MEC 420

DYNAMICS
PROG: EM 241
PART: 03
CREDIT HR: 3
CONTACT HR: 4 (3L+1T)
PRE-REQUISITE:
MEC 412

Prepared by: BAKRI ALI, FKM, UiTMPP

Relationship With Other Subject:

Student must understand several topics in 2-D
Dynamics, Physic and Mathematics
especially Static, Trigonometry,
Differentiation, Integration and etc.
Synopsis
Covers 2 & 3 dimensional Dynamics for
Particle and Rigid Body.
Objectives
To introduce student with the main
principles in 2 & 3 dimensional
Dynamics.
To make sure the student know how to
derive those principles and applied it to
solve all engineering and design
problems.
Prepared by: BAKRI ALI, FKM, UiTMPP

Text Book:
R. C. Hibbeler, Engineering Mechanics:
Dynamics, 2nd SI Edition, Prentice Hall,
Singapore, 2002
Refer ences
1. Ferdinand P Beer & E. Russel Johnston,
Vector Mechanics For Engineers:
DYNAMICS, 3rd SI Metric Edition, Mc
Graw Hill, Boston,2003
2. I.H Shames, Engineering Mechanics:
DYNAMICS
3. F.L Singer, Engineering Mechanics
4. Mechanical Vibrations, Rao, SingirisuS,
Pearson/Prenctice Kall Inc, 1997.
5. Fundamental of Mechanical Vibrations,
2nd Ed. Kelly, S.Graham, McGraw Hill
Inc, 2000
Prepared by: BAKRI ALI, FKM, UiTMPP

WHAT IS DYNAMICS?
A branch of mechanics which deals with
the motion of bodies under the action of
forces.
Divided into two parts;
Kinematics: Study of motion without
r efer r ing to the for ces
which cause the motion.
Kinetics: Study of motion by
r elating the action of
for ces which cause the
motion or Vice Versa.
Started by Galileo (1564-1642) and
continued by Newton (1642-1727). Other
contributors are Euler, DAlembert,
Langrange, Laplace, Poisont, Coriolis,
Einstein and others.

Prepared by: BAKRI ALI, FKM, UiTMPP

How important is it?

Basic to the analysis and design of moving
structures or fixed structures subject to
shock loads
To design robotic devices and automatic
control system.
To control movement of rockets, missiles,
spacecraft and other transport.
To design machinery elements such as
turbines, pumps, engines, machine tools,
hoists, lifts etc.

Prepared by: BAKRI ALI,

FKM, UiTMPP

CHAPTER 1:
INTRODUCTION & REVIEW
1.1: INTRODUCTION TO VECTOR DYNAMICS
Definition
Vector
Scalar
Vector Algebra
Vector Addition

Product of scalar and vector

Cross Product
Dot Product
Triple Product
Unit Vectors
Rectangular Components of Vector
Vector Calculus
Differential
Integral

Prepared by: BAKRI ALI, FKM, UiTMPP

1.1: INTRODUCTION TO VECTOR

DYNAMICS
Definition;
Vector is defined as a quantity
possessing magnitude and direction.
Scalar is a quantity possessing only
magnitude without direction.
Vector algebr a;
Vector Addition
Addition of vector is according to
the parallelogram law.
The sum of two vector P and Q is
obtained by using P and Q as two
sides of the parallelogram.
Q
P

P+Q

or

P+Q

Q
Prepared by: BAKRI ALI, FKM, UiTMPP

 Vector addition is associative and

commutative.
P + Q = Q + P Commutative
P+(Q+R)=(P+Q)+R.associative
The negative of a given vector is a
vector having the same magnitude but
opposite direction.
-Q
-P+(-Q)

-P

-Q
or

-P

-(P+Q)

Therefore; P+(-Q) = -Q+(-P) = -(P+Q)

It is clear that P+(-P) = P-P = 0

Prepared by: BAKRI ALI, FKM, UiTMPP

Pr oduct of scalar and a vector

Product of scalar k and a vector P
have the same direction as P (if k
is positive) or opposite direction
(if k is negative) and a magnitude
equal to the product of magnitude
P and the absolute value of k.

1.5P

-1.5P

It follows the common rules such

as
i. k (P+Q) =kP + kQ
ii. kP = Pk
iii. k(lP)=(kl)P
iv. (k+l)P=kP+lP

Prepared by: BAKRI ALI, FKM, UiTMPP

 Cr oss Pr oduct of 2 vector s

Cross product also known as vector
product since it produce a vector.

It is denoted as C= A x B or A B
It satisfies the following condition;
line of action of C is perpendicular to the
plane containing A and B.
Magnitude of C given by formula
C=AB sin
Direction of C based on right-hand rule
where the right hand finger is curled in the
rotation to bring vector A inline with
vector B. Positive direction of vector C is
indicated by the thumb.

Prepared by: BAKRI ALI, FKM, UiTMPP

10

 Laws of cr oss pr oduct

A x B = - (B x A).not commutative
A x (B+C)= A x B + A x C
m(AxB)=(mA)xB=A x(Bm)= (AxB)m
Dot Pr oduct of 2 vector s
Dot product also known as scalar product since
it produce a scalar.

It is denoted as C= A B
It shows that;
Magnitude of C given by formula
C=AB cos
C is a projection of vector A on the vector B
times magnitude of B or vice-versa.
Prepared by: BAKRI ALI, FKM, UiTMPP

11

 Laws of Dot pr oduct

A B = (B A).commutative
A (B+C)= A B + A C
m(A B)=(mA) B=A (Bm)= (A B)m

Tr iple Pr oduct.
Thr ee vector having dot and cr oss pr oduct
pr oducing a tr iple pr oduct.
(A B) C .. pr oducing a vector
A (B x C) .. pr oducing a volume (scalar )
A x (B x C) .. pr oducing a vector
Laws of tr iple pr oduct
(A B) C = A(B C)
A (B x C) = B (CxA) = C (A xB)
A x (Bx C) = B(A C) C (A B)
(A xB) x C= B(A C) A (B C)
A x (Bx C) = (A xB)xC

Prepared by: BAKRI ALI, FKM, UiTMPP

12

Unit Vector s.
Unit vector is a vector having 1 unit
magnitude.
It has the same direction as the main
vector
It is a ratio between the main vector and its
magnitude;

a =A
|A|

= 5 = 1 unit
| 5|
A =5unit

a =1unit
Therefore A = 5a
Prepared by: BAKRI ALI, FKM, UiTMPP

13

RECTANGULAR COMPONENTS OF
VECTOR
In 3D system, vector
divided into X, Y and
Z axis with their unit
vector as i, j and k
respectively.
As in figure above,
vector A denoted by
components Ax, Ay
and Az and written as;
A=Axi + Ayj +Azk
Magnitude of A given by;
IAI= /Ax2 + Ay2 + Az2

Prepared by: BAKRI ALI, FKM, UiTMPP

14

Direction cosines of a vector

Cos = Ax

IAI
Cos = Ay

IAI
Cos =

Az
IAI

Products of unit vector

i)

i i = j j = k k = 1

ii) i j = j k = k i = 0

iii) i i = j j = k k = 0
iv) i j = k, j k =i, k i = j
v) j i =-k, k j =-i, ik =-j
Prepared by: BAKRI ALI, FKM, UiTMPP

15

Rectangular Components of
Vector Pr oduct
If we have 2 vector P and Q with their
components
P= Pxi+Pyj+Pzk
Q=Qxi+Qyj+Qyk
Their cross product can be obtained in
determinant form, where
V= P Q = i
j
k
Px
Py
Pz
Qx
Qy
Qz
V= (PyQz-PzQy)i
- (PxQz-PzQx)j
+ (PxQy-PyQx)k
Giving;
Vx = PyQz - PzQy
Vy = PzQx PxQz
Vz = PxQy - PyQx
Prepared by: BAKRI ALI,
FKM, UiTMPP

16

Vector Calculus
If we have vector P with components
P= Pxi+Pyj+Pzk
Then dP =dPxi + dPyi + dPzk
dt

dt

dt

dt

Laws of Diferentiation
d(A+B) = dA + dB

dt
dt
dt

d(A B) = A dB + dA B
dt

dt

dt

d(A B) = A dB + dA B
dt

Prepared by: BAKRI ALI, FKM, UiTMPP

dt

dt

17

Omega Theor em
If vector P also rotates with angular velocity
and angular acceleration , then all the
unit vector is not a constant. Hence they
must also be differentiates.
dP =dPxi + dPyi + dPzk
dt

dt

dt

dt

dP = idPx + jdPy + kdPz

dt

dt
dt
dt
+ Pxdi + Pydj + Pzdk
dt

dt

dt

P = iPx + jPy + kPz +

Pxi + Pyj +Pzk
Where i = i
j=j
k=k
Prepared by: BAKRI ALI, FKM, UiTMPP

This is
known as
Omega
Theorem

18