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2/7/2007
Lecture 1
Big Picture
First Half of the Course Momentum Principles (Force, Vectors) Newtonian
Dynamics
Second Half of the Course Lagrangian Dynamics (Energy, Scalar)
Both give equations of motion.
Restrictions:
a. Planar (2-D) Dynamics [(3-D) Dynamics 2.032 - Graduate follow on
course]
b. Linear Dynamics [Nonlinear Dynamics I: Chaos 2.050J - Undergraduate
follow on course]
Learning Objectives
You might comment, Ive seen this material before in 18.03, 8.01. You will use
knowledge from previous courses including dierential equations and mechanics.
After this course, you will be able to:
1. Apply knowledge to new problems
2. Dene coordinate system
3. Obtain equations of motion
4. Solve equations
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
d
F = dt
(mv)
iii. Euler wrote
F = ma and
Called laws because they have been tested. Cannot prove, but can disprove.
t0
r
dr
=
t
dt
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
r = x + yj
v = r = x + yj
+ yj
a = v = r = x
In polar coordinates (r,):
See Figure 2.
r = rer
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
dr
der
dr
=
er + r
= rer + re
dt
dt
dt
dv
= rer + r
e + r
e + re r2 er
dt
r r2 )er + (r + 2r
)e
a = (
d
e = er
dt
Proof that
der
dt
:
= e
Figure 4: A point mass m moves from r(t0 ) to r(t). Figure by MIT OCW.
F = ma
.
d
(mv) = p (p = mv = Linear Momentum)
dt
If
F = 0, p is constant. (Conservation of Linear Momentum)
F =
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].
dhB
= r mv + r mv
dt
RB ) mv + r
= (R
F
= (v mv) v B mv + r
F
= v B mv + r
F
(1)
(2)
The rst term in Equation (1) is zero, because the cross product of two
parallel vectors is zero.
Cite as: Thomas Peacock and Nicolas Hadjiconstantinou, course materials for 2.003J/1.053J Dynamics and
Control I, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu), Massachusetts Institute of Technology.
Downloaded on [DD Month YYYY].