INTRODUCTION TO

DYNAMICS OF RIGID
BODIES
 Force-
Acceleration
Method

Work -Energy
Particles Kinetics
Method

Impulse -
Momentum
Dynamics Method

Relative Motion

Rigid Bodies Kinematics

Absolute
Motion
Dynamics – deals with the study of bodies in motion.
Kinematics – a treatment of the relationship between displacement, velocity, and acceleration.
Kinetics – a treatment of the relation of forces acting on a body to its mass and acceleration.
Particle – very small amount of matter which may be assumed to occupy single part in space.
Rigid bodies – combination of large number of particles occupying fixed positions with each other
Rectilinear motion – continuous motion
Variable Acceleration – change in acceleration all thru out
Constant Acceleration – consistent acceleration
Position – location on Cartesian plane
Displacement – change in position
Distance travelled – scalar, total length of the path over which a particle travels
Velocity – measure of the rate of change in the position of a particle
𝑑 Δs 𝑑𝑠 St
V= 𝑡 , Instantaneous Velocity = Δ𝑡 = 𝑑𝑡 , Average Speed = Δ𝑡

Acceleration – measure of the rate of change in the velocity of a particle

Δ𝑣 𝑑𝑣
A = Δ𝑡 , Instantaneous Acceleration = 𝑑𝑡

1
V2 – Vo2 = 2as Vot + 2 at2 = S at = V - Vo
RECTILINEAR
MOTION
 RECTILINEAR MOTION

formulas

∆𝒔
Vave =
VAVE ∆𝒕
Velocity (Average Velocity)

measures of the rate of change in

position of a particle
∆𝒔 𝒅𝒔
V= 𝐥𝐢𝐦 = ;
∆𝒕→𝟎 ∆𝒕 𝒅𝒕
(instantaneous velocity)
 Average Speed 𝑺𝒕
(Vsp)ave =
∆𝒕
always (+) scalar, defined as total
distance travelled by a particle Vsp.AVE St = total distance
over a period of time
(Average Speed)
 ∆𝒗
aave =
∆𝒕
(Average Acceleration)

Acceleration

measure of the rate of change in

the velocity of a particle a a= 𝐥𝐢𝐦
∆𝒗
∆𝒕→𝟎 ∆𝒕
=
𝒅𝒗
𝒅𝒕

𝒅𝒗
a = 𝒅𝒕

𝒅𝒔
V = 𝒅𝒕

𝒅𝒗 𝒅𝒔
=
𝒂 𝒗

𝒗𝒅𝒗 = 𝒂𝒅𝒔
3 EQUATIONS THAT DESCRIBE THE MOTION
OF A PARTICLE

𝑑𝑠 𝒗 𝒔
v = 𝑑𝑡
න 𝒗𝒅𝒗 = 𝒂 න 𝒅𝒔
vdt = ds 𝒗𝒐 0

𝑡 𝑠
𝒗 𝒗𝟐 𝒔
න 𝑎𝑡 + 𝑉𝑜 𝑑𝑡 = න 𝑑𝑠 ቊ𝒗 = ቄ 𝒂𝒔
0 0 𝒐 𝟐 𝟎
𝑡 𝑣
𝑎𝑡 2 𝑡 𝑡 𝑡 𝑎 න 𝑑𝑡 = න 𝑑𝑣
൝ + 𝑉𝑜𝑡 ቊ = 𝑠 ൜ 𝑜 𝑣𝑜 𝒗𝟐 − (𝒗𝟎 )𝟐
2 0 0 0 = 𝒂𝒔
𝟐
at = v – vo 𝟐
𝟏 𝟐 V2 – Vo2 = 2as 𝟑
s= a𝒕 + vo 𝒕 𝟏
𝟐
 problem
A particle moves in a straight line according to the law; s = t3- 4t2+5 where s in ft
and t in seconds.

a) When t = 5s, compute the velocity.

b) Find the average velocity during the 4th second.
c) Find the average speed during the 4th second.
d) When the particle again comes to rest, what is its acceleration?
 answer
a) V = ? , t=5 b) Vave=? , t=4 c) Vsp(ave) = ? , t=4 d) a=?
∆𝒔
Vave = ∆𝒕 (Vave)sp
𝑺𝒕
= ∆𝒕 =
𝑺𝒕 v=0
S= t3 – 4t2 +5 ∆𝒕
𝑺𝟒 +𝑺𝟑 + 𝑺𝟐 +𝑺𝟏 0 = v = 3t2 – 8t
S4 = t3 – 4t2 + 5 =
𝑑𝑠 ∆𝒕
V= = 3𝑡 3 − 8𝑡 (@ 5 seconds) t = 8/3 sec
𝑑𝑡
S4 = (4)3 – (4)(4)2 + 5 S= t3 – 4t2 +5 𝑑𝑣
S4 = 5 = 𝑎 = 6𝑡 − 8
V= 3(5)2 – 8(5) S1 = 2 𝑑𝑡
S0 = t3 - 4t2 + 5 8
S2 = -3 a = 6((3) – 8
V= 35ft = 03 – 4(0)2 + 5
S3 = -4
S0 = 5
S4 = 5
𝑓𝑡
a = 8 𝑠2
𝑆4 − 𝑆0 5−5
Vave= =
∆𝑡 4
𝑓𝑡
Vave = 0 (Vave)sp = 4.5 𝑠
 problem

A sphere is fired downward into a medium w/ an initial speed of 27

m/s if it experiences a deceleration of a = 6t m/s² where t is in seconds,
determine the distance traveled before it stops.
 answer
V= 27m/s
𝑚 a = -6t v = 27 – 3t2
a = - 6t 𝑠 2
dv 𝑑𝑠
= −6t = 27 − 3𝑡 2
dt 𝑑𝑡
v t
𝑠 𝑡
න dv = −6 න tdt
27 0 න 𝑑𝑠 = න 27 − 3𝑡 2 𝑑𝑡
s 0 0
v t
ቄ v = ൜ − 3t 2 s = 27t – t3 @ t = 3
27 0

0 = v = 27 – 3t2 s = 27(3) – (3)3

27 = 3t2 s = 54m

t = 3 seconds
 problem
A particle is moving along a straight line such that its speed is defined as v =
-4s² where s is in meters. If s = 2m when t = 0, determine the velocity and
acceleration as a function of time.

s=2
t=0

V = -4s²

s
 answer
s=2
t=0 1
a= -4s2 s=1
2
+4𝑡
V = -4s²
dv V = −4s2
= −4s2
dt 1
V = -4 (1 )2
s +4𝑡
ds= -4s2dt 2
−4
=
1
𝑠
𝑑𝑠 𝑡 (2 + 4𝑡)2
න 2 = − න 4𝑑𝑡
2 𝑠
𝑑𝑣 1
0 = 𝑑𝑡 = 𝑎= 8(2 + 4𝑡)−3 . (4)
𝑠 1
൜ − = −4𝑡
2 𝑠
1 1 32
- + = −4𝑡 a= 1
𝑠 2 ( +4𝑡)3
2
v = f(t)
 problem
A ball is thrown vertically upward from the top of a 30m high building
with an initial velocity of 5m/s. At the same instant, another ball B is thrown
upward from the ground with an initial velocity of 20m/s.

a) When will the balls meet? V = 5m/s

b) Where will the balls meet? s

c) What is the relative velocity of the two balls when they
meet?

V = 20m/s
 answer
a) t = ? b) S = ? c) Rel. Vel.?
1
S = Vot + 2 𝑔𝑡 2 SB = 20t – 4.9t2
= 20(2) – 4.9(2)2 Va = 5-9.8(2)
Sb = Sa + 30
SB = 20.4m from the ground Va = -14.6 kN
1 1
20𝑡 − 9.8 𝑡 2 = 5𝑡 − 9.8 𝑡 2 + 30 Vb = =20-9.8 V = 5m/s
2 2

20𝑡 − 4.9𝑡 2 = 5𝑡 − 4.9𝑡 2 + 30 s

5t = 30 VB = 0.4 m/s
t = 2 seconds Rel. Vel = |Va-Vb |
V = 20m/s
= |-14.6-0.4|
Rel. Vel. = 15 m/s
 problem
Test reveal that a normal driver takes about 0.75s before he or she can react to a situation to
avoid a collision. It takes about 3 secs for a driver having 0.1% alcohol in his system to do the same. If
such drivers are travelling on a straight road at 30 mph and their cars can decelerate at 2 ft/s2.
Determine the shortest stopping distance d for each from the moment I see the pedestrian

d1 d2

Normal

Drunk

d1 d2
 answer
V = 30 mi/hr = 44 ft/s
D1 = vt Dt1 = 33 + 484
2as = v2 – vo 2
D1 (normal) = (44 ft/s) (0.75) Dt1= 517ft
𝑣 2 − (𝑣𝑜 )2
D2= = 33 ft
2𝑎
(0−44)2 D1(drunk) = (44 ft/s) (3)
d2= Dt2 = 132 + 484
2(−2)
= 132 ft Dt2 = 616ft
d2= 484 ft
d1 d2

Normal

Drunk

d1 d2