ME 201 - Engineering Dynamics

Lecture # 1 Introduction to Dynamics

Prepared By: Courtesy of Engr. Abdul Wahab

HITEC University Taxila Cantt.

Definition
Mechanics is a branch of the physical sciences that is concerned with the state of rest or motion of bodies subjected to the action of forces. Engineering mechanics is divided into two areas of study, namely, statics and dynamics. Statics is the branch of mechanics which deals with equilibrium of bodies at rest

Dynamics is that branch of mechanics which deals with the motion of bodies under the action of forces.

Dynamics
Dynamics has two distinct parts:
kinematics, which is the study of motion without reference to the forces which cause motion, and kinetics, which relates the action of forces on bodies to their resulting motions.

History of Statics
Archimedes (287-212B.C.) on the principle of Liver and principle of Bouyancy Stevinus (1548-1642) vector combination of forces

History of Dynamics
The beginning of a rational understanding of dynamics is credited to Galileo (1564-1642)
who made careful observations concerning bodies in free fall, motion on an inclined plane, and motion of the pendulum.

Newton (1642-1727), guided by Galileo's work, was able to make an accurate formulation of the laws of motion
Following Newton's time, important contributions to mechanics were made by Euler, D'Alembert, Lagrange, Laplace, Poinsot, Coriolis, Einstein, and others.

Applications of Dynamics
Analysis and Design of:
moving structures fixed structures subject to shock loads robotic devices automatic control systems Rockets Missiles Spacecraft ground and air transportation vehicles machinery of all types
Turbines Pumps reciprocating engines etc.

Basic Concepts
Time is a measure of the succession of events Mass is the quantitative measure of the inertia or resistance to change in motion of a body.
Mass may also be considered as the quantity of matter in a body as well as the property which gives rise to gravitational attraction.

Force is the vector action of one body on another. A particle is a body of negligible dimensions.
When the dimensions of a body are irrelevant to the description of its motion or the action of forces on it, the body may be treated as a particle. An airplane, for example, may be treated as a particle for the description of its flight path.

A rigid body is a body whose changes in shape are negligible compared with the overall dimensions of the body or with the changes in position of the body as a whole.

Review: Vector Analysis

Vector is a quantity which has magnitude and direction, and adds according to the parallelogram law.

As Shown in Fig., A = B + C, where A is the resultant vector and B and C are component vectors.

Unit Vector
A unit vector, UA , has a magnitude of one dimensionless unit and acts in the same direction as A.
It is determined by dividing A by its magnitude A, i.e,

Cartesian Vector Notation

The directions of the positive x, y, z axes are defined by the Cartesian unit vectors i, j, k, respectively. As shown in Fig., vector A is formulated by the addition of its x, y, z components as

The magnitude of A is determined from

Cartesian Vector Notation (Contd.)

The direction of A can be defined in terms of its coordinate direction angles, , , , measured from the tail of A to the positive x, y, z axes
These angles are determined from the direction cosines which represent the i, j, k components of the unit vector UA ; i.e.,

so that the direction cosines are

Hence, Ua = cos i + cos j + cos k Since:

The Cross Product

The cross product of two vectors A and B, which yields the resultant vector C, is written as C=AxB The magnitude of C is given by: C = AB sin
where is the angle made between the tails of A and B (0 180).

The direction of C is determined by the right-hand rule

perpendicular to the plane containing vectors A and B.

Cross Product (Contd.)

The vector cross product is not commutative, i.e., AxB BxA. Rather,

AxB=-BxA
The distributive law is valid; i.e., A x (B + D ) = A x B + A x D And the cross product may be multiplied by a scalar m in any manner; i.e.,

m(A x B) = (mA) x B = A x (mB) = (A x B)m

Equation C = A x B can be used to find the cross product of any pair of Cartesian unit vectors, using the scheme shown in the fig., e.g.,

kxi=j i x k = -j

Cross Product (Contd.)

If A and B are expressed in Cartesian component form, then the cross product can be evaluated by expanding the determinant

which yields

The Dot Product

The dot product of two vectors A and B , which yields a scalar, is defined as

If A and B are expressed in Cartesian component form, then the dot product can be expressed as

The dot product may be used to determine the angle formed between two vectors.

The Dot Product (Contd.)

It is also possible to find the component of a vector in a given direction using the dot product.

From Figure, A cos defines the magnitude of the component (or projection) of vector A in the direction of B. UB represents a unit vector acting in the direction of B

For Further Review

Check out:
Appendix A Appendix B Appendix C

From the Book: Engineering Mechanics: Dynamics By R.C. Hibbeler

Solving Problems In Dynamics

Method of Attack 1. Formulate the problem:
a) b) c) State the given data. State the desired result. State your assumptions and approximations.

2.

Develop the solution:

a) b) c) d) Draw any needed diagrams, and include coordinates which are appropriate for the problem at hand (Establish a coordinate system). State the governing principles to be applied to your solution. Make your calculations. Ensure that your calculations are consistent with the accuracy justified by the data. Be sure that you have used consistent units throughout your calculations. Ensure that your answers are reasonable in terms of magnitudes, directions, common sense, etc.

e) f)

3.

Draw conclusions.

Units
The four fundamental quantities of mechanics, and their units and symbols for the two systems, are summarized in the following table
SI Units QUANTITY Mass Length DIMENSIONAL SYMBOL M L UNITS kilogram meter SYMBOLS kg m U.S. Customary Units UNITS slug foot SYMBOLS ft

Time Force

T F

second newton

s n

second pound

sec lb

Dimensions
The principle of dimensional homogeneity states that all physical relations must be dimensionally homogeneous; that is, the dimensions of all terms in an equation must be the same. It is customary to use the symbols L, M, T, and F to stand for length, mass, time, and force, respectively. A given dimension such as length can be expressed in a number of different units such as meters, millimeters, or kilometers.
Thus, a dimension is different from a unit.

Dimensional Consistency
In SI units force is a derived quantity

F = ma
From above equation force has the dimensions of mass times acceleration or

[F] = [M][L][T]-2

Choice of Coordinates
The position of particle P at any time t can be described by:
Rectangular coordinates (x, y, z)
(Cartesian coordinates)

Choice of Coordinates
The position of particle P at any time t can be described by:
Rectangular coordinates (x, y, z)
(Cartesian coordinates)

Cylindrical coordinates (r, , z)

Choice of Coordinates
The position of particle P at any time t can be described by:
Rectangular coordinates (x, y, z)
(Cartesian coordinates)

Cylindrical coordinates (r, , z) Spherical coordinates (R, , )

Choice of Coordinates
The position of particle P at any time t can be described by:
Rectangular coordinates (x, y, z)
(Cartesian coordinates)

Cylindrical coordinates (r, , z) Spherical coordinates (R, , ) Tangential and normal to the curve
(t, n)

The End