SIE1007 Dynamics of Machines

Dr Eicher Low
65922052
e-: Eicher.Low@SingaporeTech.edu.sg

Introduction
Basic Vector Properties

SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture1.2

Introduction
Dynamics: the study of motion of objects and the cause of
the motion
Two main topics under Dynamics:
Kinematics: the study of motion without regard to the cause of
motion
Kinetics: the study of the relation between forces and motion
Will discuss both in this course!

Scope limited to Newtonian (classical nonrelativistic)

mechanics
Breaks down at speeds comparable to speed of light and dimensions
comparable to the atoms size
Sufficient for practical engineering applications

SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture1.3

Major Topics Covered

Vector kinematics
Non-Cartesian coordinate systems
Particle dynamics
Newtons laws, work & energy, impulse & momentum
Relative motion
Coriolis theorem
Dynamics of system of particles
Rigid body kinematics
Rigid body dynamics
Many examples related to engineering applications will be given!

SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture 1.4

SIE1007 Module Administration

Lecture : Wednesday 09.30 11.30 (Room SR2C)
Tutorial : Friday 09.30 11.30 (Room SR2C)
Main textbook:
Bedford & Fowler, Engineering MechanicsDynamics (SI edition), PearsonPrentice Hall (2008)

Other books:
Hibbeler and Yap, Engineering MechanicsDynamics, 13th edition (SI units),
Pearson-Prentice Hall (2013)
Beer, Johnston & Cornwell, Vector Mechanics for EngineersDynamics, 9th
edition, McGraw Hill (2010)

CA (50%): Quiz & Assignment

Quiz: closed book with formulas given
Assignment: four to be given during the semester

Final exam (50%): closed book, BUT all the formulas will be
given
SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture1.5

To Successfully Complete This Module

Dont memorize, understanding is key!
Active learning!
Participate actively in lectures/tutorials
Expand lecture notes with your own notes
Dont hesitate to ask questions if necessary
Find other material that can help you understand or enhance
your understanding
Consult textbook or other materials
Use information super highway
Internet is a wonderful resource, but use it with care!

Remember: it may take time to digest the course material, so

dont wait until the last minute to revise
SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture 1.6

Particle
Particle: body of negligible dimensions
Dimensions of the body irrelevant to the description of its
motion

When can we treat a body as a particle?

When its orientation is unimportant or irrelevant!
3 degrees-of-freedom (DOF) in translation only

Examples:
Planets can be treated as particles in the context of planetary
motion around the Sun
Aircraft can be treated as particle in the context of aircraft
trajectory
SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture 1.7

Rigid Body
Rigid body: undeformable body with finite size
Deformation of the body is negligible compared to the
overall motion

When can we treat an object as a rigid body?

When its orientation is important!

In general, it has 6 DOF, 3 translation and 3 rotation

Examples:
Satellite can be treated as rigid body if we concern about its
attitude orientation in orbit
Aircraft can be treated as rigid body if we concern about its
attitude motion along its flight path
SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture 1.8

Scalars and Vectors

Scalar: entity expressible as a single number
Useful to describe the reading of a physical property on a
scale/unit
Examples: mass, temperature, time, length, speed

Vector: entity having both direction and magnitude

Exists in a multi-dimensional space
Examples : velocity, force, moment, acceleration

Notation : A or A or A
Indicates a vector of magnitude A (a scalar)
Unit vector is a vector whose magnitude is 1

SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture 1.9

Vector Algebra (1)

Multiplication by a scalar

Simply multiply the magnitude of the vector without affecting the

direction
B A
B A

B A

( 0)

( 0)

Vector addition

Tail-to-tip or parallelogram methods

C
A

AB C
C 2 A2 B 2 2 AB cos

Vector addition is commutative and associative

AB BA
SIE1007 Dynamics of Machines

( A B) C A (B C)
Introduction and Basic Vector Properties

Lecture1.10

What if more than two vectors ?

Consider the three vectors U, V & W. Their vector sum can be

described by any of the following combinations:

U+V+W

V+U+W
U+W+V

Is there any other combinations besides these ? The vector sum is

independent of the ordering. If the sum of 2 or more vectors = 0,
they form a closed polygon.
SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture 1.11

Vector Algebra (2)

B

Vector subtraction
A B A ( B)

AB

Scalar product (dot product)

The result is a scalar

A B AB cos

Scalar product is commutative:

AB BA

Vector product (cross product)

The result is a vector

C AB
C AB sin
SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture1.12

Vector Algebra (3)

Direction is determined by right hand rule

C is equal to area of the
parallelogram formed
by A and B
C

A B B A

Triple product A (B C)

Result is scalar
A (B C) B (C A) C ( A B)

Double vector product A (B C)

Result is a vector

A (B C) ( A C)B ( A B)C
SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture1.13

Components of a Vector
Often desirable to express a vector in terms of its
components along a set of perpendicular axes

E.g. Cartesian right-handed coordinate system

i, j, k unit vectors along x, y, z axes
y

i j k

k z

Az

k i j

Ay

j k i

y
i

Ax i Ay j Az k

A
x

Ax

A Ax A y Az

Ax

Ay
A
z

Ax, Ay, Az are components of vector A in the xyz reference

frame
2
2
2
A Ax Ay Az

SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture1.14

Components in Three Dimensions

Direction Cosines :

One way to describe the direction of a vector is by specifying

the angles x, y & z between the vector & the positive
coordinate axes:
Ux = |U| cos x, Uy = |U| cos y, Uz = |U| cos
SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture 1.15

Components in Three Dimensions

Direction Cosines :
Direction cosines: cos x, cos y & cos z
Direction cosines satisfy the relation:
cos2 x + cos2 y + cos2 z = 1
Suppose that e is a unit vector with the same direction as U:
U = |U| e
In terms of components :
Uxi + Uyj + Uzk = |U| (exi + eyj + ezk)

SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture 1.16

Components in Three Dimensions

Direction Cosines:
Thus:

Ux = |U| ex, Uy = |U| ey, Uz = |U| ez

By comparing these equations:

cos x = ex, cos y = ey, cos z = ez

The direction cosines of a vector U are the components of a
unit vector with the same direction as U

SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture 1.17

Vector Operations in Component Form (1)

Summation and multiplication by scalar

C A B

C x Ax Bx

C y Ay B y
C A B
z z
z
Scalar product
Note:

i i j j k k 1

i j j k k i 0

Ax Bx

A B Ay B y Ax Bx Ay B y Az Bz
A B
z z
SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture1.18

Vector Operations in Component Form (2)

Vector product
i i j j k k 0
i j k , j k i, k i j

Note:

j
k

A B ( Ay Bz Az B y )i ( Az Bx Ax Bz ) j ( Ax B y Ay Bx )k
i

Ax

Ay

Az

Bx

By

Bz

a
f det d

i
g

Recall:

d
g

e
h

SIE1007 Dynamics of Machines

e
h

c
f a (ei fh) b(di fg ) c(dh eg )

i
Introduction and Basic Vector Properties

Lecture1.19

Cross-Product Matrix
Cross product of two vectors can be expressed as matrix-vector
product using cross-product matrix

A B Az
Ay

Az
0
Ax

Ay Bx Ay Bz Az B y

Ax B y Az Bx Ax Bz
0 Bz Ax B y Ay Bx

Cross-product matrix [Ax]

Cross-product matrix is skew-symmetric

Ax T

SIE1007 Dynamics of Machines

Ax

Introduction and Basic Vector Properties

Lecture1.20

Derivative of Vector (1)

Derivative of a vector
dA
A(t t ) A (t )
A
lim
lim
t 0 t
dt t 0
t
Derivative of a vector consists of components due to magnitude
change and due to direction change
Component due to magnitude change only (constant direction):

et : unit vector parallel to A

e n : unit vector perpendicular to A

Example:

en

A
et

A Aet
A A

Aet dA
dA
lim

et
dt constant direction t 0 t
dt
SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture1.21

Derivative of Vector (2)

Component due to direction change only (constant magnitude):
Example:

e n A A

et A

From trigonometry:

A A A A
very small
For t 0
A // e n

A dA A

A e n
dA
d
lim
A e n Ae n
dt constant magnitude t 0 t
dt

General expression for derivative of a vector:

dA dA

dt
dt constant
For the example above:
SIE1007 Dynamics of Machines

dA

dt constant
direction

magnitude

dA dA
et Ae n

dt dt

Introduction and Basic Vector Properties

Lecture1.22

Vector Differentiation Properties

Some rules of vector differentiation:
d
d
dA
A A
dt
dt
dt
d
dA dB
A B
dt
dt dt
d
dA
dB
A B B A
dt
dt
dt
d
A B dA B A d B
dt
dt
dt

SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture1.23

Free-Body Diagrams
Free-Body Diagrams:
Serves to focus attention on the object of interest & helps to
identify the external forces acting on it
Used in dynamics to study the motions of objects
Drawing of an isolated or freed object & the external forces acting
on it

Drawing a free-body diagram involves 3 steps:

1. Identify the object to isolate the choice is often dictated by
particular forces you want to determine/analyse
2. Draw a sketch of the object isolated from its surroundings & show
relevant dimensions & angles
3. Draw & label vectors representing all the external forces acting on
the isolated object dont forget to include the gravitational force
SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture 1.24

Free-Body Diagrams
Equilibrium equation:
F = TABj Wj = (TAB W)j = 0
Tension in cable AB is TAB = W

SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture1.25

Free-Body Diagrams
A coordinate system is necessary to express the forces on the
isolated object in terms of components

E.g. to determine the tensions in the 2 cables:

Isolate lower block & part of cable AB
Indicate the external forces: W & TAB
Introduce a coordinate system

SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture 1.26

Free-Body Diagrams
Isolate upper block
External forces: W, TCD & TAB
Equilibrium equation:

F = TCDj TABj Wj
= (TCD TAB W)j
=0
Since TAB = W, TCD = 2W

SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture 1.27

Free-Body Diagrams
Alternatively, treat the 2 blocks & cable AB as a single object:
Equilibrium equation:

F = TCDj Wj Wj
= (TCD 2W)j = 0
Again, TCD = 2W

SIE1007 Dynamics of Machines

Introduction and Basic Vector Properties

Lecture 1.28