determine the tension in the cable in terms of y. Neglect the
diameter and mass of the small pulleys. (Problem 3/48, M&K)

+ + =
3
2 2
2 2
4 2 y
v b
g y b
y
m
T
Answer:
42
Curvilinear motion
Rectangular coordinates
Normal and tangential coordinates
Polar coordinates
y y x x
ma F ma F = =

,
t t n n
ma F ma F = =

,
U U
ma F ma F
r r
= =

,
43
Example
A pilot flies an airplane at a
constant speed of 600 km/h
in a vertical circle of radius
1000 m. Calculate the force
exerted by the seat on the
90 kg pilot at point A and at
point A. (Answer: R
A
= 3380
N, R
B
= 1617 N). (Problem 3/63,
M&K)
44
Example
The 30 Mg aircraft is climbing at an angle of 15 under a jet
thrust T of 180 kN. At the instant shown, its speed is 300
km/h and is increasing at a rate of 1.96 m/s
2
. Also U is
decreasing as the aircraft begins to level off. If the radius of
curvature at this instant is 20 km, compute the lift L and the
drag D. (Lift and drag are the aerodynamic forces normal to
and opposite to the flight direction, respectively). (Answer: D
= 45.0 kN, L = 274 kN). (Problem 3/69, M&K)
45
Example
A child's slide has a quarter circle shape as shown. Assuming
that friction is negligible, determine the velocity of the child at
the end of the slide (U = 90) in terms of the radius of
curvature r and the initial angle U

.
Answer
)
0
sin 1 2 U = gr v
46
Slide
Does it matter what profile slide has?
What if friction added?
47
Example
A flat circular discs rotates about a
vertical axis through the centre point
at a slowly increasing angular
velocity [. With [ = 0, the position of
the two 0.5 kg sliders is x = 25 mm.
Each spring has a stiffness of 400
N/m. Determine the value of x for [ =
240 rev/min and the normal force
exerted by the side of the slot on the
block. Neglect any friction and the
mass of the springs. (Answer: x =
118.8 mm, N = 25.3 N). (Problem 3/83,
M&K)
48
Work and energy
Work/energy analysis dont need to
calculate accelerations
Work done by force F
Integration of F = ma w.r.t. displacement gives
equations for work and energy
r
r F
d ds
where
ds F d dU
=
= = cos
49
Work and energy
Active forces and reactive forces (constraint
forces that do no work)
Total work done by force
where F
t
= tangential force component

=
+ + = =
ds F U
or
dz F dy F dx F d U
t
z y x
r F
50
Work and energy
If displacement is in same direction as force
then work is +ve (otherwise ve)
Ignore reactive forces
Kinetic energy
Gravitational potential energy
2
2
1
mv T =
mgh V
g
=
51
Example
A small vehicle enters the top of
a circular path with a horizontal
velocity v
0
and gathers speed as
it moves down the path.
Determine the angle F (in terms
of v
0
) at which it leaves the path
and becomes a projectile.
Neglect friction and treat the
vehicle as a particle. (Problem 3/87,
M&K)
Answer:

+ =

gR
v
3 3
2
cos
2
0
1
F
52
Example
The small slider of mass m is
released from point A and
slides without friction to point
D. From point D onwards the
coefficient of kinetic friction
between the slider and the
slide is Q
k
. Determine the
distance s travelled by the
slider up the incline beyond D.
(Problem3/125, M&K)
Answer:
3 1
4
k
R
s
Q +
=
53
Example
A rope of length Tr/2 and
mass per unit length V is
released with U = 0 in a
smooth vertical channel and
falls through a hole in the
supporting surface.
Determine the velocity v of
the chain as the last part of it
leaves the slot. (Problem 3/173,
M&K)
Answer:

+ =
T
T 4
2
gr v
54
Linear impulse and momentum
Integration of F = ma w.r.t. time gives
equations of impulse and momentum.
Useful where time over which force acts is
very short (e.g. impact) or where force acts
over specified length of time.
55
Linear impulse and momentum
If mass m is constant then sum of forces =
time rate of change of linear momentum
Linear momentum of particle
Units kgm/s or Ns
Scalar form:
)

= = = G v v F

m
dt
d
m
v G m =

= = =
z z y y x x
G F G F G F

, ,
56
Linear impulse and momentum
Integrate over time
Product of force and time is called linear
impulse
Scalar form
2 1
1 2
2
1
2
1
G F G
G G G F
= +
A = =

t
t
t
t
dt
or
dt
) ) . ,
1 2
2
1
etc mv mv dt F
x
t
t
x x
=

57
Linear impulse and momentum
Note that all forces must be included (i.e. both
active and reactive)
58
Linear impulse and momentum
If there are no unbalanced forces acting on a system
then the total linear momentum of the system will
remain constant (principle of conservation of linear
momentum)
59
Impact
How to determine velocities after impact?
Forces normal to contact
surface. F
d
is force during
deformation period while F
r
is
force during recovery period.
The ratio of the restoration
impulse to the deformation
impulse is called the coefficient
of restitution

=
0
0
0
t
d
t
t
r
dt F
dt F
e
60
Impact
For particle 1, (v
0
)
n
being the intermediate normal
velocity component (of both particles) and (v
1
)
n
being
normal velocity component after collision
Similarly for particle 2
) )
) )
n n
n n
t
d
t
t
r
v m v m
v m v m
dt F
dt F
e
1 1 0 1
0 1 1 1
0
0
0

'
= =

) )
) )
n n
n n
v m v m
v m v m
e
2 2 0 2
0 2 2 2

'
=
61
Impact
Combining gives
e = 0 for plastic impact, e = 1 for elastic impact
Note that tangential velocities are not affected
by impact
) )
) )
n n
n n
v v
v v
e
2 1
1 2

'

'
=
62
Example
A 75 g projectile traveling at 600 m/ strikes and becomes
embedded in the 50 kg block which is initially stationary.
Compute the energy lost during the impact. Express your
answer as an absolute value and as a percentage of the
original energy of the system. (Problem 3/180, M&K)
63
Example
The pool ball shown must
be hit so as to travel into
the side pocket as shown.
Specify the location x of the
cushion impact if e = 0.8.
(Answer: x = 0.268d) (Problem
3/251, M&K)
64
Example
The vertical motion of the 3 kg
load is controlled by the forces P
applied to the end rollers of the
framework shown. If the upward
velocity of the cylinder is
increased from 2 m/s to 4 m/s in 2
seconds, calculate the average
force R
av
under each of the two
rollers during the 2 s interval.
Neglect the small mass of the
frame. (Answer: R
av
= 16.22 N)
(Problem3/199, M&K)
65
Example
A 1000 kg spacecraft is
traveling in deep space with a
speed v
s
= 2000 m/s when
struck at its mass centre by a
10 kg meteor with velocity v
m
of magnitude 5000 m/s. The
meteor becomes embedded in
the satellite. Determine the
final velocity of the spacecraft.
(Answer: v = 36.9i + 1951j
14.76k m/s) (Problem 3/201, M&K)
66
Cross (or vector) product
Magnitude of cross-product
Direction of cross-product governed by right-
hand rule
U sin PQ = -Q P
) U U sin sin PQ PQ = = -P Q
67
Right-hand rule
Middle finger in direction of R if thumb in
direction of P and index finger in direction of
Q.
Use right-handed reference frame for x,y, and
z.
R Q P = -
68
Cross (or vector) product
Distributive
) R P Q P R Q P - + - = + -
. ,
. ,
etc
etc
0 i i
k j i
= -
= -
69
Cross (or vector) product
Derivative
) ) )k j i
k j i
Q P
x y y x x z z x y z z y
z y x
z y x
Q P Q P Q P Q P Q P Q P
Q Q Q
P P P
+ +
= = -
)
Q P Q P
Q P
- + - =
-

dt
d
70
Angular impulse and momentum
The angular momentum of a particle about
any point is the moment of the linear
momentum about that point.
Units are kgm/sm or Nms
71
Angular impulse and momentum
Planar motion
There are 3
components of the
angular momentum
of P about arbitrary
point O: i.e. about
x-,y-, and z-axes.
72
Angular impulse and momentum
Since P is coplanar
with x- and y-axes, it
has no moment about
these axes. It only has
a moment about the z-
axis.
73
Angular impulse and momentum
Is angular momentum of
P about O positive or
negative? governed by
right-hand rule
74
Right-hand rule
Curl fingers in. Rotation indicated by fingers is
in direction of thumb. Is this positive or
negative in this case?
75
Angular impulse and momentum
Direction of
component about z-
axis is in z-direction
U U
T
sin
2
cos r mv r mv
O
=

= H
k H U sin r mv
O
=
76
Angular impulse and momentum
) )k H
x y O
mv y mv x =
77
Angular impulse and momentum
Note
v r H m
O
- =
r v v r - = - m m
) . , etc v z v y m H
y z x
=
78
Angular impulse and momentum
The resultant moment of all forces about O is
From Newtons 2
nd
law
Differentiate w.r.t. time
Now
so

- = F r M
O
v r M m
O
- =

v r H m
O
- =
v r v v H

m m
O
- + - =
0 = - v v m
O O
H M

=

79
Angular impulse and momentum
The moment of all forces on the particle about a fixed point O
equals the time rate of change of the angular momentum
about that point.
If moment about O is zero then angular momentum is
constant (principle of conservation of angular momentum).
If moment about any axis is zero then component of angular
momentum about that axis is constant.
. , etc H M
x
O
x
O

80
Angular impulse and momentum
Particle following circular
path at constant angular
velocity. Is angular
momentum about O varying
with time?
Is angular momentum about
O varying with time?
Is component about z-axis
varying with time?
81
Angular impulse and momentum
i.e. change in angular momentum is equal to
total angular impulse
1 2
2
1
O O
t
t
O
O O
dt H H M
H M
=
=

) ) . ,
1 2
2
1
etc H H dt M
x
O
x
O
t
t
x
O
=

82
Angular impulse and momentum
Example ice skater
83
Example
Calculate H
O
, the angular
momentum of the particle
shown about O (a) using the
vector definition and (b) using
a geometrical approach. The
centre of the particle lies in
the x-y plane. (Answer: H
O
=
128.7k Nms) (Problem 3/221,
M&K)
84
Example
A particle of mass m moves with negligible
friction across a horizontal surface and is
connected by a light spring fastened at point
O. The velocity at A is as shown. Determine
the velocity at B. (Problem 3/226, M&K)
85
Example
Each of 4 spheres of mass m is treated
as a particle. Spheres A and B are
mounted on a light rod and are rotating
initially with an angular velocity [
0
about
a vertical axis through O. The other two
spheres are similarly (but independently)
mounted and have no initial velocity.
When assembly AB reaches the position
indicated it latches with CD and the two
move with a common angular velocity [.
Neglect friction. Determine [ and n the
percentage loss of kinetic energy.
(Answer [ = [
0
/5, n = 80%). (Problem 3/227,
M&K)
86
Example
The particle of mass m is launched from point O with a
horizontal velocity u at time t = 0. Determine its angular
momentum about O as a function of t. (Answer H
0
=
mgut
2
k). (Problem 3/233, M&K)
87
Relative motion
Fixed reference frame X-Y
Moving reference frame x-y
)
rel
rel B A
rel B A
m
m m
a F
a a a F
a a a

=
+ = =
+ =
88
Relative motion
Special case inertial system or Newtonian frame
of reference with zero acceleration
Note that work-energy and impulse momentum
equations are equally valid in inertial system but
relative momentum/relative energy etc. will, in
general, be different to those measured relative to
fixed frame of reference.
89
Example
The ball A of mass 10 kg is attached to the light rod of length
l = 0.8 m. The rod is attached to a carriage of mass 250 kg
which moves on rails with an acceleration a
O
as shown. The
rod is free to rotate horizontally about O. If dU/dt = 3 rad/s
when U = 90, find the kinetic energy T of the system if the
carriage has a velocity of 0.8 m/s. Treat the ball as a particle.
(Answer: T = 112 J). (Problem 3/311, M&K)
90
Example
The small slider A moves with negligible friction down the
tapered block, which moves to the right with constant speed
v = v
0
. Use the principle of work-energy to determine the
magnitude v
A
of the absolute velocity of the slider as it
passes point C if it is released at point B with no velocity
relative to the block. (Problem 3/316, M&K)
Answer:
U U U sin 2 cos 2 sin 2
0
2
0
gl v gl v v
A
+ + =