Dynamics

Displacement

Kinematics velocity

Acceleration
Dynamics

Force/torque
Kinetics
Energy/momentum
 Kinematics of particles

• 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.
 Rectilinear Motion: Position, Velocity & Acceleration
• Particle moving along a straight line is said to be in rectilinear
motion.

• Position coordinate of a particle is defined by positive or negative

distance of particle from a fixed origin on the line.
• The motion of a particle is known if the position coordinate for
particle is known for every value of time t. Motion of the particle
may be expressed in the form of a function, e.g.,

x  6t 2  t 3
or in the form of a graph x vs. t.
 • Consider particle which occupies position P at time t and P’ at t + ∆t,

x
Average velocity 
t
x
Instantaneous velocity  v  lim
t 0 t
• Instantaneous velocity may be positive or negative. Magnitude of
velocity is referred to as particle speed.

e.g., x  6t 2  t 3
x dx
v  lim  dx
t 0 t dt v  12t  3t 2
dt
 • Consider particle with velocity v at time t and v’ at t +∆t,

v
Instantaneous acceleration  a  lim
t 0 t

• Instantaneous acceleration may be: v dv d 2 x

- positive: increasing positive velocity a  lim   2
t 0 t dt dt
-
or decreasing negative velocity
e.g. v  12t  3t 2
- negative: decreasing positive velocity
dv
or increasing negative velocity a   12  6t
dt
•The term deceleration is sometimes used to refer to a when the speed
of the particle (i.e., the magnitude of v) decreases; the particle is then
moving more slowly
EXAMPLE: Consider a particle moving in a straight line, and assume
that its position is defined by the equation
x  6t 2  t 3

dx
v  12t  3t 2
dt

dv d 2 x
a  2  12  6t
dt dt

• at t = 0, x = 0, v = 0, a = 12 m/s2

• at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0

• at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

• at t = 6 s, x = 0, v = -36 m/s, a = 24 m/s2

 Determination of the Motion of a Particle
• motion of a particle is known if position is known for all time t.

• Typically, conditions of motion are specified by the type of

acceleration experienced by the particle. Determination of velocity
and position requires two successive integrations.

• Three classes of motion may be defined for:

- 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)

• Acceleration given as a function of time, a = f(t):
v t  t t
 a  f t  dv  f t  dt  dv   f t  dt vt   v0   f t  dt
dv
dt v0 0 0
x t  t t
 vt  dx  vt  dt  dx   vt  dt xt   x0   vt  dt
dx
dt x0 0 0

• Acceleration given as a function of position, a = f(x):

dx dx dv dv
v or dt  a or a  v  f  x 
dt v dt dx
v x  x x
v dv  f  x dx  v dv   f  x dx 1 v x 
2
2
 12 v02   f  x dx
v0 x0 x0
• Acceleration given as a function of velocity, a = f(v):

v t  t
dv dv dv
 a  f v   dt    dt
dt f v  v0 f v  0
v t 
dv
 t
v0 f v 
x t  v t 
dv v dv v dv
v  a  f v  dx   dx   f v 
dx f v  x0 v0
v t 
v dv
xt   x0  
v0 f v 
The position of a particle which moves along a straight line is defined by the
relation , x  t  6t  15t  40 Determine,
3 2

(a) the time at which the velocity will be zero,

(b) the position and distance traveled by the particle at that time,
(c) the acceleration of the particle at that time,
(d) the distance traveled by the particle from t = 4 s to t = 6 s.
t=5s
x5 = -60 m
100 m
a5 = 18 m/s2
18 m
A ball is tossed with a velocity of 10 m/s directed vertically upward from a window
located 20 m above the ground. Knowing that the acceleration of the ball is constant
and equal to 9.81 m/s2 downward, determine
(a) The velocity v and elevation y of the ball above the ground at any time t,
(b) the highest elevation reached by the ball and the corresponding value of t,
(c) the time when the ball will hit the ground and the corresponding velocity.
Draw the v−t and y−t curves.
v = 10-9.81t
y = 20+10t-
4.905t2
t = 1.019 s
ymax = 25.1 m
t = 3.28 s
v = 22.2 m/s
The acceleration of a particle is defined by the relation a = 9 − 3t2. The
particle starts at t = 0 with v = 0 and x = 5 m . Determine
(a) the time when the velocity is again zero,
(b) the position and velocity when t = 4 s,
(c) the total distance traveled by the particle from t = 0 to t = 4 s.
Point A oscillates with an acceleration a = 40 − 160x, where a and x
are expressed in m/s2 and meters, respectively. The magnitude of the
velocity is 0.3 m/s when x = 0.4 m. Determine
(a) the maximum velocity of A,
(b) the two positions at which the velocity of A is zero.
The acceleration of point A is defined by the relation
a = 600x (1 + kx2), where a and x are expressed in m/s2 and meters,
respectively, and k is a constant. Knowing that the velocity of A is 7.5
m/s when x = 0 and 15 m/s when x = 0.45 m, determine the value of k.
 Uniform Rectilinear Motion
For particle in uniform rectilinear motion, the acceleration is zero and
the velocity is constant.

dx
 v  constant
dt
x t
 dx  v  dt
x0 0
x  x0  vt
x  x0  vt

This equation is used only if the velocity of the particle is known to be constant
 Uniformly Accelerated Rectilinear Motion
For particle in uniformly accelerated rectilinear motion, the
acceleration of the particle is constant.
v t
dv
 a  constant  dv  a  dt v  v0  at
dt v0 0
v  v0  at
x t
dx
dt
 v0  at  dx   v0  at dt x  x0  v0t  12 at 2
x0 0

x  x0  v0t  12 at 2

v 2  v02   ax  x0 
v x
dv
v  a  constant  v dv  a  dx 1
2
dx v0 x0

v 2  v02  2a x  x0 
 Motion of Several Particles: Relative Motion
• For particles moving along the same line, time should be recorded
from the same starting instant and displacements should be
measured from the same origin in the same direction.

xB A  xB  x A  relative position of B with respect

to A
x B  x A  xB A
vB A  vB  v A  relative velocity of B with
respect to A
vB  v A  vB A
aB A  aB  a A  relative acceleration of B
with respect to A
aB  a A  aB A
Ball thrown vertically from 12 m level in elevator shaft with initial
velocity of 18 m/s. At same instant, open-platform elevator passes 5
m level moving upward at 2 m/s. Determine

(a) when and where ball hits elevator and (b) relative velocity of ball
and elevator at contact
• t=3.65 s
• 12.3m
• -19.81m/s
Cars A and B are traveling in adjacent highway lanes and at t = 0 have
the positions and speeds shown. Knowing that car A has a constant
acceleration of 0.6 m/s2 and that B has a constant deceleration of 0.4
m/s2, determine (a) when and where A will overtake B, (b) the speed
of each car at that time.
• t=9.63s & 68 m & 43m
• 35.8 km/h & 9.13 km/h
Car A starts from O and accelerates at the constant rate of 0.75 m/s2.
A short time later it is passed by bus B which is traveling in the
opposite direction at a constant speed of 6 m/s. Knowing that bus B
passes point O 20 s after car A started from there, determine when
and where the vehicles passed each other.
 Motion of Several Particles: Dependent Motion
• Position of a particle may depend on position of one or more other
particles.

• Position of block B depends on position of

block A. Since rope is of constant length, it
follows that sum of lengths of segments must
be constant.

x A  2 x B  constant (one degree of freedom)

• Positions of three blocks are dependent.

2 x A  2 xB  xC  constant (two degrees of

freedom)

• For linearly related positions, similar

relations hold between velocities and
accelerations.

dx A dxB dxC
2 2   0 or 2v A  2v B  vC  0
dt dt dt
dv A dvB dvC
2 2   0 or 2a A  2a B  aC  0
dt dt dt
Collar A and block B are connected by a cable passing over three pulley C, D, and
E as shown. Pulleys C and E are fixed, while D is attached to a collar which is
pulled downward with a constant velocity of 75mm/s. At t = 0, collar A starts
moving downward from position K with a constant acceleration and no initial
velocity. Knowing that the velocity of collar A is 300 mm/s as it passes through
point L, determine the change in elevation, the velocity, and the acceleration of
block B when collar A passes through L.
Kinetics of Particles:
Newton’s Second Law
 Newton’s Second Law of Motion
• If the resultant force acting on a particle is not zero, the particle will
have an acceleration proportional to the magnitude of resultant and
in the direction of the resultant.

F  ma
• If particle is subjected to several forces:

 F  ma
• We must use a Newtonian frame of
reference, i.e., one that is not accelerating or
rotating.

• If no force acts on particle, particle will not accelerate, i.e., it will

remain stationary or continue on a straight line at constant velocity.
 Linear Momentum of a Particle
dv
 F  ma  m dt
d
  mv  
dt
d
dt
L  
L  mv Linear momentum
Sum of forces = rate of change of linear momentum

F  L
Principle of conservation of linear momentum
If F  0 linear momentum is constant
Equations of Motion


• Newton’s second law  F  ma

Convenient to resolve into components:

     
  
 Fx i  Fy j  Fz k  m a x i  a y j  a z k 
 Fx  ma x  Fy  ma y  Fz  ma z
 Fx  mx  Fy  my  Fz  mz

• For tangential and normal components:

F t  mat F n  man
dv v2
F t m
dt
F n m

 Dynamic Equilibrium
• Alternate expression of Newton’s law:

 F  ma  0
 ma inertia vector

• If we include inertia vector, the system of forces acting on particle

is equivalent to zero. The particle is said to be in dynamic
equilibrium.
• Inertia vectors are often called inertia
forces as they measure the resistance
that particles offer to changes in motion.
An 80-kg block rests on a horizontal plane. Find the magnitude of the
force P required to give the block an acceleration of 2.5 m/s2 to the
right. The coefficient of kinetic friction between the block and plane
is k = 0.25.
P = 535 N
The two blocks shown start from rest. The horizontal plane and the
pulley are frictionless, and the pulley is assumed to be of negligible
mass. Determine the acceleration of each block and the tension in
the cord.
aA =8.40 m/s2
aB = 4.20 m/s2
T1= 840 N
T2 = 1680 N
The 40 N block starts from rest and moves upward when constant
forces of 10 N and 20 N are applied to supporting ropes. Neglecting
the masses of the pulleys and the effect of friction, determine the
speed of the block after it has moved 1.5 m.
The 5.4 kg block B starts from rest and slides on the 13.6 kg wedge
A, which is supported by a horizontal surface. Neglecting friction,
determine (a) the acceleration of the wedge, and (b) the acceleration
of the block relative to the wedge.
 Work of Force

 
dU  F  dr
dU  Fds cos
   
   
dU  Fx i  Fy j  Fz k  d x i  d y j  d z k 
 Fx dx  Fy dy  Fz dz
 A2
 
U12   F  dr
A1
s2 s2

U12   F cos ds   Ft ds

s1 s1
A2

U12   F dx  F dy  F dz 
A1
x y z
 Work of a Constant Force in Rectilinear Motion

U12  F cos x

where α = angle the force forms with direction of motion

∆x = displacement from A1 to A2
 Work of the Force of Gravity
Fx=0, Fy = -W, and Fz = 0,

dU  Wdy
y2

U12    Wdy Wy1  Wy2

y1

U12  W ( y2  y1 )  Wy

When ∆y is negative (moves down), the work is positive

Work of the Force Exerted by a Spring

F  kx
dU   Fdx  kxdx
x2
1 2 1 2
U12    kxdx  kx1  kx2
x1
2 2

  F1  F2 x
1
U12
2
If the spring returning to the undeformed
position, then positive energy
 Kinetic Energy of a Particle
dv dv ds dv
Ft  mat  m  m  mv
dt ds dt ds
Ft ds  mvdv
s2 v2
1 2 1 2
s Ft ds  m v vdv  2 mv2  2 mv1
1 1

U12  T2  T1
T1  U12  T2
 Applications of the Principles of Work and Energy
Pendulum
T1  U12  T2
1W 2
0  Wl  v2
2 g
v2  2 gl

v2 is like a free fall velocity

Advantage; 1. No need to calculate values between A1 and A2. Only
final stages are counted 2. All scalars so can be added easily 3.
Forces that do no work are ignored
Disadvantage; can not determine accelerations
An automobile weighing 17793 N is driven down a 50 incline at a
speed of 96 km/h when the brakes are applied, causing a constant total
braking force of 6672 N. Determine the distance traveled by the
automobile as it comes to a stop
X= 126.2 m
Two blocks are joined by an inextensible cable as shown. If the
system is released from rest, determine the velocity of block A after it
has moved 2 m. Assume that the coefficient of kinetic friction
between block A and the plane is μk = 0.25 and that the pulley is
weightless and frictionless.
V = 4.43 m/s
A spring is used to stop a 60-kg package which is sliding on a horizontal surface.
The spring has a constant k = 20 kN/m and is held by cables so that it is initially
compressed 120 mm. Knowing that the package has a velocity of 2.5 m/s in the
position shown and that the maximum additional deflection of the spring is 40 mm,
determine the coefficient of kinetic friction between the package and the surface, (b)
the velocity of the package as it passes again through the position shown.
k = 0.20, v3 = 1.103 m/s
A 907-kg car starts from rest at point 1 and moves without friction
down the track shown. (a) Determine the force exerted by the
track on the car at point 2, where the radius of curvature of the
track is 6 m. (b) Determine the minimum safe value of the radius
of curvature at point 3.

12.2 m

6m
4.57 m
N = 44,488.4 N ↑

ρ = 15.26 m
A 2000-kg automobile starts from rest at point A on a 60 incline and
coasts through a distance of 150 m to point B. The brakes are then
applied, causing the automobile to come to a stop at point C, 20 m
from B. Knowing that slipping is impending during the braking
period and neglecting air resistance and rolling resistance, determine
(a) the speed of the automobile at point B, (b) the coefficient of static
friction between the tires and the road.
Packages are thrown down an incline at A with a velocity of 1.2 m/s.
The packages slide along the surface ABC to a conveyor belt which
moves with a velocity of 2.4 m/s. Knowing that μk = 0.25 between the
packages and the surface ABC, determine the distance d if the
packages are to arrive at C with a velocity of 2.4 m/s.
 Impulse and Momentum
 d 
F  mv 
dt
 
Fdt  d mv  Unit: N.s

t2
  
 Fdt  mv2  mv1
t1

   t2

mv2  mv1   Fdt

t1 Linear impulse
t2

Imp12   Fdt t2
  t2  t2  t2
 Fdt  i  Fx dt  j  Fy dt  k  Fz dt
t1

t1 t1 t1 t1
 t2

mvx 1   Fx dt  mvx 2
  t1
mv1  Imp12  mv2 t2

mv    F dt  mv 
y 1 y y 2
t1
t2

mvz 1   Fz dt  mvz 2
t1
 If multiple particles and multiple impact forces are involved

If no impact force
 
 mv1   mv2 Boats move opposite direction each
other, velocity inversely
0  m A v ' A  mB v ' B proportional to mass
 Impulsive Motion
Impulsive force: A force acting on a particle during a very short time
interval so that momentum changes


mv1   Ft  mv2

Nonimpulsive force are neglected e.g; force exerted by spring or

any other force which is small as compared to impulsive force
An automobile weighing 8818.5 N is driven down a 5° incline at a
speed of 96km/h when the brakes are applied, causing a constant total
braking force (applied by the road on the tires) of 6672 N. Determine
the time required for the automobile to come to a stop.
QUIZ-III

28/10/2015
Wednesday
The two blocks shown are released from rest at time t = 0. Neglecting the
masses of the pulleys and the effect of friction in the pulleys and between
the blocks and the incline, determine (a) the velocity of block A at t = 0.5 s,
(b) the tension in the cable.
1.64 m/s, 14.63 N
The initial velocity of the block in position A is 9 m/s. Knowing that
the coefficient of kinetic friction between the block and the plane is μk
= 0.30, determine the time it takes for the block to reach B with zero
velocity, if (a) θ = 0, (b) θ = 20°.
Two packages are placed on an incline as shown. The coefficients of
friction are μs = 0.30 and μk = 0.25 between the incline and package
A, and μs = 0.20 and μk = 0.15 between the incline and package B.
Knowing that the packages are in contact when released, determine
(a) the velocity of each package after 3 s,
(b) the force exerted by package A on package B.
A 4-oz baseball is pitched with a velocity of 80 ft/s toward a batter.
After the ball is hit by the bat B, it has a velocity of 120 ft/s in the
direction shown. If the bat and ball are in contact 0.015 s, determine
the average impulsive force exerted on the ball during the impact.
  
 mv1   Imp12   mv2
 mv1  Fx t  mv2 cos 40 0

80  Fx 0.015   m120 cos 40 0

4

16 * 32.2
Fx  89.0lb
0  Fy t  mv2 sin 40 0
Fy  39.9lb
F  97.524.20
A 10-kg package drops from a chute into a 25-kg cart with a velocity
of 3 m/s. Knowing that the cart is initially at rest and can roll freely,
determine (a) the final velocity of the cart, (b) the impulse exerted by
the cart on the package, (c) the fraction of the initial energy lost in
the impact.
X direction First, find v2

m p v1   Imp12  m p  m c v2
 

m p v1 cos 30 0  0  m p  m c v2
10 * 3 cos 30  0  10  25 v2
0

v2  0.742 m / s
m p v1   Imp12  m p v2
 
Fx  18.56
10 * 3 cos 30 0  Fx t  10 0.742  Fy  15.0

 10 * 3 sin 30 0  Fy t  0

Ft  23.9 N38.90
 Energy lost

1 1
T1  m p v1  10 * 32  45 J
2

2 2
T2  m p  mc v1  10  25 * 0.742 2  9.63 J
1 2 1
2 2
T1  T2 45  9.63
  0.786
T1 45
 Impact
A collision between two bodies which occurs in a very small interval
of time and during which the two bodies exert relatively large forces
on each other is called an impact
 Direct Central Impact
A period of restitution; the two particles either will have regained
their original shape or will stay permanently deformed

mAvA  mBvB  mAv' A mBv'B

Positive value of any of the scalar

quantities vA, vB, v’A, v’B means that the
vector is directed towards right; a negative
value indicates that the corresponding
value is directed to the left.
 Coefficient of Restitution e mAv A   Pdt mAu
mAu   Rdt mAv' A
Force P and R are exerted from B
during deformation and restitution
period, respectively e
 Rdt u  v'
 A

 Pdt v  u
A
 Similarly
v' B u
e
u  vB

e
u  v' A   v' B u 
v A  u   u  vB 
v ' B v ' A
e
v A  vB
v' B v' A  ev A  vB 
Because two equations for e are the same, you can add to find another
expression of e
1) When e=0, perfectly plastic impact

mAvA  mBvB  mA  mB v'

2) When e=1, perfectly elastic impact

v ' B v ' A  v A  v B Momentum and total

energy are conserved
v A  v' A  vB  v' B
m A v A  mB v B  m A v ' A  mB v ' B
m A ( v A  v ' A )  mB ( v ' B  v B )
m A (v A  v' A )v A  v' A   mB (v' B vB )vB  v' B 
1 1 1 1
m A v A  mB v B  m A v ' A  mB v B
2 2 2 2

2 2 2 2

3) When e < 1, momentum is conserved and total energy is not

conserved
 Oblique Central Impact
Assume perfectly smooth and frictionless
Assume perfectly smooth and
frictionless

Momentum conservation

v A t  v' A t Component

vB t  v'B t
along t axis

mA v A n  mB vB n  mA v' A n  mB v'B n Component

along n axis
Component along n axis of relative velocity of two particles after impact

v'B n  v' A n  ev A n  vB t 

 Constrained Condition

1. t-direction momentum is conserved vB t  v'B t

2. x-direction momentum is conserved

mAv A  mB vB x  mAv' A  mB v'B x

 v'B n  v' A n  ev A n  vB n 

The above equation can be obtained as seen here

 Pdtcos  m u
m Av A  A

m u   Rdt cos  m v'

A A A

e
 Rdt cos u  v' 

 Pdtcos v   u
n A n

A n n
 Problem Involving Energy and Momentum
Three methods for kinetics problems; ∑F=ma, method of work and
energy and method of impulse and momentum,

Apply energy Momentum Apply energy

method conservation method
A 20-Mg railroad car moving at a speed of 0.5 m/s to the right
collides with a 35-Mg car which is at rest. If after the collision the 35-
Mg car is observed to move to the right at a speed of 0.3 m/s,
determine the coefficient of restitution between the two cars.
m A v A  m B v B  m A v ' A  mB v ' B
20 * 0.5  35 * 0  20v' A 35 * 0.3
v' A  0.025m / s
v'B v' A 0.3   0.025 
e   0.65
v A  vB 0.5  0
coefficient of restitution
The magnitude and direction of the velocities of two identical
frictionless balls before they strike each other are as shown. Assuming
e = 0.90, determine the magnitude and direction of the velocity of
each ball after the impact.
v A n  v A cos30 0  26.0 ft / s
v A t  v A sin 30 0  15.0 ft / s
vB n  vB cos 60 0  20.0 ft / s
vB t  vB sin 60  34.6 ft / s
0
 The t-component doesn’t change

v' A t  15.0 ft / s
v'B t  34.6 ft / s
m A v A n  mB vB n  m A v' A n  mB v'B n
v'B n  v' A n  ev A n  vB t 

mA v A n  mB vB n  mA v' A n  mB v'B n

v' A n  v'B n  6.0
v'B n  v' A n  ev A n  vB t 
 v' A n  v'B n  41.4
A 30-kg block is dropped from a height of 2 m onto the 10-kg pan of a
spring scale. Assuming the impact to be perfectly plastic, determine
the maximum deflection of the pan. The constant of the spring is k =
20 kN/m.
T1  m A v A 1  0
1 2

2
V1  WA y  294 N 2m   588 J

T2  m A v A 2  30v A 2
1 2 1 2

2 2
V2  0
T1  V1  T2  V2
v A 2  6.26m / s
m A v A 2  mB vB 2  m A  mB v3  Impact;
conservation of
30 kg * 6.26 m / s  0  (30  10)v3 momentum

v3  4.70 m / s

T3  m A  mB v 32  442 J
1 conservation of
Energy
2
1 2
V3  Vg  Ve  0  kx 3  0.241J
2
T4  0

V4  Vg  Ve  WA  WB  h   kx 4
1 2 WB
x3 
2 k
h  x4  x3  x4  4.91 *10 3 
10 * 9.81
 4.91 *10 3

20 *10 3
T1  V1  T2  V2
x4  0.230 m, h  0.225 m
Two steel blocks slide without friction on a horizontal surface;
immediately before impact their velocities are as shown. Knowing
that e = 0.75, determine (a) their velocities after impact, (b) the energy
loss during impact.
A 0.27 kg collar A is released from rest, slides down a frictionless rod,
and strikes a 0.82 kg collar B which is at rest and supported by a
spring of constant 496.2 N/m. Knowing that the coefficient of
restitution between the two collars is 0.9, determine (a) the maximum
distance collar A moves up the rod after impact, (b) the maximum
distance collar B moves down the rod after impact.
Ball B is hanging from an inextensible cord. An identical ball A is
released from rest when it is just touching the cord and drops through
the vertical distance hA = 200 mm before striking ball B. Assuming
perfectly elastic impact (e = 1) and no friction, determine the resulting
maximum vertical displacement hB of ball B.
Kinematics of Rigid Bodies
 Introduction
• Kinematics of rigid bodies: relations between time and the
positions, velocities, and accelerations of the particles forming a
rigid body.

• Classification of rigid body motions:

- translation: • rectilinear translation
• curvilinear translation
- rotation about a fixed axis
- general plane motion
- motion about a fixed point
- general motion
Motion of the plate: is it translation or rotation?

Curvilinear translation Rotation

Translation

• Consider rigid body in translation:

- direction of any straight line inside the
body is constant,
- all particles forming the body move in
parallel lines.
• For any two particles in the body,
  
rB  rA  rB A
• Differentiating with respect to time,
   
rB  rA  rB A  rA
 
vB  v A
All particles have the same velocity.
• Differentiating with respect to time again,
rB  rA  rB A  rA
 
aB  a A
All particles have the same acceleration.
Rotation About a Fixed Axis

When a body rotates about a fixed axis, any point P in

the body travels along a circular path. The angular
position of P is defined by θ.

The change in angular position, d, is called the angular

displacement, with units of either radians or revolutions.
They are related by
1 revolution = 2 radians

Angular velocity, , is obtained by taking the time derivative

of angular displacement:
 = d/dt (rad/s) +

Similarly, angular acceleration is

 = d2/dt2 = d/dt or  = (d/d) rad/s2 +
Rotation About a Fixed Axis: Representative Slab
• Consider the motion of a representative slab in
a plane perpendicular to the axis of rotation.

• Velocity of any point P of the slab,

    
v    r  k  r
v  r

• Acceleration of any point P of the slab,

     
a    r     r
  
  k  r   2r

• Resolving the acceleration into tangential and

normal components,
  
at  k  r a t  r
 
an   2 r an  r 2
Equations Defining the Rotation of a Rigid Body
About a Fixed Axis
• Motion of a rigid body rotating around a fixed axis is
often specified by the type of angular acceleration.

d d
• Recall   or dt 
dt 
d d 2 d
  2 
dt dt d

• Uniform Rotation,  = 0:
   0  t

• Uniformly Accelerated Rotation,  = constant:

  0  t
   0   0t  12  t 2
 2   02  2    0 
A flywheel executes 1800 revolutions while it comes to rest from
speed of 6000 rpm. Assuming uniformly accelerated motion,
determine (a) the time required for the flywheel to coast to rest, (b)
the time required for the flywheel to execute the first 900 revolutions
Ans: a) t = 36 sec, b) t = 10.54 sec

When the power to an electric motor is turned on the motor reaches its
rated speed of 2400 rpm in 4 s, and when the power is turned off the
motor comes to rest in 40 s. Assuming uniformly accelerated motion,
determine the number of revolutions that the motor executes (a) in
reaching its rated speed, (b) in coming to rest.
Ans: a) 80 rev, b) 800 rev
A pulley and two loads are connected by inextensible cords as shown.
Load A has a constant acceleration of 10 in./s2 and an initial velocity
of 8 in./s, both directed upward. Determine (a) the number of
revolutions executed by the pulley in 3 s, (b) the velocity and position
of load B after 3 s, (c) the acceleration of point D on the rim of the
pulley at time t = 0.
• Ans: a) 2.75 rev

• b) vB = 57 in/sec
• ∆yB = 103.5 in

• c) aD = 28.3 in/s2
 General Plane Motion

Pure translation, followed by rotation about A2 (to move B'1 to B' 2)

Motion of B w.r.t. A is pure rotation, i.e. B draws a circle centered at
A
Any plane motion can be represented as a translation of an arbitrary
reference point A and a rotation about A.
 Absolute and Relative Velocity
For any two points lying on the same rigid body: vB  vA  vB A

Note: vB A  r r = distance from A to B

   
vB A  k  rB / A v B  v A   k  rB A

Equation can be represented graphically by a velocity diagram

 Absolute and Relative Velocity
Assuming that the velocity vA of end A is known, determine the velocity
vB of end B and the angular velocity .
Locus for vB

Locus
for vB/A
vA

vB q
vB/A

vB  vA  vB A
The direction of vB and vB/A are known. Complete the velocity diagram.
vB
tan    vB  v A tan 
vA
 Absolute and Relative Velocity in Plane Motion

• Selecting point B as the reference point and solving for the velocity vA of end A
and the angular velocity  leads to an equivalent velocity triangle.
• vA/B has the same magnitude but opposite sense of vB/A. The sense of the relative
velocity is dependent on the choice of reference point.
• Angular velocity  of the rod in its rotation about B is the same as its rotation
about A. Angular velocity is not dependent on the choice of reference point.
• Most mechanism consist not of one but several moving parts. When
various parts of mechanism are pin-connected, the analysis of the
mechanism can be carried out by considering each part as a rigid
body.
• points where two parts are connected must have same absolute
velocity.
• A similar analysis can be used when gears are involved, since teeth
in contact must also have the same absolute velocity.
• However, when a mechanism contains parts which slide on each
other, the relative velocity of the parts in contact must be taken into a
account.
 Instantaneous Center of Rotation
For any body undergoing planar motion, there always exists a point in
the plane of motion at which the velocity is instantaneously zero (if it
were rigidly connected to the body).

This point is called the instantaneous center of rotation, or C. It may

or may not lie on the body!

If the location of this point can be determined, the velocity analysis

can be simplified because the body appears to rotate about this point
at that instant.
 Instantaneous Center of Rotation
To locate the C, we use the fact that the velocity of a point on a body is
always perpendicular to the position vector from C to that point.
If the velocity at two points A and B are known, C lies at the
intersection of the perpendiculars to the velocity vectors through A
and B .

If the velocity vectors at A and B

are perpendicular to the line AB,
C lies at the intersection of the
line AB with the line joining the
extremities of the velocity vectors
at A and B.

If the velocity vectors are equal & parallel, C is at infinity and the
angular velocity is zero (pure translation)
If the velocity vA of a point A on the body and the angular velocity 
of the body are known, C is located along the line drawn
perpendicular to vA at A, at a distance r = vA/  from A. Note that the
C lies up and to the right of A since vA must cause a clockwise
angular velocity  about C.
 Velocity Analysis using Instantaneous Center
The velocity of any point on a body undergoing general plane motion
can be determined easily if the instantaneous center is located.

Since the body seems to rotate about the IC at any

instant, the magnitude of velocity of any arbitrary
point is v = r , where r is the radial distance from the
IC to that point. The velocity’s line of action is
perpendicular to its associated radial line. Note the
velocity has a direction which tends to move the point
in a manner consistent with the angular rotation
direction.
Velocity Analysis using Instantaneous Center
 Instantaneous Center of Rotation
C lies at the intersection of the
perpendiculars to the velocity vectors
through A and B .

vA vA
 
AC l cos 
vA
v B  BC   l sin  
l cos 
 v A tan 

The velocity of any point on the rod can be obtained.

Accelerations cannot be determined using C.
The crank AB has a constant clockwise angular velocity of 2000 rpm.
For the crank position indicated, determine (a) the angular velocity of
the connecting rod BD, and (b) the velocity of the piston P.
vP =vD= 1325.78 cm/s
ωBD = 61.9 rad/s (CCW)
C is at the intersection of the perpendiculars to the velocities through B and D.

vB   AB  AB   BD  BC 

BD 
vB vD  BD  CD 
BC
 Absolute and Relative Acceleration

  
Absolute acceleration of point B: aB  a A  aB A

Relative acceleration a B A includes tangential and normal
components:

a 
B A t  r a 
B A n  r 2
130
 Absolute and Relative Acceleration

   
• Given a A and v A , determine a B and  .
  
aB  a A  aB A

 
n  
 a A  aB A  aB A t

• Vector result depends on sense of a A and the

relative magnitudes of a A and a B A n
• Must also know angular velocity .
131
 Absolute and Relative Acceleration

Draw acceleration diagram to scale:

132
The crank AB has a constant clockwise angular velocity of 2000 rpm.
For the crank position indicated, determine (a) the angular
acceleration of the connecting rod BD, and (b) the acceleration of
point D.
αBD = 94.68 rad/s2 CCW

aD = 3202.97 rad/s2
←
 Plane Motion of Rigid Bodies: Forces and Accelerations
Equations of Motion for a Rigid Body
• Consider a rigid body acted upon
by several external forces.
• Assume that the body is made of a
large number of particles.

• For the motion of the mass center G

of the body with respect to the
Newtonian frame Oxyz,
 
 F  ma
• For the motion of the body with
respect to the centroidal frame
Gx’y’z’,
 
 M G  HG
• System of external forces is
equipollent to the system

consisting of ma and H G .
16 - 135
 Angular Momentum of a Rigid Body in Plane Motion
• Angular momentum of the slab may be
computed by
 n  
H G   ri viΔmi 
i 1
n  
  ri   riΔmi 
i 1


   ri 2 Δmi 

 I
• After differentiation,
  
H G  I   I 
• Results are also valid for plane motion of bodies
• Consider a rigid slab in which are symmetrical with respect to the reference
plane motion. plane.
• Results are not valid for asymmetrical bodies or
three-dimensional motion.
Plane Motion of a Rigid Body: D’Alembert’s Principle
• Motion of a rigid body in plane motion is
completely defined by the resultant and moment
resultant about G of the external forces.
 Fx  ma x  Fy  ma y  M G  I
• The external forces and the collective effective
forces of the slab particles are equipollent (reduce
to the same resultant and moment resultant) and
equivalent (have the same effect on the body).
• D’Alembert’s Principle: The external forces
acting on a rigid body are equivalent to the
effective forces of the various particles forming
the body.
• The most general motion of a rigid body that is
symmetrical with respect to the reference plane
can be replaced by the sum of a translation and a
centroidal rotation.
Problems Involving the Motion of a Rigid Body
• The fundamental relation between the forces
acting on a rigid body in plane motion and the
acceleration of its mass center and the angular
acceleration of the body is illustrated in a free-
body-diagram equation.

• The techniques for solving problems of

static equilibrium may be applied to solve
problems of plane motion by utilizing
- d’Alembert’s principle, or
- principle of dynamic equilibrium

• These techniques may also be applied to

problems involving plane motion of
connected rigid bodies by drawing a free-
body-diagram equation for each body and
solving the corresponding equations of
motion simultaneously.
At a forward speed of 10 m/s, the truck brakes were applied, causing
the wheels to stop rotating. It was observed that the truck to skidded
to a stop in 6 m.
Determine the magnitude of the normal reaction and the friction force
at each wheel as the truck skidded to a stop.
SOLUTION:

• Calculate the acceleration during the

skidding stop by assuming uniform
acceleration.
• Draw the free-body-diagram equation
expressing the equivalence of the
external and effective forces.

• Apply the three corresponding scalar

equations to solve for the unknown
normal wheel forces at the front and
rear and the coefficient of friction
between the wheels and road surface.
 SOLUTION:
• Calculate the acceleration during the skidding
stop by assuming uniform acceleration.

v 2  v02  2a x  x0 
0  10 m/s  2a 6 m a  8.33 m/s 2
2

v0  10 m/s x  6 m
• Draw a free-body-diagram equation expressing
the equivalence of the external and effective
forces.
• Apply the corresponding scalar equations.
 Fy   Fy eff N A  NB  W  0

 Fx   Fx eff  FA  FB  ma

 k N A  N B  
 kW  W g a
a 8.33
k    0.849
g 9.81
• Apply the corresponding scalar equations.

 M A   M A eff

 1.5 mW  3.6 mN B  1.2 mma

1  W  W  a
NB   5W  1.2 a  1.5  1.2 
3.6  g  3.6  g
N B  17.16 kN

N A  W  N B  7.37 kN

N rear  12 N A  7.37 kN N rear  3.69 kN

Frear  k N rear  0.8493.69 kN 
Frear  3.13 kN
N front  12 NV  12 17.16 kN 
N front  8.58 kN
Ffront  k N front  0.8498.58 kN

Ffront  7.29 kN
A pulley weighing 6 kg and having a radius of gyration of 200 mm is
connected to two blocks as shown.
Assuming no axle friction, determine the angular acceleration of the
pulley and the acceleration of each block.
• α = 2.41 rad/s2
• aA = 0.6 m/s2
• aB = 0.36 m/s2
SOLUTION:
• Determine the direction of rotation by evaluating the net moment on the pulley due
to the two blocks.

 M G  5 kg150 mm  2.5 kg250 mm  10 in  lb

rotation is counterclockwise.
W 2
note: I  mk 2  k
g
2
6 kg  8 
 2
ft
32.2 ft s 12 

 0.24 kg  m 2

• Relate the acceleration of the blocks to the angular

acceleration of the pulley.

a A  rA aB  rb
 (0.25 m)   (0.15 m)
A uniform sphere of mass m and radius r is projected along a rough
horizontal surface with a linear velocity v0. The coefficient of kinetic
friction between the sphere and the surface is mk.
Determine: (a) the time t1 at which the sphere will start rolling
without sliding, and (b) the linear and angular velocities of the sphere
at time t1.
SOLUTION:
• Draw the free-body-diagram equation expressing the equivalence of external and
effective forces on the sphere.
• Solve the three scalar equilibrium equations.

 Fy   Fy eff
N W  0 N  W  mg
 Fx   Fx eff
 F  ma
  k mg  a  k g
 M G   M G eff
Fr  I
5 k g
k mg r  23 mr 2  
2 r

NOTE: As long as the sphere both rotates and slides, its linear and angular motions
are uniformly accelerated.
• Apply the kinematic relations for uniformly accelerated motion to determine the
time at which the tangential velocity of the sphere at the surface is zero, i.e.,
when the sphere stops sliding.

v v 0 a t v 0  k g t

 5 k g 
  0  t  0   t
2 r 

At the instant t1 when the sphere stops sliding,

a  k g v1  r1
5 k g
  5 k g  t1 
2 v0
2 r v0   k gt1  r   t1
2 r  7 k g

 5 k g   5  g   2 v0  5 v0
1    t1   k    1 
2 r   2 r   7 k g  7 r

5v 
v1  r1  r  0  v1  75 v0
7 r 
Constrained Plane Motion: Rolling Motion
• For a balanced disk constrained to
roll without sliding,
x  r  a  r
• Rolling, no sliding:
F  s N a  r
Rolling, sliding impending:
F  s N a  r
Rotating and sliding:
F  k N a, r independent
• For the geometric center of an
unbalanced disk,
aO  r
The acceleration of the mass center,
  
aG  aO  aG O


t 
 aO  aG O  aG O

n
16 - 150
A sphere of weight W is released with no initial velocity and rolls
without slipping on the incline. Determine: a) the minimum value of
the coefficient of static friction compatible with the rolling motion, b)
the velocity of G after the sphere has rolled 3 m and c) the velocity of
G if the sphere were to move 3 m down a frictionless incline.
SOLUTION:
• Draw the free-body-equation for the sphere, expressing the equivalence of the
external and effective forces.
• With the linear and angular accelerations related,
solve the three scalar equations derived from the
free-body-equation for the angular acceleration
and the normal and tangential reactions at C.

 M C   M C eff
W sin  r  ma  r  I
 mr  r  52 mr 2 
a  r W  2W 2
  r  r   r  
g   5 g  5 g sin

7r
5 g sin 30
a  r 
7


 
5 9.81m s 2 sin 30 a  3.5 m s 2
7
• Solve the three scalar equations derived from the free-body-equation for the
angular acceleration and the normal and tangential reactions at C.

 Fx   Fx eff mg sin   F  ma

mg 5 g sin 

g 7
2
F  mg sin 30  0.143 mg
7
 Fy   ( Fy )eff N  mg cos   0
N  mg cos 30  0.866 mg

5 g sin  • Calculate the friction coefficient required for the

 indicated tangential reaction at C.
7r
a  r  3.5 m s 2 F  s N
F 0.143 mg
s  
N 0.866 mg  s  0.165