Dynamics 2015

Dynamics
MHD0072
Leo Teder
Department of
Mechatronics Faculty of
Mechanical Engineering
Tallinn University of
Technology
201
5
Contents
Introduction to Dynamics
1.Dynamics of masspoint
1. Newtons 2 law
2. System of masspoints
3. Mass center of the
system
4. Linear momentum
5. Work energy method
6. Angular momentum
7. Impulse momentum
method
2.Dynamics of rigid bodies
1. Inertial
moments 2.2
Books
1. Hibbeler. Engineering Mechanics Statics Dynamics 12th

txtbk
2. Beer, Johnston. Vector Mechanics Engineers Statics
Dynamics 9th Edition
3. Pytel, Kiusalaas. Engineering mechanics. Dynamics.
Dynamics
Statics deals with equilibrium of bodies.
Kinematics is concerned with geometric aspects of motion.
Dynamics investigates motion of bodies due to forces applied to them.
Basic quantities
Force, inertia, mass, length, time.
Inertia is bodys resistance to a change in its state of motion.
Its more difficult to change the state of motion of heavier
body then that of
lighter body.
Measure of bodys inertia is its mass.
Masspoint is a body whos dimentions can be neglected.
Newtons laws
First law
If the resultant force acting on a particle is zero,
the particle will remain at rest (if originally at
rest) or will move with constant speed in a
straight line (if originally in motion).
Second law
If the resultant force acting on a particle is not
zero, the particle will have an acceleration
proportional to the magnitude of this
force and in its direction.
ma F
Third law
The forces of action and reaction between bodies
in contact are of the same magnitude, have same
Newtons Law of Gravitation

Two particles of mass M and m are mutually attracted
with equal and opposite forces given by the formula:
F G Mm
2
kus: r distance between

particles, G constant of
gravitation.
Gravitational pull exerted by the Earth on a body

standing on its surface can be calculated by
equasion:
W mg
Where: g gravitational acceleration 9,81 m/s2, equals
to g=GM/R2; R radius of Earth,
W weight.
Dynamics methods
Force mass
acceleration
Work energy
Impulse
momentum
Can be used to solve any

problem of masspoint
dynamics.
These methods are integral

forms of Newtons
laws.
Here
acceleration
is
eliminated
from
equations
by integration.
These methods are useful
for solving problems involving
velocity-position or velocitytime relationships.
1.1. Newtons 2 law.

=
An unbalanced force acting on a masspoint gives this point
an acceleration in forces direction .
Acceleration of masspoint is proportional to the force
causing it, ratio of
force to acceleration is constant and equal to points mass.
1
= . =
3
Inertial reference frame. For engineering purposes

this is a frame of reference
that is fixed to the ground or translates with constant
velocity.
There are 2 types of problems:
1.type: Motion is given find the forces.
2.type: Forces are given find the motion.
Coordinate systems, force components.

Rectangular
coordinates.
Z
Rectangular
(scalar)
components.
=
Fz
Fy
Fx
z
Y
x
y
X
=
Vector form:
= +
+
Coordinate systems, force components.

Normal and tangential
coordinates.
Z
Scalar
components.
b
Fb
n
Fn
Ft
==
Vector
form:
= + +
=
= +
Procedure for analysis.

1. Free body diagram. Force, velocity, acceleration
etc. vectors.
2. Coordinate system and force components.
3. Apply Newtons 2 law.
4. Solve equations.
Example 1.1.1
Box weighing 20 kg is standing still. Find magnitude of force F
needed to accelerate the box to 6 m/s in 3 s. Dynamic coefficient of
friction between surfaces is = 0.4.
=
=
(1) = 20
(2) = + +
20
Kinemaatika:
0 = 0; 1 = 6 m/s
htlase kiirendusega
liikumine:
= 0 +
20
Newtoni 2 seadus 2 telje

sihis:
Example 1.1.1
N
20

sihis:
=
=
(1) = 20
(2) = + +
20
Kinemaatika:
0 = 0; 1 = 6 m/s
htlase kiirendusega
liikumine:
= 0 +
Example 1.1.1
N
=
=
(1) = 20
(2) = + +
20
Kinemaatika:
0 = 0; 1 = 6 m/s
htlase kiirendusega
liikumine:
= 0 +
20

sihis:
Example 1.1.1
N
=
=
(1) = 20
(2) = + +
20
Kinemaatika:
0 = 0; 1 = 6 m/s
htlase kiirendusega
liikumine:
= 0 +
20

sihis:
a
G
Example 1.1.1
N
20
Equations of
motion:
=
=
(1) = 20
(2) = + +
20
Kinemaatika:
0 = 0; 1 = 6 m/s
htlase kiirendusega
liikumine:
= 0 +
a
G
Example 1.1.1
N
20
Equations of
motion:
=
=
(1) = 20
(2) = + +
20
Kinemaatika:
0 = 0; 1 = 6 m/s
htlase kiirendusega liikumine:
= 0 +
6
=
=2
Example 1.1.1
N
20
Equations of
motion:
=
=
(2)
(1) = + +
20
20
Kinemaatika:
0 = 0; 1 = 6 m/s
= 0 +
6
=
=2
Example 1.1.1
N
20
Equations of motion:
=
=
a
G
(1) = 20
Kinemaatika:
(2) = + +
0 =0;
1 = 6 m/s
20
= 0 +
6
=
m s
=2
Example 1.1.1
N
20
=
=
a
G
(1) = 20
Kinemati
(2) = + +
cs: =0;
= 6 m/s
20
0
= 0 +
6
=
m s
=2
Example 1.1.1
N
20
=
=
a
G
(1) = 20
Kinematics:
(2) = + +
0 =0;
1 =
20
6 m/s
= 0 +
6
=
m s
=2
Example 1.1.1
N
20
=
=
a
G
(1) = 20
Kinematics:
(2) = + +
0 =0;
1 = 6 m/s
20
Uniformly accelerated motion:
= 0 +
6
=
=2 m s
Example 1.1.1
N
=
=
(1) = 20
Kinematics:
(2) = + +
0 =0;
1 = 6 m/s
20
= 0 +
6
2
=
m s
=2
20
a
G
Example 1.1.1
N
=
=
20
a
G
(1) = 20
Kinematics:
(2) = + +
0 =0;
1 = 6 m/s
20
= 0 +
6
2
=
m s
=2
(2) = + +
20
0 = + + 20
= 20
(1) = 20
=
= 20 20
20 2 = 0.94 0.4 20 9.81 +
0.4 0.34
1.076 = 118.48
= 110.1
Example 1.1.1
N
F
20
=
=
a
G
(1) = 20
Kinematics:
(2) = + +
0 =0;
1 =
20
6 m/s
= 0 +
6
2
=
m s
=2
(2)
= + +
20 0 =
+
+
=
20
20
(1) = 20
=
= 20 20
20 2 = 0.94 0.4 20 9.81 +
0.4 0.34
1.076 = 118.48
= 110.1
Example 1.1.1
N
F
20
=
=
a
G
(1) = 20
Kinematics:
(2) = + +
0 =0;
1 =
20
6 m/s
= 0 +
6
2
=
m s
=2
(2)
= + +
20 0 =
+ + 20
= 20
(1) = 20 =
= 20 20
20 2 = 0.94 0.4 20 9.81 +
0.4 0.34
1.076 = 118.48
N
= 110.1
Example 1.1.1
N
F
20
=
=
a
G
(1) = 20
Kinematics:
(2) = + +
0 =0;
1 =
20
6 m/s
= 0 +
6
2
=
m s
=2
(2)
= + +
20 0 =
+ + 20
= 20
=
(1) = 20
= 20 20
20 2 = 0.94 0.4 20 9.81 +

0.4 0.34
1.076 = 118.48
N
= 110.1
Example 1.1.1
N
F
20
=
=
a
G
(1) = 20
Kinematics:
(2) = + +
0 =0;
1 =
20
6 m/s
= 0 +
6
2
=
m s
=2
(2)
= + +
20 0 =
+ + 20
= 20
=
(1) = 20
= 20 20
20 2 = 0.94 0.4 20 9.81 +

0.4 0.34
1.076 = 118.48
N
= 110.1
Example 1.1.1
N
F
20
=
=
a
G
(1) = 20
Kinematics:
(2) = + +
0 =0;
1 =
20
6 m/s
= 0 +
6
2
=
m s
=2
(2)
= + +
20 0 =
+ + 20
= 20
=
(1) = 20
= 20
20
20 2 = 0.94 0.4 20 9.81 +
0.4 0.34
1.076 = 118.48
= 110.1 N
Example 1.1.1
N
F
20
=
=
a
G
(1) = 20
Kinematics:
(2) = + +
0 =0;
1 =
20
6 m/s
= 0 +
6
2
=
m s
=2
(2)
= + +
20 0 =
+ + 20
= 20
=
(1) = 20
= 20
20
20 2 = 0.94 0.4 20 9.81 +
0.4 0.34
1.076 = 118.48
= 110.1 N
Example 1.1.1
N
F
20
=
=
a
G
(1) = 20
Kinematics:
(2) = + +
0 =0;
1 =
20
6 m/s
= 0 +
6
2
=
m s
=2
(2)
= + +
20 0 =
+ + 20
= 20
=
(1) = 20
= 20
20
20 2 = 0.94 0.4 20 9.81 +
0.4 0.34
1.076 =
= 110.1 N
118.48
Example 1.1.1
N
F
20
=
=
a
G
(1) = 20
Kinematics:
(2) = + +
0 =0;
1 =
20
6 m/s
= 0 +
6
2
=
m s
=2
(2)
= + +
20 0 =
+ + 20
= 20
=
(1) = 20
= 20
20
20 2 = 0.94 0.4 20 9.81 +
0.4 0.34
= 110.1
1.076 =
N
118.48
Example
1.1.2
Block weighing 20 kg is held in place on inclined surface, then
50
released. Coeficient of dynamic friction between surfaces is =

0.3. Determine velocity of the block and the distance it has traveled
at 3 s. Determine relationship between velocity and coordinate.
Example 1.1.2
50
Example 1.1.2
y
50
Example 1.1.2
y
50
Example 1.1.2
y
H
50
Example 1.1.2
y
H
a
50
Example 1.1.2
y
Equations of
H
motion:
=
=
N
a
50
Example 1.1.2
y
Equations of
H
motion:
=
=
N
(2) (1)
= 40 +
40
50
Example 1.1.2
y
Equations of
H
motion:
=
=
N
(1) =
40
50
(2) =
40 +
Example 1.1.2
y
Equations of
H
motion:
=
=
N
(1) =
a
50
40
(2)
0=
= =
40
+
= (2)
40
40
40
=+
= 20 9.81 0.64 = 126.1 N
Example 1.1.2
y
Equations of
H
motion:
=
=
N
(1) =
40
(2)
0=
(2)
=
40
+
+
=
40
= = 126.1 N
=
20
40
9.81
0.64
40 =
50
Example 1.1.2
y
Equations of
H
motion:
=
=
N
(1) =
a
50
40
(2) 0 = 40 +
= =
= (2)
40
40
40
=+
= 20 9.81 0.64 =
126.1 N
Example 1.1.2
y
Equations of
H
motion:
=
=
N
(1) =
40
(2) 0 = 40 +
= =
= (2)
40
40
40
=+
x
= 20 9.81 0.64 =
126.1 N
(1 =
40 40
)
40 =
=40
40
=
= 9.81 0.77 0.3 0.64 = 5.62 m
s2
50
Example 1.1.2
y
Equations of
H
motion:
=
=
N
(1) =
40
(2) 0 = 40 +
= =
= (2)
40
40
40
=+
x
=
= 20 9.81 0.64 =
126.1 N
(1 =
40 40
)
40 =
=40
40
=
= 9.81 0.77 0.3 0.64 = 5.62 m
s2
50
Example 1.1.2
y
Equations of
H
motion:
=
=
N
(1) =
a
50
40
(2) 0 = 40 +
= =
= (2)
40
40
40
=+
= 20 9.81 0.64 =
126.1 N
(1 = 40 =
)

40
=40
40
40
= 9.81 0.77 0.3 0.64
s2
= 5.62 m
Example 1.1.2
y
Equations of
H
motion:
=
=
N
(1) =
a
50
40
(2) 0 = 40 +
= =
= (2)
40
40
40
=+
= 20 9.81 0.64 =
126.1 N
(1 = 40 =
)
40 40
= 40 40 =
= 9.81 0.77 0.3 0.64 = 5.62 m
s2
Example 1.1.2
y
Equations of
H
motion:
=
=
N
(1) =
a
50
40
(2) 0 = 40 +
= =
= (2)
40
40
40
=+
= 20 9.81 0.64 =
126.1 N
(1 = 40 =
)
40 40
= 40 40
= 9.81 0.77 0.3 0.64
s2
= 5.62 m
Example 1.1.2
y
Equations of
H
motion:
=
=
N
(1) =
a
50
40
(2) 0 = 40 +
= =
= (2)
40
40
40
=+
= 20 9.81 0.64 =
126.1 N
(1 = 40 =
)
40 40
= 40 40
= 9.81 0.77 0.3 0.64
s2
= 5.62 m
Example 1.1.2
y
Equations of
H
motion:
=
=
N
(1) =
40
(2) 0 = 40 +
= =
= (2)
40
40
40
=+
x
=
= 20 9.81 0.64 =
126.1 N
Gcos40 > H
(1 = 40 =
Block will move
)
40 40
downards!
= 40 40 =
50
= 9.81 0.77 0.3 0.64

s2
= 5.62 m
Example 1.1.2
y
Equations of
H
motion:
=
=
N
(1) =
40
(2) 0 = 40 +
= =
= (2)
40
40
40
=+
x
=
= 20 9.81 0.64 =
126.1 N
Gcos40 > H
(1 = 40 = 40
Block will move
)
40
downards!
= 40 40 =
50
= 9.81 0.77 0.3 0.64 = 5.62 m s2

Constant
acceleration!
Example 1.1.2
y
Kinemati
H
cs:
= 0 +
=
22
0 +
N
a
50
Example 1.1.2
y
Kinemati
= 5.62
=3
H
cs:
3=
= 0 +
=
= 16.9 m/s
2
=
5.62 9
22
0 +
=3 =
N
2
50
= 25.3 m
x
Example 1.1.2
y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2
=
5.62 9
22
0 +
=3 =
N
2
50
= 25.3 m
x
Example 1.1.2
y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62 9
=
=3
22
=
=
0 +
2
2
=
a
50
= 25.3 m
Example 1.1.2
y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
a
50
Example 1.1.2
50

y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
Velocity coordinate
a
G
relationship:
x
Example 1.1.2
50

y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
Velocity coordinate
a
G
relationship:
= = 5.62
=
Example 1.1.2
50

y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
Velocity coordinate
a
G
relationship:
= = 5.62
=
= = =
Example 1.1.2
50

y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
Velocity coordinate
a
G
relationship:
= = 5.62
=
= =
Example 1.1.2
50

y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
Velocity coordinate
a
G
relationship:
= = 5.62
=

= =
= =

Example 1.1.2
50

y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
Velocity coordinate
a
G
relationship:
= = 5.62
=

= =
Example 1.1.2
50

y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
Velocity coordinate
a
G
relationship:
= = 5.62
= =
Example 1.1.2
50

y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
Velocity coordinate
a
G
relationship:
= =
5.62
x
= =
Example 1.1.2
50

y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
Velocity coordinate
a
G
relationship:
= =
5.62
x
=

5.62
5.62
= =
0
2
2 0
Example 1.1.2
50

y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
Velocity coordinate
a
G
relationship:
= =
5.62
x
=

5.62
= = =
=

0
5.62

=
0
2
2 0
2
= 5.62(
Example 1.1.2
50

y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
Velocity coordinate
a
G
relationship:
= =
5.62
x
=

5.62
= = =
=

0
5.62

=
0
2
2
=
5.62(
02
0 )
Example 1.1.2
50

y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
Velocity coordinate
a
G
relationship:
= =
5.62
x
=

5.62
= = =
=

0
5.62

=
0
2
2
= 5.62(
02
0 )
Example 1.1.2
50

y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
Velocity coordinate
a
G
relationship:
= =
0 = 0; 0
=
5.62
x
= 02
=
= 11.24

5.62
= 11.24
= = =
=
0
5.62
0
2
= 5.62(
22 0
0 )
Example 1.1.2
50

y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
Velocity coordinate
a
G
relationship:
= =
0 = 0; 0
=
5.62
x
=0
=

5.62
2 =
= 11.24
= = =
=
11.24
0
5.62
=
0
2
2
= 5.62(
02
0 )
Example 1.1.2
50

y
Kinemati
=3 = = 5.62
H
cs:
3=
= 0 +
= 16.9 m/s
2 5.62
=
=
2
2
2
=3
=
0 +
=225.3
=
N
m
Velocity coordinate
a
G
relationship:
= =
0 = 0; 0
=
5.62
x
=0
=

5.62
2 =
=
= = =
=
11.24
11.24
0
5.62
=
0
2
2
= 5.62(
02
0 )
Example 1.1.3
Masspoint weighing 3 kg moves along horisontal straight line. A
force proportional to coordinate pulls masspoint towards the origin,
coefficient of proportionality is k = 0.55 kg/s2. At the start
masspoints position is 2.5 m from the origin and it has positive initial
velocity v0 = 4 m/s. Determine coordinate time relationship.
Example 1.1.3
Given:
m = 3 kg
F x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Example 1.1.3
m
= 3 kg
Given:
F x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
O
x
Example 1.1.3
Given:
m = 3 kg
F x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
v0
O
x0
Example 1.1.3
Given:
m = 3 kg
F x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
v0
O
x0
Example 1.1.3
Given:
m = 3 kg
F x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
v0
F
x0
Example 1.1.3
Given:
m = 3 kg
F x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
v0
F
G
x0
Example 1.1.3
Given:
m = 3 kg
F x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
v0
N
G
x0
Example 1.1.3
Given:
m = 3 kg
F x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
v0
N
G
x0
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Scalar
component:
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Scalar
component:
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
=
F + = 0
i
n
d +
:
x = 0
(
t +
)2 =
Scalar
component:
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
+
= = 0
=0
+ 2 =
1 sin
Scalar
component:
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
=
=
+ =
0
+
=0
+ 2 =
1 sin
Scalar
component:
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
=
=
+ =
0
+
=
0 =
+ 1 sin +
2 cos()
Scalar
component:
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
=
Find:
=
x(t)
+ =
0
Dif. equation:
+
=0
+ 2 =
+ 1 sin +
2 cos()
Scalar
component:
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Dif.
equation:
General
form:
=
=
+ =
0
=0
+
= 2 + 1 sin +
2

=
2 cos()
Scalar
component:
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Dif.
equation:
General
form:
General
solution:
=
=
+ =
0
+
=0
+ 2 =
+
2 cos(
= 2
)
+ 1 sin
Scalar
component:
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Dif.
equation:
General
form:
General
solution:
=
=
+ =
0
+
=0
+ 2 =
+
2 cos(
= 2
)
= 0;
+ 1sin
=
Scalar
component:
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Dif.
equation:
General
form:
General
solution:
=
=
+ =
0
+
=0
Scalar
component:
=
Finding constants C1,2 from
initial conditions:
+ 2 =
+
2 cos(
= 2
)
= 0;
+ 1sin
=
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Dif.
equation:
General
form:
General
solution:
=
=
+ =
0
+
=0
Scalar
component:
=
initial conditions:
= 2.5;
+ 2 =
+
2 cos(
= 2
)
= 0;
+ 1sin
=
=0
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Dif.
equation:
General
form:
General
solution:
=
=
+ =
0
+
=0
Scalar
component:
=
initial conditions:
= 2.5;
+ 2 =
+
2 cos(
= 2
)
= 0;
+ 1sin
=
=0
2.5
= 1 sin 0 +
2 cos(0)
= 2.5
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Dif.
equation:
General
form:
General
solution:
=
=
+ =
0
+
=0
Scalar
component:
=
initial conditions:
= 2.5;
+ 2 =
+
2 cos(
= 2
)
= 0;
+ 1sin
=
=0
2.5
= 1
sin 0
2 = 2.5
+
2 cos(0)
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Dif.
equation:
General
form:
General
solution:
=
=
+ =
0
+
=0
=
initial conditions:
= 2.5;
0
=0
2.5
= 1 sin 0 +
2 cos(0)
2.5
2 =
0 = 4;
= 2
= 0;
+ 1sin
=
Scalar
component:
=0
+
2 cos(
)
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Dif.
equation:
General
form:
General
solution:
=
=
+ =
0
+
=0
=
initial conditions:
= 2.5;
0
=0
2.5
= 1 sin 0 +
2 cos(0)
2.5
2 =
0 = 4;
= 2
= 0;
+ 1sin
=
Scalar
component:
+
2 cos(
)
0
=
=
1 cos
= 2 sin
A
A
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Dif.
equation:
General
form:
General
solution:
=
=
+ =
0
+
=0
=
initial conditions:
= 2.5;
0
=0
2.5
= 1 sin 0 +
2 cos(0)
2.5
2 =
0 = 4;
= 2
= 0;
+ 1sin
=
Scalar
component:
+
2 cos(
)
= ==01
cos
A 2 sin
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Dif.
equation:
General
form:
General
solution:
=
=
+ =
0
+
=0
=
initial conditions:
= 2.5;
0
=0
2.5
= 1 sin 0 +
2 cos(0)
2.5
2 =
0 = 4;
= 2
= 0;
+ 1sin
=
Scalar
component:
+
2 cos(
)
= ==01 cos 2 sin
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Dif.
equation:
General
form:
General
solution:
=
=
+ =
0
+
=0
=
initial conditions:
= 2.5;
0
=0
2.5
= 1 sin 0 +
2 cos(0)
2.5
2 =
0 = 4;
= 2
= 0;
+ 1sin
=
Scalar
component:
+
2 cos(
)
= ==01 cos
A 2 sin A
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Dif.
equation:
General
form:
General
solution:
=
=
+ =
0
+
=0
=
initial conditions:
= 2.5;
0
=0
2.5
= 1 sin 0 +
2 cos(0)
2.5
2 =
0 = 4;
= 2
= 0;
+ 1sin
=
Scalar
component:
+
2 cos(
)
= ==01 cos
A 2 sin A
4=
A cos 0
1
20
A sin4
1 =
=4
Example 1.1.3
v0
Force
Given:
N
O
m = 3 kg
equation:
F
x
F x
=
x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
Dif.
equation:
General
form:
General
solution:
=
=
+ =
0
+
=0
=
initial conditions:
= 2.5;
0
=0
2.5
= 1 sin 0 +
2 cos(0)
2.5
2 =
0 = 4;
= 2
= 0;
+ 1sin
=
Scalar
component:
+
2 cos(
)
= ==01 cos
A 2 sin A
4 = 1 A cos 0 2 A
sin 04
1 =
Example 1.1.3
Given:
m = 3 kg
F x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
v0
N
x0
=4
sin
=4
0.55
+ 2.5
cos
0.55
3
0.55 sin
= 9.34 sin 0.43 + 2.5 cos 0.43
+ 2.5cos
Example 1.1.3
Given:
m = 3 kg
F x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
v0
N
G
=4
sin
=
3
x0
+ 2.5
cos
+
=
0.55
3 2.5cos
3
0.55
4
sin sin 0.43
= 9.34
+ 2.5 cos 0.43
0.55
Example 1.1.3
Given:
m = 3 kg
F x
k = 0.55 kg/s2
x0 = 2.5 m
v0 = 4 m/s
Find:
x(t)
v0
N
G
=4
sin
=
3
x0
+ 2.5
cos
+
=
0.55
3 2.5cos
3
0.55
4
= sin
9.34 sin 0.43
+ 2.5
cos 0.43
0.55
General solutions for some differential equations are available in

solution tables.
Table 1. Some solutions to differential equations.

Nr.
Diff. equation
General solution
=
+ +
1
+ =
+ =
+ 2 =
2 =
=
+
+ 1 sin + 2
cos
=
+
1 +
1.2 System of particles

System of particles is an isolated group of masspoints
connected to each other.
System of particles.
Position and motion of one of the
particles depends on position and
motion of other particles.

Rigid
body.

mi
Rigid body as system of particles.

We can look at rigid body as system of
particles and investigate its motion as
motion of a system.

mi
Rigid body as system of particles.

We can look at rigid body as system of
particles and investigate its motion as
motion of a system.
Every particle in the system is subjected to internal

forces (forces acting between particles) and external
forces.
External forces may be e.g. gravitational force,
pulling/pushing force from
body outside of the system, electromagnetic force etc.
Properties of internal forces.

Newtoni 3 seaduse
phjal:
Z
1 = 2
ehk
f1
1 + 2 = 0
f2
Kuna
sisejud
koosnevad sellistest
vrdvastupidiste
judude paaridest,
siis
= 0
sisejudude summa on
null.

According to Newtons
3 law:
Z
1 = 2
or
1 + 2 =
0
f1
f2
Kuna
sisejud
koosnevad sellistest
vrdvastupidiste
judude paaridest,
siis
= 0
sisejudude summa on
null.

According to Newtons
3 law:
Z
1 = 2
or
1 + 2 =
0
f1
f2
Because system of
internal forces consist
of such equal but
opposite
collinear
pairs =
0
the sum of internal

forces is
zero.

Sum of the moments
of all
internal forces:
1 + 2 =
= 1 1 + 2 2
f1
r1
Kuna 2 = 1 , siis
f2
1 2 1 = 0
r2
Ssteemi kikide
X
sisejudude
momentide
geomeetriline summa
mistahes punkti suhtes
vrdub nulliga.
( ) = 0

Sum of the moments
of all
internal forces:
1 + 2
= 1 1 + 2
2
f1
Kuna 2 = 1 , siis
r1
f2
r2
1 2 1 = 0
Ssteemi kikide
sisejudude
momentide
geomeetriline summa
mistahes punkti suhtes
vrdub nulliga.
( ) = 0

Sum of the moments
of all
internal forces:
1 + 2
= 1 1 + 2
2
f1
Since 2 = 1 ,
then
r1
f2
r2
1 2 1 = 0
Sum of the moments of
all internal forces about
any point equals to zero.
( ) = 0

Sum of the moments
of all
internal forces:
1 + 2
= 1 1 + 2
2
f1
Since 2 = 1 ,
then
r1
f2
r2
1 2 1 = 0
( ) = 0

Sum of the moments
of all
internal forces:
1 + 2
= 1 1 + 2
2
f1
Since 2 = 1 , then
r1
f2
r2
1 2 1 = 0
( ) =
Mass centre of the particle system.

Centre of mass is defined by
equation

- positon vector of
- mass of
masspoint
masspoint
- mass of the
- positon vector of mass
Example. System of
three masspoints centre
is given. Find mass
system
centre of system.
1 = 2 = 3 = 2 kg
1
1
2
2
3
3
4
3
1
o
=
=
=
=
=
=
4
1
2
3
8
4
m
m
m
m
m
m

3+8
=
2 4+

equation

- positon vector of
- mass of
masspoint
masspoint
- mass of the
Example. System of
is given. Find mass
system
centre of system.
1 = 2
1 = 4
kg
m
2 = 2
m
3 =
3m+ 8
4
3
=
o
= 3
1 =
m
2 =
m
3 =
m
=
=2
1
3
4 2 4+
6
= 4.66 m

3+4
2 1+

equation

- positon vector of
- mass of
masspoint
masspoint
- mass of the
Example. System of
is given. Find mass
system
centre of system.
y4
3
1
o
1 = 2
1 = 4
kg
m
2 = 2
m
3 =
m
=
=
= 3 = 2
1 = 1
m
2 = 3
m
32 =4 4+ 3 + 8
m
= 4.66
6
m

=
2 1+3+4
6
= 2.66

equation

- positon vector of
- mass of
masspoint
masspoint
- mass of the
Example. System of
is given. Find mass
system
centre of system.
y4
3
1
o
1 = 2 = 3
1 = 4
1 =
kg
m
m
2 = 2
2 =
m
m
3 = 82 4
+3 3=
= + 8m
m
2 1+3

=+ 4
6
=2
1
3
4
= 4.66
m
= 2.66
m

equation

- positon vector of
- mass of
masspoint
masspoint
- mass of the
Example. System of
is given. Find mass
system
centre of system.
y4
3
yG
1
o
4 xG
1 = 2 = 3
1 = 4
1 =
kg
m
m
2 = 2
2 =
m
m
3 = 82 4
+3 3=
= + 8m
m
2 1+3

=+ 4
6
=2
1
3
4
= 4.66
m
= 2.66
m

equation

- positon vector of
- mass of
masspoint
masspoint
- mass of the
Example. System of
is given. Find mass
system
centre of system.
y4
3
yG
1
o
4 xG
1 = 2 = 3
1 = 4
1 =
kg
m
m
2 = 2
2 =
m
m
3 = 82 4
+3 3=
= + 8m
m
2 1+3

=+ 4
6
=2
1
3
4
= 4.66
m
= 2.66
m

equation

- positon vector of
- mass of
masspoint
masspoint
- mass of the
Example. System of
is given. Find mass
system
centre of system.
y4
3
yG
1
o
rG
=
4 xG
1 = 2 = 3
1 = 4
1 =
kg
m
m
2 = 2
2 =
m
m
3 = 82 4
+3 3=
= + 8m
m
2 1+3

=+ 4
6
=2
1
3
4
= 4.66
m
= 2.66
m
The equation of motion for a system of particles.

Every masspoint of system of particles is subjected at any
time instance to a resultant internal and resultant external
forces. Equation of motion is:
= +
Adding all these equation together we get:
= +
Because sum of internal forces = 0 the equation becomes:
=
Differentiating mass centre equation = twice we get
=
and substituting instead of we obtain:

= +
= +
=
=

= +
= +

=

= +
= +
=
=

= +
= +
=
=
1.3. Mass centre theorem.

Last result enables us to state mass centre theorem:
Mass centre of the particle system moves as if entire mass
of the system is
concentrated at that point and all external forces applied to
that point.
=
Scalar equations are more convenient for practical use:
=
=
In special case when = 0, acceleration of mass

centre is = 0. This means that in this case systems
velocity is constant.
We can state now that:
If the sum of all the forces applied to the system is
zero, then systems mass centre translates with constant

of the system is
that point.
=

In special case
when

= 0, acceleration
of=mass

=
centre is =0.
means
that in this case systems
=
This

If the sum of all the forces applied to the system is
speed or is at rest.

of the system is
that point.
=

=
=
=
If
the sum
of when
all the
applied to the system is
In special
case
forces
= 0, acceleration of mass
speed or is at rest.

of the system is
that point.
=

=
=
In special case when = 0, acceleration of mass


Lets examine the case where sum of forces along only
one axis is zero:
acceleration
=0
This means than corresponding
component is zero
= 0 and
corresponding velocity = = .
This constant velocity can also be 0! If velocity of mass
centre remains 0 during some time period, then
coordinate of mass centre will not change during that
time, = const. Looking at two time instances:
(0)
1 1 + +
+
=
1 1 + 1 +
(0)
Equality
(1)
(1)
= can only be possible if:
1 1 + + = 0

one axis is zero:
= 0
This means than corresponding acceleration component is
zero
= 0 and
This constant
velocity can also be 0! If velocity of mass
corresponding
.
centre remainsvelocity
0 duringsome
time
period,
then
=
=
coordinate of mass centre will not change during that
time, = const. Looking at two time instances:
(0)
1 1 + +
+
=
(1)
1 1 + 1 +
(0)
Equality
(1)
1 1 + + = 0
This equation holds true if:

one axis is zero:
= 0
zero = 0 and
1 1 + + (1) 1 1 + 1 + +
(0)
coordinate
of mass
centre will not change during that

+
time,
= const. Looking at two time instances:
=
=
(0)
Equality
(1)
1 1 + + = 0
1) Sum of external forces along the x-axis must be zero.

one axis is zero:
= 0
zero = 0 and
1 1 + + (1) 1 1 + + +
(0)
coordinate
of mass centre will
change during that
not
1= const. Looking at two time instances:

+
time,
=
=
(0)
Equality
(1)
1 1 + + = 0
2) System is initially at rest or = 0.

one axis is zero:
= 0
zero = 0 and
1 1 + + (1) 1 1 + + +
(0)
coordinate
of mass centre will
change during that
not

+
time,
=
=
(0)
(1)
Equality = can only be
possible if:
1 1 + +
= 0

one axis is zero:
= 0
zero = 0 and
1 1 + + (1) 1 1 + + +
(0)
coordinate
of mass centre will
change during that
not

+
time,
=
=
(0)
(1)
Equality = can only be
possible if:
1 1 + +
= 0
1) Sum of external forces along the xaxis is zero.
Problem 1.3.1
An 80 kg boat stands still on the water. At the front of the boat stands a
student weighing 120 kg. At the back of the boat there are two crates 20
kg (3) and15 kg (4). Student moves the crates to the front one by one and
goes to the back. How will the boat move?
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
3
1
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
3
1
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
3
1
x
According to mass centre theorem:
=
Conditions:
a) External forces along x axis are
zero.
b) No motion along x axis in the
beginning.
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
3
1
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
3
1
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
3
1
x
1 1 + 2 2 + 3 3 +
4 4 = 0
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
3
1
x
1 1 + 2 2 + 3 3 +
4 4 = 0
1
=
2
=
3
=
4
=
3
+
3
+
3
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
3
1
x
1 1 + 2 2 + 3 3 +
4 4 = 0
1 =
2
3
=
3 +
3
=
Boat
+
4moves
by s. 3 liiguvad
Reisijad
=
kaasa s vrra.
Reisijatel on ka
relatiivne
liikumine!
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
3
1
x
1 1 + 2 2 + 3 3 +
4 4 = 0
1 =
3
2 = + 3
+3
3 =
Boat moves
by s.
4 =
Passengers
are
Reisijatel on ka
transported
relatiivne
by
s.
liikumine!
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
4
1
x
1 1 + 2 2 + 3 3 +
4 4 = 0
1 =
3
2 = + 3
+3
3 =
Boat moves
by s.
4 =
Passengers
are
Reisijatel on ka
transported
relatiivne
by
s.
liikumine!
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
4
1
x
1 1 + 2 2 + 3 3 +
4 4 = 0
1 =
2 =
33 = + 3
+3
4 =
Boat
moves by
s. Passengers
are transported
by s. Passengers
have also
relative motion.
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
4
1
x
1 1 + 2 2 + 3 3 +
4 4 = 0
1 =
2 =
33 =
+ 34 = + 3
Boat moves by
s. Passengers
are transported
by s. Passengers
have also
relative motion.
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
4
1
x
1 1 + 2 2 + 3 3 +
4 4 = 0
1 =
2 =
3
3 =
+3
Boat moves by
4 =
s. Passengers
+3
are transported
by s. Passengers
have also
relative motion.
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
4
1
1 =
2 =
3
3 =
+3
Boat moves by
4 =
s. Passengers
+3
are transported
by s. Passengers
have also
relative motion.
1 1 + 2 2 + 3 3 +
4 4 = 0
80 +
120 3
+ 20 + 3
+ 15 + 3
=0
80 + 120 360 + 20 + 60 + 15 + 45
=0
235 = 255
= 1.09 m
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
4
1
x
1 1 + 2 2 + 3 3 +
4 4 = 0
80 + 120 3
+ 20 + 3
+ 15 + 3
=0
235 = 255
80 + 120 360 + 20 + 60 +
=+1.09
15
45 =m0
1 =
2 =
3
3 =
+3
Boat moves by
4 =
s. Passengers
+3
are transported
by s. Passengers
have also
relative motion.
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
x
1 1 + 2 2 + 3 3 +
4 4 = 0
80 + 120 3
+ 15 + 3
+ 20 + 3
=0
80 + 120 360 + 20 + 60 +
=+1.09
15
45 =m0
235 = 255
1 =
2 =
3
3 =
+3
Boat moves by
4 =
s. Passengers
+3
are transported
by s. Passengers
have also
relative motion.
Problem 1.3.1
Given:
m1=80 kg
m2=120 kg
m3=20 kg
m4=15 kg
Find
:
s
3m
x
1 1 + 2 2 + 3 3 +
4 4 = 0
80 + 120 3
+ 15 + 3
+ 20 + 3
=0
80 + 120 360 + 20 + 60 +
15 + 45 = 0
235 = 255
1 =
2 =
3
3 =
+3
Boat moves by
4 =
s. Passengers
+3
are transported
by s. Passengers
have also
relative motion.
Problem 1.3.2
Barge weighing 80 kg stands on water, 50 kg boat is tied to barge with a
rope. Distance between them is l= 3 m. Barge operator weighs 75 kg.
Operator pulls the boat towards the barge till they meet. Determine
motion of the barge.
3m
Problem 1.3.2
3m
x
2
Problem 1.3.2
3m
x
2
Problem 1.3.2
3m
l-s
Problem 1.3.2
3m
l-s
1 =
2 =
3 =
Problem 1.3.2
3m
l-s
1 1 + 2 2 +
3 3 = 0
1 =
2 =
3 =
Problem 1.3.2
3m
l-s
1 1 + 2 2 +
3 3 = 0 80 + 75
+ 50 +
=0
1 =
2 =
3 =
Problem 1.3.2
3m
l-s
1 1 + 2 2 +
3 3 = 0 80 + 75
+ 50 +
=0
80 + 75 + 50 =
1 =
2 =
3 =
Problem 1.3.2
3m
l-s
1 1 + 2 2 +
3 3 = 0 80 + 75
+ 50 +
=0
80 + 75 + 50 =
1 =
2 =
3 =
x
205 =
50
50
150 =
205
=
205
= 0.73
m
1.4. Linear momentum

Newtons second
law
=
may be written in the
form:
( ) =
mv
F
v
m
Y
Linear momentum
=
=
Resultant of the forces acting on the particle is equal
to the rate of
change of linear momentum of that particle.
If = 0, then linear momentum remains constant.
This is the principle of conservation of linear
momentum .

Newtons second
law
=
form:
( ) =
mv
F
v
m
Y
Linear
momentum
=
=
to the rate of
momentum .

Newtons second
law
=
form:
( ) =
mv
F
v
m
Y
Linear
momentum
=
=
to the rate of
momentum .
Principle of impulse and momentum

We write Newtons second law in
the form:
( ) =
Now we integrate between time instances t1 and t2 .

2
2 1 =
Member on the right side =
is called linear impulse.
Its a
vector quantity that has the same direction as

corresponding force. If

the form:
( ) =
Now we integrate between time instances

t1 and t2 .
2
2 1 =
2
Member on the right side =
is called linear impulse.
Its a
vector quantity that has the same direction as

corresponding force. If
the force is constant then = 2 1 .

the form:
( ) =
Now we integrate between time instances

t1 and t2 .
2
2 1 =
is called linear
Its a as
vector quantity that has theimpulse.
same direction
1
corresponding
force. If
the force is constant then = 2 1 .
Member on the right side =2
Impulse is a quantity that describes the effect of

the force on the body during the time that force is
applied.

Rearranging the terms we get the principle of impulse and
momentum in
its most common form
2
1 +
= 2
1
Initial momentum of the particle plus the impulses applied

to it equals to the final momentum of the particle.

momentum in
2
1 +
= 2
Force
Veloci
ty
Time
1
Initial momentum of the particle
plus the impulses applied

momentum in
2
1 +
= 2
Force
Veloci
ty
Time
1
initial momentum
initial momentum
+ impulse
1
1
final momentum

momentum in
2
1 +
= 2
Force
Veloci
ty
Time
1
initial
momentum
initial
momentum
+ impulse
final momentum

momentum in
Force
Veloci
ty
Time
1 +
= 2
1
initial
momentum
initial
momentum
+ impulse
final
momentum
Example. A car travels with the speed of 80 km/h and hits

the wall. Drivers mass is 80 kg. Time till full stop is t = 0.1
s. Find the average force acting on the driver and average
deceleration.
Teisendame kiiruse:
v
80 1000
80
=
= 22.2 m/s
60 60
2 1 = =
0 80 22.2
= 1778 Ns

deceleration.
Speed in m/s:
80
1000
80
60
60
=
2 1 = =
=
1778
0 80 22.2
= 17778 N e. 1812 kg.

0.1
17778
m
= 222 e. 22.6
80
s2
= 22.2
m/s
= 1778 Ns

deceleration.
v
2 1
= =
=
1778
= 17778 N e. 1812 kg.
0 80
22.2
Speed in m/s:
80
1000
80
60
60
=
= 1778
Ns
0.1
17778
m
= 222 e. 22.6
80
s2
= 22.2
m/s

deceleration.
Speed in
m/s:
0 80
22.2
2 1
= =
= =
1812 kg.
1778
= 17778 N or
0.1
80
=
= 1778
Ns
17778
= 222
80
m
e. 22.6
s2
80
1000
60
60
= 22.2
m/s

deceleration.
Speed in
m/s:
0 80
22.2
2 1
= =
= =
1812 kg.
1778
80
=
= 1778
Ns
= 17778 N or
0.1
=
=
17778
222
80
m
s
2
or
22.6
80
1000
60
60
= 22.2
m/s
Problem 1.4.1
Box weighing 20 kg is at rest. Then force F=110.1 N is applied to
the box during 3 s. Dynamic coefficient of friction between
surfaces is = 0.4. Find velocity at 3 s.
20
Problem 1.4.1
N
F
20
Problem 1.4.1
20

N
Impulse momentum
F
method in two scalar
components:
Problem 1.4.1
1 + =
2
1 + =
2
20

N
Impulse momentum
F
components:
H
v
G
Problem 1.4.1
1 + = 2
1 + = 2
v
G
1 = 0; 1 = 0;
2 = 0
20

N
Impulse momentum
F
components:
Problem 1.4.1
1 + = 2
1 + = 2
v
G
1 = 0; 1 = 0;
2 = 0
(1) =
= + sin
(2) =20
0
20

N
Impulse momentum
F
components:
Problem 1.4.1
1 + = 2
1 + = 2
v
G
1 = 0; 1 = 0;
2 = 0
(1) =
+ sin
(2) = 20
0=
20

N
Impulse momentum
F
components:
Problem 1.4.1
1 + = 2
1 + = 2
v
G
1 = 0; 1 = 0;
2 = 0
(1) =
+ sin
(2) = 20
Equation (2)
0=
+ sin
20 = 0
= sin 20 =
= 20 9.81 110.1 0.34
=
= 158.5 N
20

N
Impulse momentum
F
components:
Problem 1.4.1
1 + = 2
1 + = 2
v
G
1 = 0; 1 = 0;
2 = 0
(1) =
+ sin
(2) = 20
Equation (2)
0=
+ sin 20 =
0
= sin 20 =
= 20 9.81 110.1
0.34 =
20

N
Impulse momentum
F
components:
Problem 1.4.1
1 + = 2
1 + = 2
20

N
Impulse momentum
F
components:
H
v
G
1 = 0; 1 = 0;
2 = 0
(1) =
+ sin
(2) = 20
Equation (2)
0=
+ sin 20 =
0
= sin 20 =
= 20 9.81 110.1
0.34 =
Equation
(1)
cos 20
=
=
Problem 1.4.1
1 + = 2
1 + = 2
20

N
Impulse momentum
F
components:
H
v
G
1 = 0; 1 = 0;
2 = 0
(1) =
+ sin
(2) = 20
Equation (2)
0=
+ sin 20 =
0
= sin 20 =
= 20 9.81 110.1
0.34 =
Equation
(1)
cos 20
Problem 1.4.1
1 + = 2
1 + = 2
20

N
Impulse momentum
F
components:
H
v
G
1 = 0; 1 = 0;
2 = 0
(1) =
+ sin
(2) = 20
Equation (2)
0=
+ sin 20 =
0
= sin 20 =
= 20 9.81 110.1
0.34 =
Equation
(1)
cos 20
=

=
=
0.4
110.1
cos 20
= 158.5 3
2
0
=6
m/s
Principle of impulse and momentum for system of

particles
Applying the principle of impulse and momentum and
summing all equations we get
2
1 +
= 2
Using mass centre equation = and taking time derivative

gives
= , substituting this into previous equation yields
2
1 +
= 2
1
Linear momentum of system of particles is equal to linear

momentum of systems mass centre if the entire mass of
the system were concentrated at that point. = .

particles
2
1 +
= 2
1
Using mass centre equation = and taking time

derivative gives
= , substituting this into previous equation
yields
2
1of+system
of
= 2
Linear momentum
particles
is equal to linear
momentum of systems mass
centre if the entire mass of
1
the system were concentrated at that point. = .
We can now apply principle of impulse and momentum to
rigid bodies (as systems of particles).

particles
2
1 +
= 2
1
Using mass centre equation = and taking time

derivative gives
= , substituting this into previous equation
yields
2
1 +
= 2
1
Linear momentum of system of particles is equal to linear

momentum of systems mass centre if the entire mass of

particles
mv
mv
Two bodies of the same mass and

velocity have the same linear
momentum. The other one of them
also rotates. Linear momentum does
not describe this rotation in any way!
Let systems initial and final linear momenta be 0 and

1 . We write
equation for system of paticles in the form:
1 0 =
If sum of impulses of external forces is 0, then:
1 = 0
This result describes conservation of linear momentum.

particles
mv
mv

Let systems initial and final linear momenta be 0 and

1 . We write
1 0 =
1 = 0

particles
mv
mv

Let systems initial and final linear momenta be 0

and 1 . We write
1 0 =
1 = 0

particles
mv
mv


and 1 . We write
1 0 =
1 = 0

particles
mv
mv


and 1 . We write
1 0 =
1 = 0
This result describes conservation of linear
momentum.
Problem 1.4.2
Mass 2 kg has velocity 0.5 m/s and it slides on perfectly
smooth surface hitting second mass that is at rest. Collision
causes first particle to stop and motion be passed on to the
second particle. Second mass weighs 1.4 kg. Determine
velocity of the second mass after impact.
Vlisjududest mjub kehadele
raskusjud ja normaalreaktsioon
mis
on risti liikumise sihiga. Kokkuprkel
tekkivad reaktsioonid on sisejud.
2 20 = 0
1 10
2 21
1 11 = 0
Kirjutame ssteemi liikumishulga jvuse seaduse valemi he telje

sihis.
1 0 = 0
2 21 1 10 = 0
2 0.5
10
Problem 1.4.2
2 20 = 0
Vlisjududest mjub
kehadele raskusjud ja
1 10
normaalreaktsioon mis on
2
risti liikumise sihiga.
1 11
Kokkuprkel tekkivad
21
=0
reaktsioonid on sisejud.
sihis.
1 0 = 0
2 21 1 10 = 0
1
2 21
1 10
2 0.5
10
21 =
1.4
Problem 1.4.2
1 2 20 = 0
Weight and normal reaction

are perpendicular to the line
of motion. Impact reactions
are internal forces.
10
1 11
=0
21

sihis.
1 0 = 0
2 21 1 10 = 0
1
2 21
1 10
2 0.5
10
21 =
1.4
Problem 1.4.2
1 2 20 = 0

10
1 11
=0
21
Conservation of linear momentum along

the x-axis.
1 0 = 0
2 21 1 10 = 0
1
2 21
= 0.71 m/s
1 10
2 0.5
10
21 =
1.4
Problem 1.4.2
1 2 20 = 0
10
1 11
=0
21

the x-axis.
1 0 = 0
2 21 1 10 =1 0
2 21
21 =
1 10
= 0.71 m/s
2
2 0.5
10
1.4
Problem 1.4.2
1 2 20 = 0
10
1 11
=0
21

the x-axis.
1 0 = 0
1 10
2 21 1 10 = 0
21 =
=
2 21 = 1 10
2 0.5
1.4
= 0.71 m/s
Problem 1.4.2
1 2 20 = 0
10
1 11
=0
2
21

the x-axis.
1 0 = 0
2 21
1 10 = 0
2 21 =
1 10
21
=
1
2
= 0.5
10
1.
2
4
= 0.71
m/s
Problem 1.4.3
Mass 1 moves with velocity 1 m/s and mass 2 with velocity
0.5 m/s into the same direction. They weigh 3 kg and 2
kg respectively. Masses collide and couple together. Find
their velocity after collision.
1 10
2 20
1 +2
1 0 = 0
2 20
1 +2
=0
1 10 + 2 20
=
1 10 +
3 1 + 2 0.5
=
=
Problem 1.4.3
1 10
2 20
1 +2
1 0 = 0
2 20
1 +2
=0
1 10 + 2 20
=
0.8 m/s
1 +2
1 10 +
3 1 + 2 0.5
=
=
3+2
Problem 1.4.3
1 10
2 20
1 +2
1 0
=0
=
1 +2
1 10 +
0
1 10 + 2 20 2 20
3 1 + 2 0.5
=
=
=
0.8 m/s
1 +2
3+2
Problem 1.4.3
1 10
2 20
1 +2
1 0
=0
=
0
2 20
31+2
+
1 10
= 0.5
= 0.8
3
+
1 +
=
m/s
2 20
2
2
1 +2
1 10 +
Problem 1.4.4
Grenade weighing 2 kg moves horisontally with velocity 15 m/s
and explodes into three pieces. First piece (0.7 kg) continues
horisontally with velocity 80 m/s, second piece (0.5 kg) fies to the
left with velocity 50 m/s. Find velocity of the third piece.
Conservation of linear
z
momentum in all three
v2x
directions:
v0
v3 ?
x
= 2 kg
1 = 0.7 kg
m/s
2 = 0.5 kg
m/s
0 = 15 m/s
1 = 80
2 = 50
1 0 = 0
v1y
1 0 = 0
1 0 0
The only external impulse is

from gravity
force and its close to zero.
Initial momenta:
0 = 0
Problem 1.4.4
z
v2x
directions:
v0
v3 ?
x
= 2 kg
0 = 15
1 = 0.7
m/s
kg
1 = 80
2=3 0.5
= m/s
0.5
kg
0.7 =2 = 50
m/s
= 0.8 kg
1 0 = 0
v1y
1 0 = 0
1 0 0

from gravity
Initial momenta:
0 = 0
Problem 1.4.4
z
v2x
directions:
v0
1 0 = 0
v1y
1 0 = 0
y
1 0 0
v3 ?
= 2 kg
0 = 15
1 = 0.7
m/s
kg
1 = 80
2=3 0.5
= m/s
0.5
kg
0.7 =2 = 50
m/s
= 0.8 kg

from gravity
Initial momenta:
0 = 0
0 = 0 = 0
Problem 1.4.4
z
v2x
directions:
v0
1 0 = 0
v1y
1 0 = 0
y
1 0 0
v3 ?
= 2 kg
0 = 15
1 = 0.7
m/s
kg
1 = 80
2=3 0.5
= m/s
0.5
kg
0.7 =2 = 50
m/s
= 0.8 kg

from gravity
Initial
momenta:
0 =
0
0 = 0
Problem 1.4.4
z
v2x
v0
v1y
y
v3 ?
= 2 kg
0 = 15
1 = 0.7
m/s
kg
1 = 80
2=3 0.5
= m/s
0.5
kg
0.7 =2 = 50
m/s
= 0.8 kg
We now find scalar

components of the velocity of
third piece 3, 3 , 3.
We assume them to be initially
positive.
Final linear momenta:
1
1 = 2 2 +
3 3 = 0
2
1 =
1 = 3 3 = 0
1 1
3 3
(1 0 =
0 !)
Problem 1.4.4
z
v2x
v0
v1y
y
v3 ?
We now find scalar

positive.
1 1 = 2 2 +

=0
2 3 31 = 1 1 + 3 3
3
= 2 kg
0 = 15
1 = 0.7
m/s
kg
1 = 80
2=3 0.5
= m/s
0.5
kg
0.7 =2 = 50
m/s
= 0.8 kg
1 = 3 3 = 0
(1 0 =
0 !)
Problem 1.4.4
z
v2x
v0
v1y
y
v3 ?
= 2 kg
0 = 15
1 = 0.7
m/s
kg
1 = 80
2=3 0.5
= m/s
0.5
kg
0.7 =2 = 50
m/s
= 0.8 kg
We now find scalar

positive.
1 1 = 2 2 +
3
1
=
0 1 1 +
2
3 =
3 3
3
1 = 3 3 = 0
(1 0 =
0 !)
Problem 1.4.4
z
v2x
v0
v1y
y
v3 ?
= 2 kg
0 = 15
1 = 0.7
m/s
kg
1 = 80
2=3 0.5
= m/s
0.5
kg
0.7 =2 = 50
m/s
= 0.8 kg
We now find scalar

positive.
1 1 = 2 2 +
3 3 = 0
3
= 1
=
2 1
1 1 +
3 3 = 0
3 3
(1 0
= 0 !)
Problem 1.4.4
z
v2x
v0
v1y
y
v3 ?
We now find scalar

positive.
1 1 = 2 2 +
3 3 = 0
2 1 = 1 1 +
= 2 kg
0 = 15
1 = 0.7
m/s
kg
1 = 80
2=3 0.5
= m/s
0.5
kg
0.7 =2 = 50
m/s
= 0.8 kg
3 3
(1 0
3 1 = 3 3 ==00 !)
Problem 1.4.4
Now we solve all three
z
v2x
equations:
0.5
2
=
= 31.25
3
1
500.
v0
v1y
2
y
v3 ?
23
m/s
1 1 + 3 3
0 = 0
0 1 1
3 =
= 2 kg
0 = 15
1 = 0.7
m/s
kg
1 = 80
2=3 0.5
= m/s
0.5
kg
0.7 =2 = 50
m/s
= 0.8 kg
2 15 0.7 80
=
= 32.5 m/s
0.8
Problem 1.4.4
z
v2x
equations:
2 2 0.5
=
= 31.25
3
1
50
0.
=
v0
v1y
2
y
v3 ?
m/s
1 1 + 3 3
0 = 0
0 1 1
3 =
2 15 0.7 80
= 2 kg
0 = 15
1 = 0.7
m/s
kg
1 = 80
2=3 0.5
= m/s
0.5
kg
0.7 =2 = 50
m/s
= 0.8 kg
=
= 32.5 m/s
0.8
3
3 = 0
Problem 1.4.4
z
v2x
equations:
2 2 0.5
=
= 31.25
3
1
50
0.
=
v0
v1y
2
y
v3 ?
= 2 kg
0 = 15
1 = 0.7
m/s
kg
1 = 80
2=3 0.5
= m/s
0.5
kg
0.7 =2 = 50
m/s
= 0.8 kg
m/s
1 1 + 3 3
0 = 0
0
3
1
1
2 =
15
3 0.7
= 32.5
=
= 80 0.
m/s
8
3 = 0
2
3 =
2
2
3 + 3 + 3
Problem 1.4.4
z
v2x
equations:
2 2 0.5
=
= 31.25
3
1
50
0.
3
v0
v1y
2
y
v3 ?
= 2 kg
0 = 15
1 = 0.7
m/s
kg
1 = 80
2=3 0.5
= m/s
0.5
kg
0.7 =2 = 50
m/s
= 0.8 kg
m/s
1 1 + 3 3
0 = 0
0
3
1
1
2 =
15
3 0.7
= 32.5
=
= 80 0.
m/s
8
=0
2
2
2
3 =
3 + 3 + 3
= 45.1 m/s
Problem 1.4.4
z
v2x
equations:
2 2 0.5
=
= 31.25
3
1
50
0.
3
v0
v1y
2
y
v3 ?
= 2 kg
0 = 15
1 = 0.7
m/s
kg
1 = 80
2
= 0.5
0.5
3 = m/s
kg
0.7 =2 = 50
= 0.8 kg
m/s
m/s
1 1 + 3 3
0 = 0
0
3
1
1
2 =
15
3 0.7
= 32.5
=
= 80 0.
m/s
8
=0
3 = 2 + 2 + 2 = 45.1
m/s
3
1.5. Angular momentum

Moment of linear momentum about a point or moment
of momentum.
Angular
momentum
of
a
Z
particle about point O is a
moment of particles linear
H
F
momentum about O.
mv
O
O
=
This is a quantity similar to
linear momentum that
describes rotation.
Scalar value
By taking time derivative of the first equation
we get:sin
=
= + = = =
=
Sum of the moments of external forces causes change in

angular momentum of the system. If this sum is zero, angular
momentum of the system remains constant.

of momentum.
Angular
momentum
of
a
Z
H
F
momentum about O.
mv
O
=
This is aquantity
similar to
O

describes rotation.
Scalar value
= sin
By taking time derivative of the first equation we get:
= + = = =
=


of momentum.
Angular
momentum
of
a
Z
H
F
momentum about O.
mv
O
=
O

describes
rotation.
Scalar
value
= sin
= + = = =
=


of momentum.
Angular
momentum
of
a
Z
H
F
momentum about O.
mv
O
=
O

describes rotation.
Scalar value
= sin
= + = = =
=


of momentum.
Angular
momentum
of
a
Z
H
F
momentum about O.
mv
O
=
O

describes rotation.
Scalar value
= sin
By taking time derivative of the first

equation we get:
= + = = =
=


of momentum.
Angular
momentum
of
a
Z
H
F
momentum about O.
mv
O
=
O

describes rotation.
Scalar value
= sin

equation we get:
= =
= + =
=


of momentum.
Angular
momentum
of
a
Z
H
F
momentum about O.
mv
O
=
O

describes rotation.

equation we get:
Scalar value
= sin
=
= + =
=
=

of momentum.
Angular
momentum
of
a
Z
H
F
momentum about O.
mv
O
=
O

describes rotation.

equation we get:
Scalar value
= sin
=
= + =
= =

of momentum.
Angular
momentum
of
a
Z
H
F
momentum about O.
mv
O
=
O

describes rotation.
Scalar value
= sin
By taking time derivative of the first equation we
get:
= + = =
=
=

of momentum.
Angular
momentum
of
a
Z
H
F
momentum about O.
mv
O
=
O

describes rotation.
Scalar value
= sin
By taking time derivative of the first equation we
get:
= + = =
=
angular momentum of the
system.
=
If this sum is zero, angular

of momentum.
Angular
momentum
of
a
Z
H
F
momentum about O.
mv
O
=
O

describes rotation.
Scalar value
= sin
= + = = =
=
Sum of the external moments causes change in

angular momentum of the
system. If this sum is zero, angular momentum of the
Problem 1.5.1
Two masses are connected by a truss. Truss goes over a roller
of negligible mass, its radius is r=0.15 m. Mass 1 will slide
downwards. Masses are m1 = 10 kg and m2 = 2 kg. Find their
acceleration.
1
2
60
Problem 1.5.1
acceleration.
Well use
equation
1
2
60
Problem 1.5.1
acceleration.
Well use
equation
1
2
v
60
Problem 1.5.1
acceleration.
Well use
equation
v
1
2
v
60
Problem 1.5.1
acceleration.
Well use
equation
v
1
2
v
60
Problem 1.5.1
acceleration.
O
v
1
v
60
Well use
=
equation

Angular momentum of the
system:
1 + 2 = 1
= = + 2 = 10 + 2
= 12
Problem 1.5.1
acceleration.
O
v
1
v
60
Well use
=
equation

system:
1 +2
= 1 +
12
=
10 + 2 =
2=
=
Problem 1.5.1
acceleration.
Well use
=
equation

system:
v
1
v
60
== 10
2+
2 =
=
1 +
12
+
2 =
Problem 1.5.1
acceleration.
O
v
1
v
60
Well use
=
equation

system:
= 1 + 2 = 1
+ 2 =
=
10 + 2 = 12
Problem 1.5.1
acceleration.
O
v
1
v
60
Well use
=
equation

system:
= 1 + 2 = 1
+ 2 =
= 10 + 2 = 12
external
=Moments
1 cos of
30
forces:
2
=
= 1 cos 30 2 =
= 10 0.866 2 9.81 =
65.3
=
12 = 65.3
Problem 1.5.1
acceleration.
O
v
1
m1g
60
Well use
=
equation

system:
= 1 + 2 = 1
+ 2 =
= 10 + 2 = 12
Moments of external forces:
Problem 1.5.1
acceleration.
O
v
1
m1g
60
m2g
Well use
=
equation

system:
= 1 + 2 = 1
+ 2 =
= 10 + 2 = 12
Problem 1.5.1
acceleration.
O
m1g
60
m2g
Well use
=
equation

system:
= 1 + 2 = 1
+ 2 =
= 10 + 2 = 12
Problem 1.5.1
acceleration.
O
m 1g
60
m2g
Well use
=
equation

system:
= 1 + 2 = 1
+ 2 =
= 10 + 2 = 12
of external
forces:
Moments
= 1 cos
2
=
30
= 1 cos 30 2 =
= 10 0.866 2 9.81 =
65.3
=
= 12
12 = 65.3
=
Problem 1.5.1
acceleration.
O
m 1g
60
m2g
Well use
=
equation

system:
= 1 + 2 = 1
+ 2 =
= 10 + 2 = 12
=
30 2 30
=
1 cos
= 1 cos
=
0.866 2 9.81 =
10
2 =
65.3
=
= 12
12 = 65.3
=
Problem 1.5.1
acceleration.
O
m 1g
60
m2g
Well use
=
equation

system:
= 1 + 2 = 1
+ 2 =
=
10 + 2 = 12
Moments of external
forces:
=
=
30 30
2
1 cos
1 cos
=
0.866 2 9.81 =
10
==
2
65.3
=
65.3
12 =
Problem 1.5.1
acceleration.
O
m 1g
60
m2g
Well use
=
equation

system:
= 1 + 2 = 1
+ 2 =
=
10 + 2 = 12
Moments of external
forces:
=
130
cos
30
2
=
1=cos
=2
10 =0.866 2 9.81
= 65.3
12 = 65.3
=
= 12
= 5.44
/2
Problem 1.5.1
acceleration.
O
m 1g
60
m2g
Well use
=
equation

system:
= 1 + 2 = 1
+ 2 =
=
10 + 2 = 12
Moments of external
forces:
=
130
cos
30
2
=
1=cos
=2
10 =0.866 2 9.81
= 65.3
12 = 65.3
=
= 12
= 5.44
/2
Problem 1.5.1
acceleration.
O
m 1g
60
m2g
Well use
=
equation

system:
= 1 + 2 = 1
+ 2 =
=
10 + 2 = 12
Moments of external
forces:
=
130
cos
30
2
=
1=cos
=2
10 =0.866 2 9.81
= 65.3
12 = 65.3
=
= 12
= 5.44
/2
Problem 1.5.1
acceleration.
O
m 1g
60
m2g
Well use
=
equation

system:
= 1 + 2 = 1
+ 2 =
=
10 + 2 = 12
Moments of external
forces:
=
130
cos
30
2
=
1=cos
=2
10 =0.866 2 9.81
= 65.3
12 =
=
65.3

= 5.44
2
/
=
Problem 1.5.1
acceleration.
O
m 1g
60
m2g
Well use
=
equation

system:
= 1 + 2 = 1
+ 2 =
=
10 + 2 = 12
Moments of external
forces:
=
130
cos
30
2
=
1=cos
=2
10 =0.866 2 9.81
= 65.3
12 = 65.3
=

= 5.44
2
/
=
1.5. Work of a force

To move a mass from one point to another work needs to be
done. Force must be applied to a masspoint to move it to
new position. Force does work on a particle when it infuences
motion along the line the particle is moving.
A point travels trough length ds,
F
position vector changes by dr.
r
r
+
d
r
Unit:
joule
1J=1Nm
ds
Work of a force causing

displacement dr is defined as a
dot product:
=
Scalar value:
= cos
Rectangular components:
= +
+

F
r
r
+
d
r
Unit:
joule
1J=1Nm
ds

dot product:
=
Scalar value:
= cos
= +
+

F
r
r+dr
ds

dot product:
=
Scalar value:
= cos
Unit:
joule
1J=1Nm
= + +

F
r
r+dr
Unit:
joule
1J=1Nm
ds

dot product:
=
Scalar value:
=
cos
= + +

F
r
r+dr
Unit:
joule
1J=1Nm
ds

dot product:
=
Scalar value:
=
cos
Rectangular
components:
= +
+

F
r
r+dr
Unit:
joule
1J=1Nm
ds

dot product:
=
Scalar value:
=
cos
Rectangular
components:
= +
+

s1
dr
Work of a variable
force
F
ds
s2
r+dr
If relationship of the force and angle

with respect to coordinate s is
known, then work is
2
= =
cos
1
Fcos()
Work is the area

under
the graph.
s

s1
dr
Work of a variable
force
F
ds
s2
If relationship of the force and angle

with respect to coordinate s is
known, then work is
2
r+dr
= =
cos
1
Fcos()
U
s1
s2
Work is the
area under
the graph.

Work of a constant
force
We simply need scalar

component
of the force and
2
multiply
by s. = cos
= itcos
2 1
=
= cos
s
s1
s2
Fcos()
Rcos()
T integraal on
graafiku alla
W
jv pindala.
s

Work of a constant
force
s
s1
s2
We simply need scalar

component
of the force and
2
multiply
by s. = 2
= itcos
cos
1
= cos
1
=
Fcos()
Rcos()
U
s1
s2
Work is the
area under
the graph.

Work of a spring force
Force of a spring is found by =

, where s elongation
(contraction) of a spring and k is
spring constant.
Work of a spring force is negative
when it is defected from
underformed position.
=
Work of a spring:
F
F=ks
2
2
W
s
s1
1
2


spring constant.
s
F
F=ks
W
s
s1
=of
Work
a
spring:
1
2
= 2
2
2
=
2
1
1


spring constant.
s
F
F=ks
U
s1
s2
=of
Work
a
spring:
1
2
= 2
2
2
=
2
1
1

Work of a weight
Weight force is perpendicular to

the ground,
i.e. it acts along z-axis.
s2
s1
P=mg
X
=
(0 +
( + + ) =
0 )
1
=
1

Work of a weight

the ground,
s2
s1
P=mg
X
=
( + + ) =
1
=
(0
+ 0
) =
1

Work of a weight

the ground,
s2
s1
P=mg
X
=
( + + ) =
1
Work is negative
when 1 < 2
=
(0
and positive
+10
when
> 2
.
) =
1
1.6. Kinetic energy

s1
Jagades masspunktile
mjuva jussteemi
resultandi puute- ja
normaaltelje sihiliseks
osaks vime kirjutada
Newtoni seaduse
puutetelje sihis
jrgmiselt:
Kirjutame
valemi kujul:
=
= =
Integreerime
vahemikes s1 ja s2
ning v1 ja v2
2
=
1
Ft
O
- +
Fn
s2
F
n
1
2
2
= 2
1
1
1.6. Kinetic energy

s1
Resolving resultant force

acting on a particle into
tangetial and normal
components and writing
equation of motion in
tangential direction we
get:
Kirjutame
valemi kujul:
=
= =
Integreerime
vahemikes s1 ja s2
ning v1 ja v2
2
=
1
Ft
O
- +
Fn
s2
F
n
1
2
2
= 2
1
1
1.6. Kinetic energy

s1

get:
=

= =
kujul:
Kirjutame valemi
Ft
O
- +
Fn
s2
F
n
1
2
2
Integreerime
vahemikes s1 ja s2
ning v1 ja v2
2
=
1
= 2
1
1
1.6. Kinetic energy

s1

get:
= =
Kirjutame
valemi kujul:
=
Ft
O
- +
Fn
s2
F
n
1
2
2
Integreerime
vahemikes s1 ja s2
ning v1 ja v2
2
=
1
= 2
1
1
1.6. Kinetic energy

s1

get:
Kirjutame
= valemi
= kujul:
=
=
Integreerime
vahemikes s1 ja s2
ning v1 ja v2
2
=
1
Ft
O
- +
Fn
s2
F
n
1
2
2
= 2
1
1
1.6. Kinetic energy

s1

get:
=We
rewrite
=
equation:
=
=
Integreerime
vahemikes s1
ja s2
ning v1 ja v2
2
=
1
Ft
O
- +
Fn
s2
F
n
1
2
2
= 2
1
1
1.6. Kinetic energy

s1

get:
=We
rewrite
=
equation:
=
=
We integrate
between
values of
s1 and s2 plus v1 and v2
2
=
1
1
Ft
O
- +
Fn
s2
F
n
1
2
2
= 2
1
1
1.6. Kinetic energy

s1

get:
=We
rewrite
=
equation:
=
=
We integrate
between
values of
2
=
1
1
Ft
O
- +
Fn
s2
1
2
2
2
1
2
=
Paremal
olev suurus =
1
2
2
on defineeritud kui
liikumisenergia e.
kineetiline energia.
Vasakul on vlisjudude
1.6. Kinetic energy

s1

get:
=We
rewrite
=
equation:
=
=
We integrate
between
values of
2
=
1
1
Ft
O
- +
Fn
s2
F
n
1
1
2
2
2 =
2
2 2 1
1
1
Terms = 2 on the
right side
2
are defined as energy of

motion or
kinetic energy.
Term on the left is work
1.6. Kinetic energy

Work is a scalar quantity and can be either negative or
positive. Kinetic energy is also a scalar and 1as we
see
2
from equation 2 it cannot be negative, it doesnt
depend on direction of velocity.
T energia
meetod
Jud
Siire
Kiiru
s
Kirjutame meie valemi uuesti mber

smbolkujul:
See valem tleb, et vlisjudude
poolt tehtav t
12 = resultandi
2 1
punkti viimisel hest asendist teise phjustab muutuse
masspunkti kineetilises energias.
Tihti on parem see valem mber kirjutada kujul:
1 + 12 = 2
See
valem
tleb,
et
liites
masspunkti
algsele
kineetilisele energiale vlisjudude resultandi poolt
tehtav t punkti viimisel algasendist lpp- asendisse,
saame masspunkti kineetilises energia lppasendis.
1.6. Kinetic energy

Work is a scalar quantity and can be either negative
1
2
or positive. Kinetic energy is also a scalar
and
as we
see
from
equation
it cannot be negative, it
doesnt depend on direction of velocity.
Work energy
method
Jud
Siire
Kiiru
s
Well rewrite last equation in symbolic

form:
See valem tleb, et vlisjudude
poolt tehtav t
12 = 2resultandi
1
punkti viimisel hest asendist teise phjustab muutuse
masspunkti kineetilises energias.
1 + 12 = 2
See
valem
tleb,
et
liites
masspunkti
algsele
1.6. Kinetic energy

1
or
positive.
Kinetic
energy
is also
a scalar and as we see from 2 it cannot
be
equation
2
Work energy method

negative, it doesnt depend on direction of
Well rewrite last equation in symbolic form:
velocity.
12 = 2 1
Jud
Siire
Kiiru
s
Work done by resultant of external forces while moving the

point from one position to another causes change in points
kinetic energy.
1 + 12 = 2
See
valem
tleb,
et
liites
masspunkti
algsele
1.6. Kinetic energy

1
or
positive.
Kinetic
energy
is also
be
equation
2
Work energy method

velocity.
12 = 2 1
Jud
Siire
Kiiru
s

kinetic energy.
Work energy equation is often written in form:
1 +
12 =
2
See
valem
tleb, et
liites
masspunkti
algsele
1.6. Kinetic energy

1
or
positive.
Kinetic
energy
is also
be
equation
2
Work energy method

velocity.
12 = 2 1
Jud
Siire
Kiiru
s

kinetic energy.
1 + 12 = 2
This equation states that the particles initial kinetic
energy plus the work done by resultant of external forces
as particle moves from its initial to its final position is
equal to the particles final kinetic energy.
1.6. Kinetic energy

1
2
or positive.
Kinetic
energy
is also
a scalar and as we see
it
from equation negative, it doesnt depend
cannot be
2
on direction of velocity.
Work energy
method
Force
Displacem
ent
Velocity
Well rewrite last equation in symbolic

form:
Work done by resultant of
external
forces
12
= 2
1 while moving the
kinetic energy.
1 + 12 = 2
This equation states that the particles initial kinetic
energy plus the work done by resultant of external forces
as particle moves from its initial to its final position is
equal to the particles final kinetic energy.
1.6. Kinetic energy

Some remarks about kinetic energy:
Masspoints kinetic energy is a scalar quantity
that is always
and
does not
depend on thetuleb
sense
of td.
positive
Kineetilise
energia
suurendamiseks
teha
motion.
Kineetilise energia vhenemisel tehakse td
kineetilise energia
arvelt, mistttu vheneb masspunkti kiirus.
1.6. Kinetic energy

Masspoints kinetic energy is a scalar quantity
that is always
positive and does not depend on the sense of
motion.
Kineetilise energia vhenemisel tehakse td
Work
needs
to be done to increase kinetic
kineetilise
energia
energy.
arvelt, mistttu vheneb masspunkti kiirus.
1.6. Kinetic energy

Masspoints kinetic energy is a scalar quantity that is
always
positive and does not depend on the sense of
motion.
Work needs to be done to increase kinetic energy.
When kinetic energy decreases work is being done
at the expense
of it and velocity decreases.
Problem 1.6.1
Box weighing 20 kg is at rest. Then force F=110.1 N is applied
to the box. Dynamic coefficient of friction between surfaces is =
0.4. Find velocity of the box when it has moved 9 m.
F
20
Problem 1.6.1
N
0
=
+20
20
= +
=
= 20 9.81 110.1 sin 20 =
158.5 N
20
Vertikaaltelje sihis liikumist ei ole,

seetttu on y-teljel judude
summa 0.
a
G
= = 0.4 158.5 = 63.4 N
T energia meetod:
0 + 12 =
1 + 12 = 2
12 = cos 20
=
cos 20 =
=
110.1 cos 20
63.4 9 = 360.5 J
1
2 = 360.5
2
2 = 2
360.5
Problem 1.6.1
N
+
+
0==

20
=
20
= 20 9.81 110.1 sin 20 =
158.5 N
20
Newtons 2 law in y
direction.
a
G
= = 0.4 158.5 = 63.4 N
T energia meetod:
0 + 12 =
1 + 12 = 2
12 = cos 20
=
cos 20 =
=
110.1 cos 20
63.4 9 = 360.5 J
1
2 = 360.5
2
2 = 2
360.5
Problem 1.6.1
N
0 = + +
=20
20 9.81 110.1 sin 20 =
158.5
= N 20
= = 0.4 158.5 = 63.4 N
=
20
Newtons 2 law in y
direction.
a
G
1
2
T energia meetod:
0 + 12 =
1 + 12 = 2
12 = cos 20
=
cos 20 =
=
110.1 cos 20
63.4 9 = 360.5 J
1
2 = 360.5
2
2 = 2
360.5
Problem 1.6.1
N
0 = + +
=20
20 9.81 110.1 sin 20 =
158.5
= N 20
=
= = 0.4 158.5 = 63.4 N
T energia meetod:
20
Newtons 2 law in y
direction.
a
G
1
2
0 + 12 =
1 + 12 = 2
12 = cos 20
=
cos 20 =
=
110.1 cos 20
63.4 9 = 360.5 J
1
2 = 360.5
2
2 = 2
360.5
Problem 1.6.1
N
20
Newtons 2 law in y
direction.
0 = + +
=20
20 9.81 110.1 sin 20 =
158.5
= N 20
=
= = 0.4 158.5 = 63.4 N
a
G
1
2
0 + 12 =
Work-energy
method:
12
cos 20 = cos
=
1 + 12 = 2
20 =
=
110.1 cos 20 63.4 9 = 360.5 J
1
2 = 360.5
2
2 = 2
360.5
Problem 1.6.1
N
20
Newtons 2 law in y
direction.
0 = + +
=20
20 9.81 110.1 sin 20 =
158.5
= N 20
=
= = 0.4 158.5 = 63.4 N
Work-energy
method:
1 + 12 = 2
cos 20
=
12110.1
= cos
cos 20
20
63.49==
360.5 J
=
a
G
1
2
0 + 12 =
1
2 = 360.5
2
2 = 2
360.5
Problem 1.6.1
N
20
Newtons 2 law in y
direction.
0 = + +
=20
20 9.81 110.1 sin 20 =
158.5
= N 20
=
= = 0.4 158.5 = 63.4 N
Work-energy
method:
a
G
1
0 + 12
=
12
2 = 360.5
2
1 + 12 = 2
cos 20
=
12110.1
= cos
cos 20
20
63.49==
360.5 J
=
2 = 2
36.05
360.5
20
= 6 m/s
Problem 1.6.1
N
20
Newtons 2 law in y
direction.
0 = + +
=20
20 9.81 110.1 sin 20 =
158.5
= N 20
=
= = 0.4 158.5 = 63.4 N
Work-energy
method:
1 + 12 = 2
cos 20
=
12110.1
= cos
cos 20
20
63.49==
360.5 J
=
a
G
1
0 + 12
=
12 2
=
360.5
2
2 = 2
360.5
20
= 6 m/s
= 36.05
Problem 1.6.1
N
20
Newtons 2 law in y
direction.
0 = + +
=20
20 9.81 110.1 sin 20 =
158.5
= N 20
=
= = 0.4 158.5 = 63.4 N
Work-energy
method:
1 + 12 = 2
cos 20
=
12110.1
= cos
cos 20
20
63.49==
360.5 J
=
a
G
1
0 + 12
=
12 2
=
360.5
2
360.5
2 = 2 2
36.05 0
= 6 m/s
Problem 1.6.1
N
20
Newtons 2 law in y
direction.
0 = + +
=20
20 9.81 110.1 sin 20 =
158.5
= N 20
=
= = 0.4 158.5 = 63.4 N
Work-energy
method:
1 + 12 = 2
cos 20
=
12110.1
= cos
cos 20
20
63.49==
360.5 J
=
a
G
1
0 + 12
=
12 2
=
360.5
2
360.5
2 = 2
20
36.05
=6
m/s
Problem 1.6.2
Mass of 9 kg is at rest. Spring has initial compression of x=0.5 m. Spring
constant is 2 kN/m. Find velocity of the mass when it has moved 1 m
from the 0-line. How far will the mass travel from 0-line before stop?
Dynamic coefficient of friction between surfaces is = 0.3.
0
Problem 1.6.2
0
x
N
Problem 1.6.2
0
x
N
Problem 1.6.2
0
x
N
Problem 1.6.2
0
x
N
Problem 1.6.2
0
Work energy
method:
1 + 12 = 2
Algul on mass paigal
0 + 12 = 2
Kuni pikkuse x
lbimiseni teevad
td nii vedru jud kui ka
hrdejud, edasi teeb td
ainult hrdejud.
1
Problem 1.6.2
0
Work energy
method:
1 + 12 = 2
No initial
motion
0 + 12 =
2
Kuni pikkuse x lbimiseni

teevad
td nii vedru jud kui ka
hrdejud, edasi teeb td
ainult hrdejud.
Problem 1.6.2
0
Work energy
method:
1 + 12 = 2
No initial
motion
0+
12 =
2
While the mass goes through

distance x both friction force and
spring hrdejud.
force work.
ainult
1
=
2
=
= +
Problem 1.6.2
0
Work energy
method:
1 + 12 = 2
No initial
motion
0 + 12 = 2

both
friction
distance
x force and spring
force work. After that only
friction force does work.
1 2
=
2
= +
Problem 1.6.2
0
Work energy
method:
1 + 12 = 2
No initial
motion
0 + 12 = 2

both
friction
distance
x force and spring
force work. After that only
1 2
=
2
=
+
Problem 1.6.2
0
Work energy
method:
1 + 12 = 2
No initial
motion
0 + 12 = 2

After
only
friction force
springthat
force
work.
does work.
1 2
=
2
=
+
1
2
+
2
2 +
Problem 1.6.2
0
Work energy
method:
1 + 12 = 2
No initial
motion
0 + 12 = 2

spring force work. After that only
1 2
=
2
=
+
1
2
+
=
2
2
2
=
+
Problem 1.6.2
0
Work energy
method:
1 + 12 = 2
H
When s=1 m,
velocity is
2 +
2
=
=
Kui s maksimaalne, siis
v=0.
x
F
2000 0.52
2 0.3 9.81 0.5 + 1
= 6.84 m
0 = 2 =
2 +
2
=
2000 0.52
=
2 9 0.3 9.81
0.5
Problem 1.6.2
0
Work energy
method:
1 + 12 = 2
H
When s=1 m,
velocity is
2 +
2
=
=
Kui s maksimaalne, siis
v=0.
2
0 = 2 =
2 +
2000
0.52 9
2 0.3 9.81
0.5 + 1
2
= 8.94 m
= 6.84
m/s
2000 0.52
2 9 0.3 9.81
0.5
Problem 1.6.2
0
Work energy
method:
1 + 12 = 2
H
When s=1 m,
velocity is
2 +
2
=
=
When mass stops,
v=0.
2
0 = 2 =
2 +
2000
0.52 9
2 0.3 9.81
0.5 + 1
2
= 8.94 m
= 6.84
m/s
2000 0.52
2 9 0.3 9.81
0.5
Problem 1.6.2
0
Work energy
method:
1 + 12 = 2
H
When s=1 m,
velocity is
2 +
2
=
=
When mass stops,
v=0.
0 = 2 =2
+
2000
0.52 9
2 0.3 9.81
0.5 + 1
2
= 8.94 m
= 6.84
m/s
2000 0.52
2 9 0.3 9.81
0.5
Problem 1.6.2
0
Work energy
method:
1 + 12 = 2
H
When s=1 m,
velocity is
2 +
2
=
=
When mass stops,
v=0.
0 = 2 =2
+
2000
0.52 9
2 0.3 9.81
0.5 + 1
= 6.84
m/s
2
2000 2
0.5
0.5 = 8.94
2
2 9 0.3
=
=
m
9.81
1.8. Power and efficiency

Power shows how much work machine can do during
time instant. Power is important factor when choosing an
engine or a pump etc. Small pump will eventually do the
same amount of work as much more powerful pump, but
it will take a lot more time.

=
=
=
Vimsuse hik

Efektiivsus
=
vatt

=
=
Vimsuse hik
Efektiivsus
=
vatt


=
=
=
Vimsuse hik

Efektiivsus
=
vatt


=
=
Vimsuse hik

Efektiivsus
=
vatt


=
=
Unit of
power
= =
wat
t

Efektiivsus


=
=
Unit of
power
Efficien
cy
= =
wat
t
2. Dynamics of rigid
body
2.1. Moment of inertia

he punkti prlemishulk z-telje
suhtes on

hi
mv
Kuna
Y
siis
X
Vaatame suvalist jika keha kui

omavahel jigalt hendatud
masspunktide ssteemi. Olgu
sellise ssteemi nurkkiirus z-telje
suhtes . Vaatame teljest
kaugusel h oleva he masspunkti
prlemist mber
z-telje.
Ning kogu ssteemi

prlemishulk z-telje
suhtes on
2

he punkti prlemishulk z-telje
suhtes on

hi
mv
Kuna
Y
siis
X
Lets look at some rigid body as a

system of masspoints. Distances
between points cant change. Let
this systems angular velocity
about z-axis be . We will now
examine rotation of one
masspoint of this system about zaxis.
Ning kogu ssteemi

prlemishulk z-telje
suhtes on
2

Angular momentum about
z-axis:
Kuna
hi
mv
O
siis

Ning kogu ssteemi

prlemishulk z-telje
suhtes on
2

z-axis:
Sinc
e
hi
mv
O

siis
Ning kogu ssteemi

prlemishulk z-telje
suhtes on
2
Avaldis
on

z-axis:
hi
mv
O

Sinc
e
the
n
=
=

Ning kogu ssteemi

prlemishulk z-telje
suhtes on
2
Avaldis
on

z-axis:
hi
mv
O

Sinc
e
the
n
=
=


whole system about z-axis
is:
2
Avaldis
on
ssteemi inertsmoment z-telje

suhtes.

z-axis:
hi
mv
O

Sinc
e
the
n
=
=


is:
2
Avaldis
on
ssteemi inertsmoment z-telje

suhtes.

z-axis:
hi
mv
O

Sinc
e
the
n

=
=


is:
2
Ter
i
=
m
s
systems mass
moment
of inertia
about z-axis.

Moment of inertia of a rigid body (system of
particles) describes distribution of mass about an
axis.
Masspunkti joonliikumisel on inertsi mduks punkti mass.
Jiga keha prlemisel mber telje on inertsi mduks
inertsmoment
selle telje suhtes.
2
Seade koosneb
kergest vardast ja
h1
massist m
kaugusel 1 z-teljest.
2
= 1
M

axis.
Mass is a measure of bodys resistance to change
in translation.
Moment of inertia is a measure 2of bodys
resistance to change in rotation.
=
Seade koosneb
kergest vardast ja
h1
massist m
kaugusel 1 z-teljest.
2
= 1
M
Suurendades kaugust 2 ni

axis.
in translation.
=
resistance to change in
rotation.

Seade koosneb kergest
vardast ja
h1
massist m kaugusel
1 z-teljest.
2
= 1
M
suureneb ka

axis.
in translation.
=
rotation.

z
h1
A device consists of light

rod and mass m that is at
1 from z-axis. 2
= 1
suureneb ka seadme
inertsmoment.
2
= 2

axis.
in translation.
=
rotation.

z
h1

1 from z-axis. 2
=kaugust
1
Suurendades
2 ni
suureneb ka seadme
inertsmoment.
2
= 2

axis.
in translation.
=
rotation.

z
h2

1 from z-axis. 2
= 1
Increasing distance to 2
2
increases moment
of
inertia.
= 2

axis.
in translation.
=
rotation.

z
h2

1 from z-axis. 2
= 1
Increasing distance to 2
2
increases moment
of
inertia.
Applying moment M will result in
= 2
slower rotation in thecase
of 2 than in
case of 1 .

2
Equati
=
on
can be written
in
terms
of x, y, z coordinates,
knowing that2
2
hi
mi
O
z
y
X
Y
x
kujul
=
2
+
2
= +
Analoogia phjal saame:

2
2
= +
2

2
Equati
=
on
can be written
in
terms
knowing that2
2
hi
mi
O
z
y
X
2
Y
we
get
=
+
=
2 + 2
Analoogia phjal saame:
2
2
= +
2
2
= +

2
Equati
=
on
can be written
in
terms
knowing that2
2
hi
mi
O
z
y
X
Y
x
we
get
=
+
2
= +
By analogy:
2
2
=
2
+
2
2
+
=
2

Z
Sometimes we need moment of

inertia about a point. Using distance
from origin ri we get
hi
mi
ri
O
z
Y
x
kuna
y
X
= +
2
2
2
saame

Z

hi
mi
ri
O
z
y
Y
x
sinc
e
2 = 2 + 2
+ 2
2
2
2
saame
Kasutades , , ja
valemeid saame

Z

hi
mi
ri
O
z
y
X
Y
x
sinc
e
2 = 2 + 2
+ 2
2 + 2
+ 2
Kasutades , , ja
valemeid saame
2 = + +

Z

hi
mi
ri
O
z
y
X
Y
x
sinc
e
2 = 2 + 2
+ 2
2 + 2
+ 2
Using equations , ,
ja we get
2 = + +

Moment of inertia for a body with constant constant
density is found by integration.
Z
=
2
hi
O
z
y
X
dmi
Y
x
2 =
2

z
Slender rod.
A rod has mass m and length

l. Well examine differential
mass dm with differential
length dy.
Moment of inertia of
differential element:
Varda joontihedus
e.2 pikkushiku
=
dy
y
dm
mass on . Pikkushiku mass on

=
.5
.5
.5
2 =
2 =
=
.5
.5
=
3
.5
12
Kuna kogumass on , siis inertsmoment z-
12

z
Slender rod.

length dy.
dy
y
dm
= 2
Density of unit length is .
.5
Mass is
then
=
=
.5
= 3 .5
2 =
=
.5
.5
2
3
.5
12
Kuna kogumass on , siis inertsmoment ztelje suhtes on:
2
=
12

z
Slender rod.
length dy.
dy
y
dm
= 2
.
Mass is 5then
=
.5
2
=
.5
.
5
2 = 3 .
=
5
3 .5
1
=
3
Kuna kogumass on , siis inertsmoment ztelje suhtes on:
2
=
12

z
Slender rod.

length dy.
dy
y
dm
= 2
.5
Mass is .5
then
=
.5
2
=
.5
2 = 3 .
=
5
3 .5
1
=
3
Mass of the rod is , moment of inertia

about z-axis is:
12
2
=

z
Hollow cylinder.
Shafts mass is m and
radius
R.
Antud juhul
on lihtne kasutada
valemit
2
mi
Jagame toru sektoriteks

massiga mi
2
2
2
= =
=
2

z
Hollow cylinder.
Shafts mass is m and radius
R.
Int his case its easiest to use
2
formula =
mi

Jagame toru sektoriteks massiga
mi
=
2
2
2
= =

=

z
Hollow cylinder.
R.
2
formula =
mi

Well devide the shaft into
sectors mi
= 2 = 2 =
2
=
2

z
Hollow cylinder.
R.
2
formula =
mi

Well devide the shaft into
sectors mi
= 2 = 2 =
2
=
2
Cylinder.
Cylinders mass is m and
radius R. Well divide the
cylider into shells dm with
thickness dr. Moment if
inertia of the element is
dr
= 2
Elementaartoru
ruumala kaudu
saame ta massi
=
2
=
2
Inertsmoment:
x
2
=
Cylinder.
dr
= 2
Elements
volume and mass
=
2
Inertsmoment:
=
= 2
2 =
23
=
=
0
= 2
3 =
Cylinder.
dr
= 2
Elements
volume and mass
=
2
Momentof
inertia: =
= 2 23 =
0
2
=
0
= 2
2
3 =
x
2
=
Cylinder.
dr
= 2
Elements
volume and mass
=
2
Momentof
inertia: =
= 2
2 =
2003
=
= 2
2
3 =
x
2
=
Cylinder.
dr
= 2
Elements
volume and mass
=
2
Momentof
inertia: =
= 2
2 =
2003
=
2
= 2
4
3
=
4
0
Silindri kogumass
=
2
x
2
=
Cylinder.
dr
= 2
Elements
volume and mass
=
2
Momentof
inertia: =
= 2
2 =
2003
=
2
3
4
= 2

4
=
0
Silindri kogumass
=
2
x
2
=
Cylinder.
dr
= 2
Elements
volume and mass
=
2
Momentof
inertia: =
= 2
2 =
2003
=
2
3
4
= 2

4
=
Mass of 0
=
cylinder
2
x
2
=
Cylinder.
= 2
Elements
volume and mass
=
2
Momentof
inertia: =
=2
2 =
2003
=
2
3
4
= 2

4
=
Mass of 0
=
cylinder
2
dr
2
2
2.1. Moments of inertia

Parallel-axis theorem (Huygens-Steiner
theorem).
z
If the moment of inertia about an
axis going through the bodys mass
center is known, then moment of
inertia about any other parallel axis
can be found by the parallel-axis
theorem.
Axis z1 is passing through G, parallel
axis z is
at distance d from z1. Well
investigate
differential mass dm with
coordinates x ja y.
2
Knowing
that
2 =
= +
=
2 + 2
we get
y'
x
+
2 +
r'
2 + 2 + 2
+ 2
z1
x'
dm
x1
First integral is 1 ,
second integral is
zero because it
equals to Gs
coordinate on y1-axis,
which is zero. Third
integral equals to

theorem).
z
theorem.
Axis
at
distance
z1 is passing
d from
z . Well
G,
1 through
investigate
parallel axismass
z is dm with
differential
coordinates x ja y.
Knowing that 2 = + 2 + 2
we get
=
2 =
2 + 2
r
x
r'
x' y'
2 + 2 + 2
+ 2
z1
x1
dm
second integral is
zero because it
equals to Gs
integral equals to

theorem).
z
theorem.
Axis
at
distance
z1 is passing
d from
z . Well
G,
1 through
investigate
parallel axismass
z is dm with
differential
coordinates x ja y.
Knowing that 2 = + 2 +
2 we get
integral
r'
x' y'
+
+ 2
+ 2
+ 2 + 2
First int
2 =
=
2
z1
x1
dm
egral is 1 ,
second is zero
because it
equals to Gs
coordinate on
y1-axis, which is zero.
Third integral equals

theorem).
z
theorem.
Axis
at
distance
z1 is passing
d from
z . Well
G,
1 through
investigate
parallel axismass
z is dm with
differential
coordinates x ja y.
2 we get
=
2 =
r
x
r'
x' y'
+ 2 + 2
+ 2
+ 2
z1
x1
dm
second integral is
zero because it
equals to Gs
integral equals to

theorem).
z
theorem.
Axis
at
distance
z1 is passing
d from
z . Well
G,
1 through
investigate
parallel axismass
z is dm with
differential
coordinates x ja y.
2 we get
=
2 =
=
2
+
=
+ 2
+ 2
z1
r'
x' y'
+ 2
x1
dm
second integral is
zero because it
equals to Gs
integral equals to

theorem).
z
theorem.
Axis
at
distance
z1 is passing
d from
z . Well
G,
1 through
investigate
parallel axismass
z is dm with
differential
coordinates x ja y.
2 we get
=
2 =
=
2
+
=
+ 2
+ 2
z1
r'
x' y'
+ 2
x1
dm
second integral is
zero because it
y
which
1-axis,to
equals
Gs is zero.
2
Third
integral
coordinate
on equals
to .

theorem).
Parallel-axis
formula
= 1
+
Tihti on keerukama kujuga kehade puhul

inertsmoment mingi telje suhtes antud
inertsiraadiuse kaudu.
= 2
Inertsiraadius on seega defineeritud kui

theorem).
Parallel-axis
formula
= 1
+
Radius of gyration.
Sometimes in the case of complex bodies a property
called radius of
gyration is given for convienience.
= 2
Radius of gyration is defined as:
2.2. Forces and accelerations of rigid bodies.

In following chapters well study only plane
motion of rigid bodies.
y
M2
F3
F2
F1
G
M1
Force system acting on a

body can be reduced to
resultant force vector and
resultant
moment
couple
.
In statics these vectors were
equal to zero and the body
was at rest.
In dynamics we can also use
vectors
and to describe a force
system. Exept that here these
vectors dont equal to zero and
the body is in motion.
Well investigate a body as

system of mass points. For
such system we have
previousely found that:
=
y'
mi
r
x'
were is acceleration of
mass centre and is a
resultant of external forces.
Systems total mass =
.
Well use centroidal frame of
reference,
axes x and y.
We have previousely derived

an equation for system of
masspoints defining rate of
change of angular
momentum for systems of
particles: =
y'
mi
x'
Here is an angular
momentum of system of
particles about its mass
centre. The change in
momentum is caused by
moments of external forces
about mass centre.
Lets look again at angular

momentum of rigid body
(system of particles) about its
mass centre:
y'
vi
ri
mi
x'
Since
=

=
we write:
O

mass centre:
y'
vi
ri
mi
=

Sinc
=
e
we write:
x'

mass centre:
y'
vi
ri
mi
x'
Since
we
write:
O
=

=
Vector products of equation

y
y'
produce new vector that has

Magnitude
the same of this vector is
2
sence as .

vi
ri
mi
x'
and since
=
we get
O
=
This is angular momentum of a
rigid body!
Vector products of
equation
y'
new
= vector

produce
thathas

the same
sence as .
Magnitude of this2 vector is
vi
ri
mi
and since
x'
=
we get
=
rigid body!
Vector products of
equation
y'
new
= vector

produce
thathas

the same
sence as .
vi
ri
mi
x'
and since
we get
=
=

rigid body!
Vector products of
equation
y'
new
= vector

produce
thathas

the same
sence as .
vi
ri
mi
x'
and since
=
we get

rigid body!
Vector products of
equation
y'
new
= vector

produce
thathas

the same
sence as .
vi
ri
mi
x'
and since
=
we get

rigid body!
Deriving both
sides of
y'
vi
ri
mi
x'
with respect to
time:
Derivative of angular
momentumabout
mass
=
centre gives us a vectro that

has the samesence as and
its magnitude is .
We have arrived at
significant result:
=
Deriving both
sides of
y'
vi
ri
mi
x'
with respect to
time:
momentumabout
mass
=
centre gives us a vector

that has the same
sence as
and
its arrived at significant
We have
magnitude is .
result:
=
Deriving both
sides of
y'
vi
ri
mi
x'
with respect to
time:
momentumabout
mass
=

that has the same
sence as
and its
magnitude is .
=
at
=
We have
arrived
result:
significant
Deriving both
sides of
y'
vi
ri
mi
x'
with respect to
time:
momentumabout
mass
=

that has the same
sence as
and its
magnitude is .
=
arrived
We have
at
=
significant
result:

We can now equal forces and moments with vectors
that describe the motion of the rigid body.
=

M2
F3
F2
F1
M1
maG
G
IG
For practical applications we can use scalar

equations:
=

Translati
on
Rotation
about
mass
centre
ma G
=
0
=0
=0
IG
Cylinder of mass m and radius r starts from rest

and rolls down the slope. Coefficient of static
friction is s. Find acceleration of the mass centre
of cylinder.
30
Problem
2.2.1

of cylinder.
Equations for planar
motion
Problem
2.2.1
=
=
30

y
of cylinder.
Equations for planar motion
Problem
2.2.1
30

y
of cylinder.
Problem
2.2.1
aG
30

y
of cylinder.
Problem
2.2.1
mg
aG
30

y
of cylinder.
Problem
2.2.1
aG
N
30
mg

y
of cylinder.
Problem
2.2.1
mg
aG
N
30
Fh

y
of cylinder.
Problem
2.2.1
solve
= the first
We can
for aG.
equation
sin 30
(1)

=

mg
aG
N
30
Fh

y
of cylinder.
Problem
2.2.1
Fh
aG
30
solve
= the first
We can
for aG.
equation
(1)
mg

= sin 30

y
of cylinder.
Problem
2.2.1
solve
= the first
We can
for aG.
equation
(1)
= sin 30

mg
aG
N
30
Fh

y
of cylinder.
Problem
2.2.1
solve
= the first
We can
for aG.
equation
(1)
= sin 30

2
Moment equation
(3)
=
mg
aG
N
30
Fh

y
of cylinder.
Problem
2.2.1
solve
= the first
We can
for aG.
equation
(1)
= sin 30

(3)

Moment
22equation
=
mg
aG
N
30
Fh

y
of cylinder.
Problem
2.2.1
solve
= the first
We can
for aG.
equation
(1)
= sin 30

(3)
=
Moment
22equation

mg
aG
N
30
Fh

y
of cylinder.
Problem
2.2.1
mg
aG
solve
= the first
We can
for aG.
equation
(1)
= sin 30

(3)
=

Moment
22equation
=
=

2
2
30
Fh

y
of cylinder.
Problem
2.2.1
Fh
mg
aG
30
solve
= the first
We can
for aG.
equation
(1)
= sin 30

(3)
=
Moment
22equation

=

y
of cylinder.
Problem
2.2.1
Fh
mg
aG
30
solve
= the first
We can
for aG.
equation
(1)
= sin 30

(3)
=
Moment
22equation

=
2
=

y
of cylinder.
Problem
2.2.1
Fh
mg
aG
30
solve
= the first
We can
for aG.
equation
(1)
= sin 30

(3)
=
Moment
22equation


y
of cylinder.
Problem
2.2.1
Fh
mg
aG
30
= sin 30 sin 30
=
sin 30
9.81 sin 302
2
=
=
Maksimaalne
hrdejud
on=
3.3
m/s
=
1.5
1.5
cos 30
Kuni > , lbilibisemist ei toimu.

y
of cylinder.
Problem
2.2.1
Fh
mg
aG
30
= sin 30 =
sin
sin 30
30
9.81 sin 30
2
=
=
Maksimaalne
hrdejud
on=
3.3
m/s
=
1.5
1.5
cos 30

y
of cylinder.
Problem
2.2.1
mg
aG
= sin 30 =
sin
9.81 sin 30
sin 30
30 2 =
= 3.3 m/s 2
1.
=
1.5
5
Maksimaalne hrdejud on =
cos 30
30
Fh

y
of cylinder.
Problem
2.2.1
mg
aG
= sin 30 =
sin
9.81 sin
sin 30
30
= 3.3
30 2 =
1.5
m/s
=
1.5
Maksimaalne hrdejud on =
cos 30
30
Fh

y
of cylinder.
Problem
2.2.1
= sin 30 =
sin
9.81 sin
sin 30
30
= 3.3
30 2 =
1.5
m/s
=
1.5
Maximum friction force =
cos 30
As long as > , there will be
mg
aG
N
30
Fh
2.3. Angular momentum of system of bodies.

In practice there are often situations when several
connected bodies move about common axis.
In this case we can use angular momentum theorem
for system of
bodies.
Time derivative of systems angular momentum
about an fxed axis equals to the sum of
moments of all external forces about the same
axis.
=
Angular momentum of masspoint =
( mass, velocity, distance from the axis)
Angular momentum of rigid body
( moment of inertia about z-axis, angular velocity)

for system of
bodies.
axis.
masspoint
=
Angular momentum of
=

for system of
bodies.
axis.
=
Angular
momentum
of rigid
from
=
( mass,
velocity,
body
distance
the
axis)

for system of
bodies.
axis.
=
(
moment of inertia about z-axis, angular
Example 2.3.1
System consists of mass m1 = 6 kg, mass m2 = 3 kg, cylinder 3 with
mass m3 = 4 kg and radiuses r = 0.2 m and R = 0.3 m. Radius of
gyration of the cylinder is i = 0.18 m. Find angular acceleration of
the cylinder when mass 1 moves downward.
3
O
Example 2.3.1
3
O
Example 2.3.1
3
O
Example 2.3.1
3
m1g
Example 2.3.1
3
m2g
m1g
Example 2.3.1
3
m2g
m1g
v1
Example 2.3.1
3
v2
1
m2g
m1g
v1
Example 2.3.1
3
+
v2
1
m2g
m1g
v1
Example 2.3.1
3
+
=

External
1 2
moments
=
v2
m2g
m1g
v1
Example 2.3.1
3
+
=

External
1 2
moments
=
v2
m2g
m1g
v1
Example 2.3.1
3
+
=

External
=
moments
v2
m2g
m1g
v1
Example 2.3.1
3
=
+
= 1
2
v2
1
m2g
External moments
m1g
v1
Example 2.3.1
3
=
+
v2
1
m2g
m1g
v1
External moments
= 1
2
system
+
= =
= 1 2 2 2 =
23
22
+
=
=
3 2 + 1 2 2 2
=
4 0.182 + 6 0.32 3
0.22 =
= 0.55
Example 2.3.1
3
=
+
v2
1
m2g
m1g
v1
External moments
= 1
2
system
=
+
1
=
3
+
22
=1 2 2 2 =
2
=
=
3 2 + 1 2 2 2
=
4 0.182 + 6 0.32 3
0.22 =
= 0.55
Example 2.3.1
3
=
+
v2
1
m2g
m1g
v1
External moments
= 1
2
system
= +
2
2 2

1=
2 2 =
1 3 + 12
=
=
3 2 + 1 2 2 2
=
=
4 0.182 + 6 0.32 3
0.22 =
= 0.55
Example 2.3.1
3
=
+
v2
1
m2g
m1g
v1
External moments
= 1
2
system
= + +
2=
= 2 + 1 2 2 2 =
2 3
=
=
3 2 + 1 2 2 2
=
4 0.182 + 6 0.32 3
0.22 =
= 0.55
Example 2.3.1
3
=
+
v2
1
m2g
m1g
v1
External moments
= 1
2
system
== 2 +
+
11
2
1 + 2 2
2=
23 =
3=
2 + 1 2 2 2
=
=
4 0.182 + 6 0.32 3
0.22 =
= 0.55
Example 2.3.1
3
=
+
v2
1
m2g
m1g
v1
External moments
= 1
2
system
1 =
2 =
== 2 +
+
11
2
1 + 2 2
2=
23 =
3=
2 + 1 2 2 2
=
=
4 0.182 + 6 0.32 3
0.22 =
= 0.55
Example 2.3.1
3
=
+
v2
1
m2g
m1g
v1
External moments
= 1
2
system
1 =
2 =
==
3
2+
1 1
+ 2 2
+
2
2=
21
= 2 + = 2 2
3
1
2
=
=
4 0.182 + 6 0.32 3
0.22 =
= 0.55
Example 2.3.1
3
=
+
v2
1
m2g
m1g
v1
External moments
= 1
2
system
1 =
2 =
= + 1 1 +
2=
2 = 2 + 2 2
3
1
2
= 3 2 + 1 2 +
2 42
= 2 + 6 0.32 3
=
0.18
0.22 =
= 0.55
Example 2.3.1
3
=
+
v2
1
m2g
m1g
v1
External moments
= 1
2
system
1 =
2 =
= + 1 1 +
2=
2
=
2 + 2 +
3
1
2 + 2 2 + 2
2
=
=
3
=
4
0.18
+1 6 0.3
2
222 ==
0.2
= 0.55
Example 2.3.1
3
=
+
v2
1
m2g
m1g
v1
External moments
= 1
2
system
= + 1 1 +
2=
2
=2 + 2 +
3
1
2 +
2 2
2 +
2 + 3
=
61
=2 +
3
=
4
0.18
0.3
2
22==
0.20.55
=
1 =
2 =
Example 2.3.1
3
=
+
v2
1
m2g
m1g
v1
External moments
= 1
2
system
= + 1 1 +
2=
2
=2 + 2 +
3
1
2 +
2 2
2 +
2 + 3
=
61
=2 +
3
=
4
0.18
0.3
0.2222 ==
= 0.79
1 =
2 =
Example 2.3.1
3
+
v2
1
m2g
m1g
v1
=
0.79
Example 2.3.1
3
+
=
0.79
=

v2
1
m2g
m1g
v1
Example 2.3.1
3
= 0.79
+
0.79 = 1
2
v2
1
m2g
m1g
v1
Example 2.3.1
3
= 0.79
+
v2
1
m2g
m1g
v1
=
0.79 = 1
2
1
=
0.7
2
=
9.81 69 0.3 3 0.2
=
= 14.9 rad/s 2
0.79
Example 2.3.1
3
= 0.79
+
v2
1
m2g
m1g
v1
=
0.79 = 1
2
1
=
0.7
2
=
9.8196 0.3 3
= 0.2
0.7
9
= 14.9
rad/s
Example 2.3.2
A disk of mass m = 3 kg and radius r = 0.4 m is given initial angular
velocity 0 = 5 rad/s upwards in horisontal position. Find maximum
angle 1 the disk can rise to.
=
Ketta inertsmoment O suhtes
= =
3
+ 2 = + 2 = 2
2
2
Example 2.3.2
+
=
Ketta inertsmoment O suhtes
mg
= =
3
+ 2 = + 2 = 2
2
2
Example 2.3.2
+
mg
Angular momentum
about O
3
= =
3
+ 2 = + 2 = 2
2
2
Example 2.3.2
+
mg
Angular momentum
about O
3
=
2
=
2 2
3
+ 2 = + 2 = 2
2
2
Example 2.3.2
+
mg
Angular momentum
about O
3
=
2
=
2 2
=
3
+ 2 = + 2 =
2
2
2
Example 2.3.2
+
mg
Angular momentum
about O
3
=
2
=
2 2
3
= +
+ 2 =
2 =
2
2
Example 2.3.2
+
mg
Angular momentum
about O
3
=
2
=
2
= + 2 +
2
2
2
=
=
2
2
Example 2.3.2
+
mg
Angular momentum
about O
3
=
2
=
2
= + 2 +
2
2
2
=
=
2 2
Example 2.3.2
+
mg
Angular momentum
about O
3 2
=
=
2

= + 2 +
2
2
2
=
=
2 2
Example 2.3.2
+
mg
Angular momentum
about O
3 2
=
=
2

= + 2 +
2
2
2
=
3 =2
=
=
2

= cos
2 2
Example 2.3.2
+
Angular momentum
about O
O
3 2
=
=
2

mg
= + 2 +
2
2
2
=
3 =2
=
=
2

Moment of the weight
cos
about O
=
2 2
Example 2.3.2
+
mg
Angular momentum
about O
3 2
=
=
2

= + 2 +
2
2
2
=
3 =2
=
=
2

Moment of the weight

about O
=
cos
2 2
Example 2.3.2
+
mg
=

3
2 =
2
cos
Example 2.3.2
+
mg
=

3
2 =
2
cos
2
= 3 cos
=
Example 2.3.2
+
mg
=

3
2 =
2
cos
2
= cos =
3
Example 2.3.2
+
mg
=

3
2 =
2
cos
2
= cos
2 =
3
=
cos
3
Example 2.3.2
+
mg
2
=
cos
3
2 0
2
=
2
sin
3
2 =
+ 2
sin
Example 2.3.2
+
mg
2
=
cos
3
2
0 2
=
4
sin
3
2 =
sin + 2
3
0
Example 2.3.2
+
mg
2
=
cos
3
2
0 2
2
= sin
3
2 =
sin + 2
3
0
Example 2.3.2
+
mg
2
=
cos
3
2
0 2
2 =
2
= sin
3
4
sin + 02
3
Example 2.3.2
+
mg
In the highest position

=0
Example 2.3.2
+
mg

=0
4
0 = sin + 02
3
Example 2.3.2
+
mg

=0
4
0 = sin + 02
3
3 2
sin
4
0
=
Example 2.3.2
+
mg

=0
4
0 = sin + 02
3
3 2
sin
4
0
=
=
arcsin
3 2
1.2 2
=
=
5
4
4
0
arcsin
49.9
9.81
2.4. Work energy method: rigid bodies.

Kinetic energy of the rigid body in
plane motion
y
use coordinate
attached
systemto
the xymass
centre of the body
and
investigate
motion
of
arbitrary point Pi.
y'
Well
Pi
= +
i
ri
G
= +
x'
rG
velocity / is a relative
velocity of point Pi in xy
system.
We need velocity squared for
kinetic energy formula.
Knowing that vector squared =
vectors magnitude squared:
2
= +
+ 2 /

plane motion
y
use
system
attached
coordinate
to
thexymass
centre of the body
and
investigate
motion
of
arbitrary point Pi.
y'
Well
Pi
= +
i
ri
G
= +
x'
rG
points position in the fixed

system
position of mass centre in the
fixed system
points position in xy system
with respect to mass centre G
system.
2
= +
+ 2 /

plane motion
y
use coordinate
attached
system
to the mass
xycentre
body
of the
and
motion
investigate
of
arbitrary point Pi.
y'
Well
Pi
ri
+ +
==
x'
rG

system
fixed system
system.
2
= +
+ 2 /

plane motion
y
use coordinate
x
attached
system
to the mass centre
y
body
of the
and investigate
motion
of arbitrary point Pi.
y'
Well
Pi
= +
ri
= +
x'
rG

system
fixed system
system.
kinetic
energy formula. Knowing that
vector
squared = vectors magnitude
squared:
2
= +

plane motion
y
use
system
attached
coordinate
to the mass
xy centre
body
of the
and investigate
motion
of arbitrary point Pi.
y'
Well
Pi
= +
ri
= +
x'
rG

system
fixed system
system.
Knowing
that vector squared =
2 = 2 + 2
+

y

plane motion
We can now write kinetic

energy in the following way
y'
Pi
=
2
=
2
ri
G
x'
rG

system
fixed system
/
2
+
x
Lets look at the last

member. Mass center
in the xy system is
=
Its derivative with

y

plane motion

y'
Pi
2
=
=
2
2
2/
=
+ +
/
2
2
ri
x'
Lets look at the last member.

Mass center
in the xy system is
rG

system
fixed system
=
Its derivative with
respect to time:
/ = /
Velocity of mass

y

plane motion

y'
Pi
2
=
=
2
2
2/
=
+ +
2
2
Mass center
in the xy system is
ri
x'
rG

system
fixed system
=
Its derivative
with respect to
time:
/ = /
Velocity of mass centre about

itself:

y

plane motion

y'
Pi
2
=
=
2
2
2/
=
+ + /
2
2
Mass center
in the xy system is
ri
x'
rG

system
fixed system
=
Its derivative with respect to
time:
Velocity of mass centre about
/ = /
itself:
/ = 0

y

plane motion

y'
Pi
2
=
=
2
2
2/
=
+ +
2
2
Mass center
in the xy system is
ri
x'
rG

system
fixed system
=
Its derivative with respect to
time:
Velocity of mass centre
= /
about itself: /
/ = 0

y

plane motion
Systems kinetic energy for

planar motion is:
y'
Pi
ri
x'
rG

system
fixed system
2
2
+
2
=
/
2
First member is kinetic energy
of systems mass centre, if all
the mass is concentrated into
that point.
Second member is systems
kinetic energy as it moves about
mass centre as if it was a fixed
point.
+
2
=
Translati
on
2/
2
=0
vG
There is no rotation, therefore rigid

bodys
kinetic energy during translation is
2
Translation
+
2
=
2/
2
=0
vG
There is no rotation, therefore

rigid bodys
kinetic energy during translation is
22
=
Rotation
about mass
centre
i
vi/G
+
2
=
There is no translation,
therefore
bodys
kinetic energy during rotation is
vG=0
2
/
2
Rotation
about mass
centre
i
vi/G
vG=0
2
2
+
2
=
/
2
body
therefore
s
kinetic energy during rotation
2
is
2
2
=
2
2
/

2
=
Rotation
about mass
centre
i
vi/G
vG=0
2
2
+
2
=
/
2
body
therefore
s
kinetic energy during rotation
2
2
is
=
=
=
22
2
2
/
2
2
=
Rotation
about mass
centre
i
vi/G
vG=0
2
2
+
2
=
/
2
therefore bodys
2
= =
2
2 2
=
2 2
2
2
=
Rotation
about mass
centre
i
vi/G
vG=0
2
2
+
2
=
/
2
therefore bodys
2
2 2
=
2 2
2
= =
2
2
=
2/
2
+
2
=
Planar
motion
Here we have both translation and

rotation:
vG
G
2
2/
+
2
=
2
Here we have both translation and
rotation:
Planar
motion
vG
G
2
+ 2
2
=
Rotation about fixed

point that
is not a mass centre.
2
2
+
2
2
=
vG
This is general planar motion

with both translation and
rotation
We can can substitue =

O

point that
vG
i
O

rotation
2
2
+
2
=
2
We can can substitue
=
1
2
=
2
+axes
theorem
Using parallel
we get:
2
=
2

point that
vG
i
O

rotation
2
2
+
2
=
2
We can can substitue
=
1
2
=
2
+axes
theorem
Using parallel
we get:
2
=
2

Work of a
What we know so far
about work of forces also
holds true in the case of
rigid bodies.
Now we need to find
work of a couple moment.
couple
Translation
y
F
x
s
Rectangular components of
forces forming a couple
with respect to any axis
always cancel each other,
therefore positive work of
one force always cancels
negative work of the other
force.

Work of a
What we know so far
rigid bodies.
Now we need to find
couple
y
Translation
F
s
F
x
Rectangular components of
forces forming a couple
with respect to any axis
always cancel each other,
therefore positive work of
one force always cancels
negative work of the other
force.

Work of a
What we know so far
rigid bodies.
Now we need to find
Let
distance
between
forces be r. When body
rotates,
each
force
undergoes
elementary
displacement
.
Total
elementary work is
couple
Rotation
y
F
ds
d
ds
F
x
= 2 =
=
Work of a couple when body

rotates through is

Work of a
What we know so far
rigid bodies.
Now we need to find
couple
Rotation
y
F
ds
ds
F
x
Let
distance
between
rotates,
each
force
2
undergoes
elementary
displacement
= 2 = =
.
Total
elementary work is
Work of a couple when
body rotates through is
=
=

Work of a
What we know so far
rigid bodies.
Now we need to find
couple
Rotation
y
F
ds
ds
F
x
Let
distance
between
rotates,
each
force
2
undergoes
elementary
displacement
.
Total
elementary
work is
Work of a couple
when body
rotates through is
= 2
= =
=
=
0

Work of a
couple
y
Rotation
F
ds
d
d
ds
F
x
What we know so far

rigid bodies.
Now we need to find
Let distance
between
forces bodybe
When
rotates,r.each
undergoes elementary
force
displacement
=
. Total
2
elementary work is
= 2 =
=
Work of a couple when body
rotates through is
=
=
2.4. T energia meetod jiga keha puhul

Rakendades t-energia meetodit jiga keha iga
punkti kohta saame tulemuseks meile juba
tuntud valemi
1 + 12 = 2
Siin on kineetiline energia prlemise ja
translatoorse liikumise energiate summa ning
t on vlisjudude ja vliste momentide tde
summa.
Valemit saab rakendada ka jikade kehade
ssteemi puhul, eeldades
et
kik
kehade
vahelised
hendused
on muutumatud.
lesannete lahendamisel kirjutatakse valem tihti
sellisel kujul:
2 1 = 12
2.4. T energia meetod jiga keha puhul

Rakendades t-energia meetodit jiga keha iga
punkti kohta saame tulemuseks meile juba
tuntud valemi
1 + 12 = 2
Siin on kineetiline energia prlemise ja
translatoorse liikumise energiate summa ning
t on vlisjudude ja vliste momentide tde
Valemit
summa. saab rakendada ka jikade kehade
ssteemi puhul, eeldades
et
kik
kehade
vahelised
hendused
on muutumatud.
lesannete lahendamisel kirjutatakse valem tihti
sellisel kujul:
2 1 = 12

Applying the principle of work and energy to each
particle of a rigid body and summing for all the
points we get the principle of work and energy for
rigid body
1 + 12 = 2
Kinetic energy here is the sum of translational
and rotational energy. Work is the sum of the
works of external forces and moments.
The same equation can also be applied for
the system of interconnected bodies.
The often used form of the equation is where the
energy is on one side and the work is on the other
side:
2 1 = 12

rigid body
1 + 12 = 2
side:
2 1 = 12

rigid body
1 + 12 = 2
side:
2 1 = 12
Problem 2.4.1
Cylinder of mass m1 = 4 kg and radius r = 0.25 m is subjected to a
moment M. A block
of mass m2 = 10 kg is attached to the cylinder via a cord.
Coefficient of dynamic friction between surfaces is = 0.2.
Initially system is at rest. Find the value of moment M which
gives block
2the
speed
1 = of v=0.8 m/s after it has traveled 0.4 m. 2
12
Problem 2.4.1
moment M. A block
gives block
2the
speed
12
N
M
m2g
1
Problem 2.4.1
moment M. A block
gives block
2the
speed
12
N
M
m2g
1
Problem 2.4.1
moment M. A block
gives block
2the
speed
12
N
M
m2g
1
Problem 2.4.1
moment M. A block
gives block
2the
speed
12
N
M
m2g
Problem 2.4.1
moment M. A block
gives block
2the
speed
1 = of v=0.8 m/s after it has traveled v0.4 m. 2
12
M
m2g
Problem 2.4.1
moment M. A block
gives block
m/s after it has traveled v0.4 m. 2
2the
speed
1 = of
v=0.8
12
Initially system is at rest,
1 = 0.energy of the
Kinetic
M
m2g
system:
2
1 =
Kinetic energy of the

block:
2 2
2 =
Work of the
moment:
The whole equation:

2
2
2 2
+
Problem 2.4.1
moment M. A block
gives block
2the
speed
1 = of
v=0.8
12
1 = 0. Kinetic energy of
the cylinder:
1 2
2
=
Kinetic energy of the block:
2
2
Work of the moment:

=
Work of the force:
=
The whole equation:
2 2
2 =
m2g
2 2
+
Problem 2.4.1
moment M. A block
gives block
2the
speed
1 = of
v=0.8
12
N
the cylinder:
1 2
2
=
block:
2
2
2
2
=
Work of the moment:
=
Work of the force:
The whole equation:
m2g
2 2
+
Problem 2.4.1
moment M. A block
gives block
2the
speed
1 = of
v=0.8
12
N
the cylinder:
1 2
2
=
block:
2
2
2
2
=
Work of the moment:
=
Work of the force:
m2g
The whole equation:

2
=
2 2
+
Problem 2.4.1
moment M. A block
gives block
2the
speed
1 = of
v=0.8
12
the cylinder:
1 2
2
=
block:
2
2
2
2
=
Work of the moment:
=
Work of the
=
force:
M
m2g
The whole equation:

2
2
2 2
+
Problem 2.4.1
moment M. A block
gives block
2the
speed
1 = of
v=0.8
12
the cylinder:
1 2
2
=
block:
2
2
2
2
=
Work of the moment:
=
Work of the
=
force:
M
m2g
The whole
equation:
2
+
=
2
22
2
Problem 2.4.1
moment M. A block
block
the
gives
speed of v=0.8 m/s after it has traveled v0.4 m. 2
2
+ 2 =
N
22
H
2
M
2
1
mg
Cylinders inertia:
2
Kinematic relationships:
=
10
+
9.81 0.4
62 =
0.25
0.25
10
39.24
Problem 2.4.1
moment M. A block
block
the
gives
2
+ 2 =
N
22
H
M
2
1
mg
Cylinders
22
inertia:
=
1
Kinematic relationships:
2
4
4
10
+
62 =
2 2 2
2 2
+
10
9.81 0.4
1 2 2
0.25
0.25
39.24
Problem 2.4.1
moment M. A block
block
the
gives
2
+ 2 =
N
22
H
M
2
1
mg
Cylinders inertia:
22
=
2
Kinematic
=
relationships:
=
=
=
2
2
1
2 2
2 2 2
1 2
4
4
10
+
0.25
10
9.81 0.4
62 =
0.25
39.24
Problem 2.4.1
moment M. A block
block
the
gives
2
+ 2 =
N
22
H
M
2
1
mg
Cylinders inertia:
22
=
2
Kinematic
=
relationships:
=
=
2
2
1
2 2
2 2 2
1 2
4
4
10
+
0.25
10
9.81 0.4
62 =
0.25
39.24
Problem 2.4.1
moment M. A block
block
the
gives
2
+ 2 =
N
22
H
M
2
1
mg
Cylinders inertia:
22
=
2
Kinematic
=
relationships:
=
=
=
2
2
1
2 2
2 2 2
1 2
4
4
10
+
0.25
10
9.81 0.4
62 =
0.25
39.24
Problem 2.4.1
moment M. A block
block
the
gives
2
+ 2 =
N
22
H
M
2
1
mg
Cylinders inertia:
22
=
2
Kinematic
=
relationships:
1 2 2 =
2
=2
2 2 2
1 2
4
4
10
+
0.25
10
9.81 0.4
62 =
0.25
39.24
Problem 2.4.1
moment M. A block
block
the
gives
2
+ 2 =
N
22
H
M
2
1
mg
Cylinders inertia:
22
=
2
Kinematic
=
relationships:
=
1 2 2 =
2 2
=
2 +
4
4
10
+
0.25
10
9.81 0.4
2 2
2
1
2
2
2
+
4
62 =
0.25
39.24
Problem 2.4.1
moment M. A block
block
the
gives
2
+ 2 =
N
22
H
M
2
1
mg
Cylinders inertia:
22
=
2
Kinematic
=
relationships:
=
1 2 2 =
2 2
=
2 +
4
4
10
+
0.25
10
9.81 0.4
+
= 2
2 4 2
2
22
1
62 =
0.25
39.24
Problem 2.4.1
moment M. A block
block
the
gives
2
+ 2 =
N
22
H
M
2
1
mg
Cylinders inertia:
22
=
2
Kinematic
=
relationships:
=
1 2 2 =
2 2
=
2 +
+
= 2
2 4 2
2
22
1
4
+
=
10
2
4 2
62 =
10 9.81
0.2
0.4
5
0.25
39.24
Problem 2.4.1
moment M. A block
block
the
gives
2
+ 2 =
N
22
H
M
2
1
mg
Cylinders inertia:
22
=
2
Kinematic
=
relationships:
=
1 2 2 =
2 2
=
2 +
+
= 2
2 4 2
2
22
1
+
=
10 9.81
10
0.2
0.4
2
4 2
5
62 =
0.2
39.24
Problem 2.4.1
moment M. A block
gives block the speed of v=0.8 m/s after it has traveled v0.4 m. 2
N
2
6
=
0.25
If = 0.839.24
m/s and = 0.4 m,
then:
62
=
+ 39.24 0.25 =
6 0.82
0.4
+ 39.24
0.2
= 9.8 Nm
m2g
Problem 2.4.1
moment M. A block
gives block the speed of v=0.8 m/s after it has traveled v0.4 m. 2
N
2
6
=
0.25
If = 0.839.24
m/s and = 0.4
m, then:
6
0.25
2 +
=
39.24 =
6
=
0.8
0.2
4
+
39.24
m2g
0.2 = 9.8
Nm
Problem 2.4.2
System consists of the body 1 with mass m1, body 4 with mass m4,
cylinders 2 and 3 with masses m2 and m3 and radius r = 0.5 m. Body 1
moves on the plane with incline = 30 and coefficient of friction .
Couple M is applied to cylinder 2. Find velocity and acceleration
of body 1 as it has moved upwards by s.
M
s 1
vA
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
s 1
vA
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
s 1
vA
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
s 1
vA
vA
4
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
s 1
vA
vC
vA
4
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
s 1
vA
vC
vA
4
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
vA
1
A
m1g
vC
vA
4
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
vA
1
A
m1g
vC
m3g
vA
4
m4g
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
2 1 = 12
vA

1 = 0.
Kinetic energies:
1
A
m1g
vC
m3g
1 =
vA
2
2
2 2
4
m4g
2 =
vC
2
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
2 1 = 12
vA

1 = 0.
1
A
m1g
vC
m3g
1 =
vA
2
2
2 2
4
m4g
Kinetic energies:
2
1
2 =
vC
2
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
2 1 = 12
vA

1 = 0.
1
A
m1g
vC
m3g
2 2
vA
2 =
4
m4g
Kinetic energies:
1
1
2
2
2
2
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
3
3 3
Problem 2.4.2
2 1 = 12
vA

1 = 0.
1
A
m1g
vC
m3g
vA
Kinetic energies:
1
1
2
2
=
2 2
2
22
=
2
4
m4g
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
3 3
3 =
Problem 2.4.2
2 1 = 12
vA

1 = 0.
1
A
m1g
vC
m3g
vA
4
m4g
Kinetic energies:
1
1
2
2
=
2 2
2
22
=
3 2 3 2
+
3
2
32
=
2
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
4 =
Problem 2.4.2
2 1 = 12
vA

1 = 0.
1
A
m1g
vC
m3g
vA
4
m4g
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Kinetic energies:
1
1
2
2
=
2 2
2
22
=
3 2 3 2
+
3
2
32
=
2
4
2
=
Problem 2.4.2
Work of external forces and

moments:
Work is being done by: 1 , ,
, 3 , 4
vA
1
A
m1g
vC
m3g
vA
4
m4g
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
= 1 sin
= 1 cos
= 2
= 3
= 4
Problem 2.4.2

M
vA
moments: Work is being done
by: 1 , , , 3 , 4
1 = 1 sin
m1g
vC
m3g
vA
4
m4g
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
= 1 cos
= 2
= 3
= 4
Problem 2.4.2

M
vA
by: 1 , , , 3 , 4
1 = 1 sin
= 1 cos
m1g
vC
m3g
vA
4
m4g
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
= 2
= 3
= 4
Problem 2.4.2

M
vA
by: 1 , , , 3 , 4
m1g
vC
m3g
= 1 sin
=
=
1 cos
vA
= 3
4
m4g
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
= 4
Problem 2.4.2

M
vA
by: 1 , , , 3 , 4
m1g
vC
m3g
vC
m1
(kg)
m2
(kg)
= 1 sin
= 1 cos
=
3
3 =
vA
4
m4g
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
= 4
Problem 2.4.2

M
vA
by: 1 , , , 3 , 4
m1g
vC
m3g
vC
m1
(kg)
m2
(kg)
= 1 sin
= 1 cos
==
2
3
3
4 = 4
vA
4
m4g
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2

M
vA
by: 1 , , , 3 , 4
m1g
vC
m3g
vC
m1
(kg)
m2
(kg)
= 1 sin
= 1 cos
==
2
3
3
4 =
4
vA
4
m4g
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
vA
1
A
m1g
vC
m3g
vC
m1
(kg)
m2
(kg)
Total systems energy

and work:
2
2 2
1
2 2 22 3
4
+
+
+ 3 3
2 + 2
2
2
=
= 1 sin 21 cos 2 +
3 + 4
vA
4
m4g
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
vA
1
A
m1g
vC
m3g
Moments of
inertia:
2 2
2
3
23 2
=
=
2
Kinemaatilised
teisendused:
vA
4
m4g
2 =
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
2 =
3 =
Problem 2.4.2
vA
1
A
m1g
vC
m3g
vA
4
m4g
Moments of
inertia:
2 2
2
3
23 2
=
=
2
Kinematic
realtionships:
2 =
vC
3 =
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
2 =
Problem 2.4.2
vA
1
A
m1g
vC
m3g
vA
4
m4g
Moments of
inertia:
2 2
2
3
23 2
=
=
2
Kinematic
realtionships:
2 =
vC
3 =
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
2 =
Problem 2.4.2
vA
1
A
m1g
vC
m3g
vA
4
m4g
vC
Moments of
inertia:
2 2
2
3
23 2
=
=
2
Kinematic
realtionships:
2 =
3 =
=
2
2 =
=
2
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
vA
1
A
m1g
vC
m3g
vA
4
m4g
vC
Moments of
inertia:
2 2
2
3
23 2
=
=
2
Kinematic
realtionships:
2 =
3 =
=
2

2 =
=
2
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
vA
1
A
m1g
vC
m3g
vA
2 =
4
m4g
Moments of
inertia:
2 2
2
3
23 2
=
=
2
Kinematic
realtionships:
2 =
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
vA
1
A
m1g
vC
m3g
vA
2 =
4
m4g
Moments of
inertia:
2 2
2
3
23 2
=
=
2
Kinematic
realtionships:
2 =
=
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
vA
1
A
m1g
vC
m3g
vA
2 =
4
m4g
Moments of
inertia:
2 2
2
3
23 2
=
=
2
Kinematic
realtionships:
2 =
=
2
= 2
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
vA
1
A
m1g
vC
m3g
vA
2 =
4
m4g
Moments of
inertia:
2 2
2
3
23 2
=
=
2
Kinematic
realtionships:
2 =
vC
= 2
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
vA
1
A
m1g
Full
equation:
2
2
1
2 2 22 3
+
+ 2 + 3 3 + 4
2 = 2
2
2
= 1 sin 2 1 cos 2 +
3 + 4
vC
m3g
vA
4
m4g
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
vA
1
A
m1g
vC
m3g
vA
4
m4g
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
After
substitutions:
2
2
2
+ + 3 + 2 4 =
2 24 2 2 2 4 2
2
1 2
2
+
2
22
2
34
= 1 sin 1 cos

3
+ M
s
0.1
(Nm) (m)
10
0.4
Problem 2.4.2
vA
1
A
m1g
vC
m3g
vA
m2
(kg)
m3
m4
(kg) (kg)
1
3 3
=
+
+
+ +
2
4 1 sin
8
4 1
= cos
vC
m1
(kg)
2
4
4
m4g
0.1
M
s
(Nm) (m)
10
0.4
3
+
4
+
2
Problem 2.4.2
vA
1
A
m1g
vC
m3g
2
=
1
3 3
4
+
+
2 +
= 2 1 sin8 +
cos 4
vA
4
m4g
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
3
+
Problem 2.4.2
vA
1
A
m1g
vC
m3g
vA
2 3 8
1 +2 +8 +
4 =
4
m4g
2
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
=
0.5 + 0.1
9.81 0.866
M
s
(Nm) (m)
10
0.4
1
1
0.50 9.812
8
2
+ +
Problem 2.4.2
vA
2
2.19
=
18.39
=
8.41 =
1.83 m/s
1
A
m1g
vC
m3g
= 8.41
vA
2 = 8.41
4
m4g
= 4.2 m/s2
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
vA
2
2.19
=
18.39
= 8.41 = 1.83
m/s
1
A
m1g
vC
m3g
= 8.41
2 = 8.41
vA
= 4.2 m/s2
4
m4g
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
vA
1
A
m1g
vC
m3g
= 4.2 m/s2
vA
4
m4g
vC
m1
(kg)
m2
(kg)
2
2.19
=
18.39
= 8.41 = 1.83
m/s
2
=
28.41
= 8.41
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
vA
1
A
m1g
vC
m3g
2
2==4.2 m/s
8.41
vA
4
m4g
vC
m1
(kg)
m2
(kg)
2
2.19
=
18.39
= 8.41 = 1.83
m/s
2
=
8.41
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.2
vA
1
A
m1g
vC
m3g
2 =
8.41
vA
4
m4g
2
2.19
=
18.39
= 8.41 = 1.83
m/s
2
=
8.41
= 4.2
m/s2
vC
m1
(kg)
m2
(kg)
m3
m4
(kg) (kg)
1
0.1
M
s
(Nm) (m)
10
0.4
Problem 2.4.3
System consists of body 1 with mass m1, cylinders 2 and 3 with
masses m2 and m3 and body 4 with mass m4. Body 1 moves along the
surface with incline = 30 and coefficient of friction . Moment M is applied
to cylinder 2. Radiuses are R = 2r = 0.2 m. Find velocity and acceleration of
body 1 when it has traveled up the slope by s.
M
s 1
2
3
C
Nr.
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
M
s 1
2
We begin with the

drawing.
First kinematics, then
forces and moments.
3
C
Nr.
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
M
s 1
vA
We begin with the

drawing.
forces and moments.
3
C
Nr.
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
surface with incline = 30 and coefficient
of friction . Moment M is applied to cylinder 2. Radiuses are R = 2r =
m. Find velocity
0.2
and acceleration
of body 1 when it has traveled up the slope by s.
M
s 1
vA
We begin with the

drawing.
forces and moments.
3
C
Nr.
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
We begin with the

drawing.
forces and moments.
Nr.
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
We begin with the

drawing.
forces and moments.
vA
4
Nr.
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
We begin with the

drawing.
forces and moments.
vA
4
Nr.
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
We begin with the

drawing.
forces and moments.
vC
vA
4
Nr.
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
We begin with the

drawing.
forces and moments.
vC
vA
4
vC
Nr.
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
N
A
We begin with the

drawing.
forces and moments.
vC
vA
4
vC
Nr.
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
We begin with the

drawing.
forces and moments.
vC
vA
4
vC
Nr.
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
We begin with the

drawing.
forces and moments.
vC
vA
4
vC
Nr.
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
We begin with the

drawing.
forces and moments.
vC
vA
G3
4
vC
Nr.
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
We begin with the

drawing.
forces and moments.
vC
vA
G3
4
vC
Nr.
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
up
1slope
= by
and acceleration
of body 1 when it has traveled
2 the
12s.
M
s 1
vA
System is initially at rest,

1 = 0.
Kehade kineetilised
energiad:
N
A
1 =
vC
vA
G3
2 2
vC
Nr.
2 =
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
2
2
2
Problem 2.4.3
m. Find velocity
0.2
up
1slope
= by
and acceleration
2 the
12s.
M
s 1
vA

1 = 0.
Kinetic energy:
12
1
2
2 2
vC
vA
2 =
G3
4
vC
Nr.
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
3
3 3
Problem 2.4.3
m. Find velocity
0.2
up
1slope
= by
and acceleration
2 the
12s.
M
s 1
vA

1 = 0.
Kinetic energy:
12
1
2
=
2 2
2
22
=
vC
vA
G3
4
vC
Nr.
3
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
3 3
3 =
Problem 2.4.3
m. Find velocity
0.2
up
1slope
= by
and acceleration
2 the
12s.
M
s 1
vA

1 = 0.
Kinetic energy:
12
1
2
=
2 2
2
22
=
3 2 3 2
+
3
2
32
vC
vA
G3
4
vC
Nr.
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
4 =
Problem 2.4.3
m. Find velocity
0.2
up
1slope
= by
and acceleration
2 the
12s.
M
s 1
vA

1 = 0.
vC
vA
G3
4
vC
Nr.
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Kinetic energy:
12
1
2
=
2 2
2
22
=
3 2 3 2
+
3
2
32
=
42
4
2
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
moments:
N
s 1
Work is done 1 , , ,
v
2
A
by:
3 , 4
1 = 1 sin
= 1 cos
vC
vA
G3
4
vC
Nr.
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
= 2
= 3
= 4
Problem 2.4.3
m. Find velocity
0.2
Work of up
external
forces
and acceleration
the slope
by and
s.
M
s 1
vA
moments: Work is done by:
N
A
1 , , , 3 , 4
1 = 1 sin
= 1 cos
vC
vA
G3
4
vC
Nr.
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
= 2
= 3
= 4
Problem 2.4.3
m. Find velocity
0.2
Work of up
external
forces
and acceleration
the slope
by and
s.
M
s 1
vA
1 , , , 3 , 4
1 = 1 sin
= 1 cos
vC
vA
G3
4
vC
Nr.
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
= 2
= 3
= 4
Problem 2.4.3
m. Find velocity
0.2
Work of up
external
forces
and acceleration
the slope
by and
s.
M
s 1
vA
1 , , , 3 , 4
1 = 1 sin
=
1 cos
= 2
vC
vA
G3
vC
Nr.
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
3
4
= 3
= 4
Problem 2.4.3
m. Find velocity
0.2
Work of up
external
forces
and acceleration
the slope
by and
s.
M
s 1
vA
1 , , , 3 , 4
1 = 1 sin
= 1 cos
vC
vA

=
2 3
=
3
G3
vC
Nr.
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
= 4
Problem 2.4.3
m. Find velocity
0.2
Work of up
external
forces
and acceleration
the slope
by and
s.
M
s 1
vA
1 , , , 3 , 4
1 = 1 sin
= 1 cos
vC
vA
= 2
G3
3
=
=
4
4 3
vC
Nr.
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
Work of up
external
forces
and acceleration
the slope
by and
s.
M
s 1
vA
1 , , , 3 , 4
1 = 1 sin
= 1 cos
vC
vA
= 2
G3
3 = 3
vC
Nr.
4 = 4
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
vC
G3
4
vC
Nr.
G4
m1
(kg
)
2
Energy and work of the

system:
=
2
1 2 2 2 3 2 3
2 3+
+
+
+
2
2
2
24
= 2
2
= 1 sin 1 cos + 2 +
3 + 4
vA
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
Moments of
inertia:
N
s 1
2
v
2
2
A
2
= 22
2
22 2 2
2
H
2
= 3 =2 3 .
3
G
=
=2
3
2 5
8
3
=
2
C
Kinematic
v
relationships:
v
vC
Nr.
2 =
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
2 =
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
Moments of
inertia:
N
s 1
2
v
2
2
A
2
= 22
2
22 2 2
2
H
2
= 3 =2 3 .
3
G
=
=2
3
2 5
8
3
=
2
C
Kinematic
v
relationships:
v
vC
Nr.
2 =
2 = =
=
2
2
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
=
2
2 =
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
Moments of
inertia:
N
s 1
2
v
2
2
A
2
= 22
2
22 2 2
2
H
2
= 3 =2 3 .
3
G
=
=2
3
2 5
8
3
=
2
C
Kinematic
v
relationships:
G3
vC
Nr.
=
2
2 = =
=
2
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
2
2
2 =
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
Moments of
inertia:
N
s 1
2
v
2
2
A
2
= 22
2
22 2 2
2
H
2
= 3 =2 3 .
3
G
=
=2
3
2 5
8
3
=
2
C
Kinematic
v
relationships:
v
G
vC
Nr.
=
2
2 = =
=
2
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
=
2
2
=
2 =
2 =
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
Moments of
inertia:
N
s 1
2
v
2
2
A
2
= 22
2
22 2 2
2
H
2
= 3 =2 3 .
3
G
=
=2
3
2 5
8
3
=
2
C
Kinematic
v
relationships:
v
G3
2 =
4
2
=
2
= 2
v
2
= =
=2
=
2
2 =
Nr.
m1
m2
m3
m4
M
s
(kg
)
2
(kg
)
2
(kg
)
3
(kg
)
3
(Nm
)
10
0.2
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
Moments of
inertia:
N
s 1
2
v
2
2
A
2
= 22
2
22 2 2
2
H
2
= 3 =2 3 .
3
G
=
=2
3
2 5
8
3
=
2
C
Kinematic
v
relationships:
v
G3
2 =
4
2
=
=
2
2
2
2
2
2 = =
G
=
=
=
2
Nr.
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
Moments of
inertia:
N
s 1
2
v
2
2
A
2
= 22
2
22 2 2
2
H
2
= 3 =2 3 .
3
G
=
=2
3
2 5
8
3
=
2
C
Kinematic
v
relationships:
v
G3
2
=
2 =
4
=
= 2
=
2

2 2
v
2
2
2
G
=
=
=
Nr.
m1
m2
m3
m4
M
s
(kg
)
2
(kg
)
2
(kg
)
3
(kg
)
3
(Nm
)
10
0.2
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
N
A
vC
vA
G3
4
vC
Nr.
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
After
substitutions:
2 22 2 2 2 3 22 2
1
3
+ +
+ + 4 =
2
2
2
2 4 2 22 4 2
4
4
3
4
= 1 sin 1 cos
2
2
+
+
+
2
m
M
s
4
(kg
)
3
(Nm
)
10
0.2
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
N
A
vC
vA
G3
4
vC
Nr.
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
After
substitutions:
2 22 2 2 2 3 22 2
1
3
+ +
+ + 4 =
2
2
2
2 4 2 22 4 2
4
4
3
4
= 1 sin 1 cos
2
2
+
+
+
2
m
M
s
4
(kg
)
3
(Nm
)
10
0.2
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
N
A
vC
vA
G3
Nr.
G4
m1
(kg
)
2
2
4
2 +
+
+
2
8
4
=
sin
+
1
=
cos
vC
After
simplifications:
3 3
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
+4
+
3
2
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
N
A
vC
vA
G3
Nr.
2+
=
9.81
G4
m1
(kg
)
2
2
2
vC
Substituting the
numbers:
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
33 3
2
=
2 sin 30 + 0.2cos
30
+
0.2
s
(m
)
0.4
1
3+
0 +3 2
2 0.1
9.81
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
2
2.4375
=
66.2217
2
= 27.17
=
3.30 m/s
vC
vA
G3
= 27.17
vC
Nr.
G4
m1
(kg
)
2
27.17 =
2 = 27.17
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
= 13.58 m/s2
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
2
2.4375
=
66.2217
G
3
2 =
=
27.17
3.30m/s
vC
vA
= 27.17
G3
4
vC
Nr.
27.17 =
2 = 27.17
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
= 13.58 m/s2
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
2
2.4375
=
66.2217
G
3
2 =
27.17 = 3.30
27.17
m/s
vC
vA
=
= 27.17
G3
4
2 = 27.17
vC
Nr.
= 13.58 m/s2
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
2
2.4375
=
66.2217
G
3
2 =
27.17 = 3.30
27.17
m/s
vC
vA
=
=
227.17
= 27.17
G3
4
= 13.58 m/s2
vC
Nr.
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
2
2.4375
=
66.2217
G
3
2 =
27.17 = 3.30
27.17
m/s
vC
vA
=
=
27.17
G3
==13.58 m/s2
2
27.17
vC
Nr.
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
Problem 2.4.3
m. Find velocity
0.2
and acceleration
M
s 1
vA
2
2.4375
=
66.2217
G
3
2 =
27.17 = 3.30
27.17
m/s
vC
vA
=
= 27.17
G3
2 =
27.17
vC
Nr.
G4
m1
(kg
)
2
m2
(kg
)
2
m3
(kg
)
3
m4
(kg
)
3
M
(Nm
)
10
0.2
s
(m
)
0.4
= 13.58
m/s 2
2.5. DAlemberts principle. Kinetostatics

method.
Let there be three forces applied to
the masspoint. Every force gives the
masspoint its own acceleration.
F2
1 + 2 + 3 = =

This force system can be
reduced to one resultant force
that gives the point total
acceleration .
Rewriting the terms we get
= 0
Its as if weve added another
force to our system and thus
balanced the forces.
We call this force inertia force.
F1
ma
F3
Inertia force is a ficticious

force, it doesnt exist.
However we can feel the
effect of that force on the
acceleration.

method.
1 + 2 + 3 = =

acceleration .
= 0
=
F2
F1
ma
F3

acceleration.

method.
F2
1 + 2 + 3 = =

Rewriting
theterms
we get
acceleration
.
= 0
=
F1
ma
F3

acceleration.

method.
F2
1 + 2 + 3 = =

acceleration .
system
and
0
=thus
force to our
=
F1
ma
F3

acceleration.

method.
F2
1 + 2 + 3 = =

acceleration .
= 0
=
F1
ma
F3

acceleration.

method.
F2
1 + 2 + 3 = =

acceleration .
= 0
F1
ma
F3

acceleration.

method.
F2
1 + 2 + 3 = =

acceleration .
= 0
F1
ma
F3

effect of that force during
acceleration.

method.
We have previousely develeoped two
equations for
the general case of planar motion:
maG
IG
= 0
=0
Let us now move both right side members to

the left.

method.
equations for
maG
IG
Let us now move both right side members

to the left.
= 0
=0

method.
equations for
maG
IG
Well add vector =


to the left.
= 0
=0

method.
equations for
maG
IG

to the left.
Well add vector =

and vector

= 0
=0

method.
equations for
maG
IG
Well add vector =

and vector
These are inertia

vector and inertia
moment.

to the left.
= 0
=0

method.
equations for
maG
IG
Well add vector =

and vector
These are inertia

vector and inertia
moment.

to the left.
= 0
=0
Since
mathematically
equations
We have
balanced our
force are in
equilibrium,
we
system. What
is the benefit of
can
use statics principles to solve
suchnow
manipulations?
dynamics problems!
This is DAlemberts principle and
kinetostatics method.

method.
equations for
maG
IG
Well add vector =

and vector
These are inertia

vector and inertia
moment.

to the left.
= 0
=0
We have balanced our force

system. What is the benefit of
such manipulations?
This
DAlemberts principle
and
kinetostatics
Sinceismathematically
equations
are
in
method.
equilibrium, we can now use statics
principles to solve dynamics problems!

method.
equations for
maG
IG
Well add vector =

and vector
These are inertia

vector and inertia
moment.

to the left.
= 0
=0
We have balanced our force

system. What is the benefit of
such manipulations?
Since mathematically equations are in
equilibrium, we can now use statics
principles to solve dynamics problems!
This is DAlemberts principle and

method.
maG
IG
=

=

In statics we can reduce our force system

and apply it to any point.
We can do the same here, but because
mass centre is very important in study of
motion, then for practical reasons the
only good point to reduce the force
system to is the mass centre.
ks DAlamberti printsiibi eeliseid on
staatikaga sarnase momendi vrrandi
kasutamise vimalus. Momenti saab
staatikas teatavasti vtta mber
kskik millise punkti. See teeb tihti
keerukate vrrandite lahendamise
lihtsamaks.

method.
maG
=

=

IG
In statics we can reduce our force system

and apply it to any point.
We can do the same here, but because
mass centre is very important in study of
motion, then for practical reasons the
only good point to reduce the force
system to is the mass centre.
One main advantage of DAlamberts
method is that
we can use moment equation just like
in statics. Moment equation can be
written about any point which can be
used to simplify equations.
Problem 2.5.1
B
60
Body 1 has mass 5 kg and is suspended by

a rope that is wrapped around cylinder 2
that has radius 0.2 m and mass 8 kg.
Moment couple of 14 Nm is applied to the
cylinder. System is attached to a wall by
two light rods. Find forces in these rods.
Problem 2.5.1
B
60

Direction of the moment determines the

direction of the angular acceleration.
Problem 2.5.1
B
60


Direction of the angular acceleration
determines direction of acceleration of
body 1.
Problem 2.5.1
B
60


body 1.
Problem 2.5.1
B
60


body 1.
External
forces.
Problem 2.5.1

B
60

body 1.
External
forces.
Problem 2.5.1

B
60

body 1.
External
forces.
Problem 2.5.1

B
60
FA

body 1.
External
forces.
Problem 2.5.1

B
60
FB
M
FA

body 1.
External
forces.
Problem 2.5.1

B
60
FB
M
FA

body 1.
External forces.
Using DAlemberts principle well now

add inertia vector and inertia moment.
Problem 2.5.1
B
60
FB
M

FA

body 1.
External
forces.
Problem 2.5.1
B
60
FB
M
FA


body 1.
External
forces.
Problem 2.5.1

B
60
FB
M
FA
= 2 = 8 9.81 =
78.5
N 1 = 5 9.81 = 49.1 N
=
= 1 = 1 = 5 0.2 =
a
2 2
= =
0.16
2
8 0.22
=
(1)
= 0 sin 60 = 0
(2)
= 0
= 0 (3)
cos 60
= 0
= 0
Problem 2.5.1

B
60
FB
M
FA
= 2 = 8 9.81 =
78.5 N
= = 5 9.81 =
= 11 = 1 = 5 0.2 =
49.1 N
2 2
8 0.22
= =
=
=
0.16
2
2
(1)
= 0 sin 60 = 0
(2)
= 0
= 0 (3)
cos 60
= 0
= 0
Problem 2.5.1

B
60
FB
M
FA
= 2 = 8 9.81 = 78.5
N
= 1 = 5 9.81 = 49.1
N
2 2
8 0.22

=
0.2
1 =
= 1 = 5 =
=
0.16
2
2
(1)
= 0 sin 60 = 0
(2)
= 0
= 0 (3)
cos 60
= 0
= 0
Problem 2.5.1

B
60
FB
M
FA
= 2 = 8 9.81 = 78.5
N
= 1 = 5 9.81 = 49.1
N
8
2
= 52 0.2
=
=
=
1 =
22 1 0.2
2
=
0.16
=
=
(1)
= 0 sin 60 = 0
(2)
= 0
= 0 (3)
cos 60
= 0
= 0
Problem 2.5.1

B
60
FB
M
FA
= 2 = 8 9.81 = 78.5
N
= 1 = 5 9.81 = 49.1
N
8
2
= 52 0.2
=
=
=
1 =
22 1 0.2
2
=
0.16
=
=
(1) =
sin 60 = 0
0
cos 60 = 0
(2) =
0
(3) =
0
= 0
Problem 2.5.1

B
60
FB
M
FA
= 2 = 8 9.81 = 78.5
N
= 1 = 5 9.81 = 49.1
N
8
2
= 52 0.2
=
=
=
1 =
22 1 0.2
2
=
0.16
=
=
(1) = 0
sin 60 =
0
cos 60 = 0
(2) = 0
(3) = 0
= 0
Problem 2.5.1

B
60
FB
M
FA
= 2 = 8 9.81 = 78.5
N
= 1 = 5 9.81 = 49.1
N
8
2
= 52 0.2
=
=
=
1 =
22 1 0.2
=
0.16
=
=
2
(1) =
sin
0
60 = 0
cos 60 = 0
(2) =
0
(3) =
0
= 0
Problem 2.5.1

B
60
FB
M
FA
= 2 = 8 9.81 = 78.5
N
= 1 = 5 9.81 = 49.1
N
8
2
= 52 0.2
=
=
=
1 =
22 1 0.2
=
0.16
=
=
2
(1) =
sin
0
60 = 0
cos =
0
60
(2) =
= 0
0
(3) =
0
Problem 2.5.1

B
60
FB
M
FA
= 2 = 8 9.81 = 78.5
N
= 1 = 5 9.81 = 49.1
N
8
2
= 52 0.2
=
=
=
1 =
22 1 0.2
=
0.16
=
=
2
(1) =
sin 60 = 0
0
cos 60
=0
(2) =
= 0
0
(3) =
0
Problem 2.5.1

B
60
FB
M
FA
= 2 = 8 9.81 = 78.5
N
= 1 = 5 9.81 = 49.1
N
8
2
= 52 0.2
=
=
=
1 =
22 1 0.2
=
0.16
=
=
2
(1) =
sin 60 = 0
0
cos 60
0
(2) =
=
= 0
0
(3) =
0
Problem 2.5.1

B
60
FB
M
FA
= 2 = 8 9.81 = 78.5
N
= 1 = 5 9.81 = 49.1
N
8
2
= 52 0.2
=
=
=
1 =
22 1 0.2
=
0.16
=
=
2
(1) =
sin 60 = 0
0
cos 60
(2) =
=0 = 0
0
(3) =
0
Problem 2.5.1

B
60
FB
M
FA
= 2 = 8 9.81 = 78.5
N
= 1 = 5 9.81 = 49.1
N
8
2
= 52 0.2
=
=
=
1 =
22 1 0.2
=
0.16
=
=
2
(1) =
sin 60 = 0
0
cos 60
=0
(2) =
0
(3) =
0

=0
Problem 2.5.1

B
60
FB
M
FA
=
78.5 N
=
= 49.1
0.16
N first solve the moment
We
equation:
(3)
= 0
14 0.16 49.1 0.2 0.2 = 0
4.18 = 0.36
= 11.6 rad/s
Problem 2.5.1

B
60
FB
M
FA
=
78.5 N
=
= 49.1
0.16
We
equation:
(3)
= 0
14 0.16 49.1 0.2
0.2 = 0
4.18 = 0.36
= 11.6 rad/s
Problem 2.5.1

B
60
FB
M
FA
=
78.5 N
=
= 49.1
0.16
We
equation:
(3)
= 0
14 0.16 49.1 0.2
0.2 = 0
4.18 =
0.36
= 11.6 rad/s
Problem 2.5.1

B
60
FB
M
FA
=
78.5 N
=
= 49.1
0.16
We
equation:
(3)
= 0
14 0.16 49.1 0.2
0.2 = 0
4.18 = 0.36
= 11.6
rad/s2
Problem 2.5.1

B
60
FB
M
FA
=
78.5 N
=
=
0.16
= 11.6
rad/s2
= 49.1
N
(2)
cos 60
=0
++
=
cos 60
78.5 + 49.1 + 11.6

=
278.4 N
cos 60
Problem 2.5.1

B
60
FB
M
FA
=
78.5 N
=
=
0.16
= 11.6
rad/s2
= 49.1
N
(2)
cos 60
=0
++
=

cos
=
60
78.5 + 49.1 + 11.6
=
278.4 N
cos 60
Problem 2.5.1

B
60
FB
M
FA
=
78.5 N
=
=
0.16
= 11.6
rad/s2
= 49.1
N
(2)
cos 60
=0
++
=

cos
=
60
78.5 + 49.1 +
= 11.6
= 278.4
cos
N
60
Problem 2.5.1

B
60
FB
M
FA
=
78.5 N
=
0.16
= 49.1
N
(1) sin
60 = 0
= sin 60 =
= 11.6
rad/s2
= 278.4
N
= 278.4 0.866 = 241.1 N
Problem 2.5.1

B
60
FB
M
FA
=
78.5 N
=
0.16
= 11.6
rad/s2
= 49.1
= 278.4
N
N
(1) sin
60 = 0
= sin
60 =
= 278.4 0.866 = 241.1 N
Problem 2.5.1

B
60
FB
M
FA
=
78.5 N
=
0.16
= 49.1
N
(1) sin
60 = 0
= sin 60 =
= 278.4 0.866 =
241.1 N
= 11.6
rad/s2
= 278.4
N
Problem 2.5.2
Horisontal
plane
M
O
Beam is set in motion by the

moment M = 5 Nm and rotates about
vertical axis. The length of the beam
is 80 cm and mass 10 kg. Find
horisontal components of pin reaction at
4 s and 6 s.
Problem 2.5.2
Horisontal
plane
M
O

4 s and 6 s.
Problem 2.5.2
Horisontal
plane
M
O
XO

4 s and 6 s.
Problem 2.5.2
Horisontal
plane
M
O
XO

4 s and 6 s.
Problem 2.5.2
Horisontal
plane
M
O
XO

4 s and 6 s.
Problem 2.5.2

4 s and 6 s.
Horisontal
plane
M
O
XO
Problem 2.5.2

4 s and 6 s.
Horisontal
plane
M
O
XO
Problem 2.5.2

4 s and 6 s.
Horisontal
plane
a
M
M
O
XO
Problem 2.5.2
Horisontal
plane
a
M
M
O

4 s and 6 s.
= 10 0.4
=
2
= ==4
2
= 10 0.4 2 =
4 2
2
XO
2
10
2
(1)
= 0 0.8
+ sin +
= = =
= 0.53
12
12
= 0
cos = 0 (2)

cos + sin = 0
(3)
=0
= 0
2
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO

4 s and 6 s.
= 10 0.4 =
= =
4
= = 2
= 10 0.4 2 =
4 2
2
2
10
2
(1)
= 0 0.8
+ sin +
= = =
= 0.53
12
12
= 0
cos = 0 (2)

cos + sin = 0
(3)
=0
= 0
2
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO

4 s and 6 s.
= 10 0.4 =
= =
4
= = 2
= 10 0.4 2 =
4 2
2
2
10
2
(1)
= 0 0.8
+ sin +
= = =
= 0.53
12
12
= 0
cos = 0 (2)

cos + sin = 0
(3)
=0
= 0
2
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO

4 s and 6 s.
= 10 0.4 =
= =
4
2
= 2
= 10 0.4 2
= 4 2 2
=
2
10
0.82
= = =
= 0.53
(1)
= 012 + 12
sin +
cos = 0 (2)
= 0
cos + sin = 0
(3)
=0
= 0
2
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO

4 s and 6 s.
= = = 10
2
0.4 = 4
= = 2 10 0.4 2 =
2
4 2
=
2
10
0.82
= = =
= 0.53
(1)
= 012 + 12
sin +
cos = 0 (2)
= 0
cos + sin = 0
(3)
=0
= 0
2
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO

4 s and 6 s.
= = = 10
2
0.4 = 4
= = 2 2
= 10
0.4 2 = 4 2
2
10
0.82
= = =
= 0.53
(1)
= 012 + 12
sin +
cos = 0 (2)
= 0
cos + sin = 0
(3)
=0
= 0
2
Problem 2.5.2
Horisontal
plane

4 s and 6 s.
= = = 10
2
0.4 = 4
M
O
= = 2 2
= 10
0.4 2 = 4 2
2 10 0.82
=
=
= 0.53
=
12
12
XO
(1)
= 0 + sin +
cos = 0 (2)
= 0
cos + sin = 0
(3)
=0
= 0
2
Problem 2.5.2
Horisontal
plane

4 s and 6 s.
= = = 10
2
0.4 = 4
M
O
= = 2 2
= 10
2
0.4 2 = 4
10 0.82
= 2
1
=
= 0.53
=
12
2
XO
(1)
= 0 + sin +
cos = 0 (2)
= 0
cos + sin = 0
(3)
=0
= 0
2
Problem 2.5.2
Horisontal
plane

4 s and 6 s.
= = = 10
2
0.4 = 4
M
O
= = 2 2
= 10
0.4 2 = 4 2
2 10
=
=
0.8
12 2
=
0.53
=
12
XO
(1)
= 0 + sin +
cos = 0 (2)
= 0
cos + sin = 0
(3)
=0
= 0
2
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO

4 s and 6 s.
= = = 10
2
0.4 = 4
= = 2 2
= 10
0.4 2 = 4 2
2 10
=
=
0.8
12 2
=
0.53
=
12
(1)
=
0
(2) = 0
(3) =
0
+ sin + cos
=0
cos + sin
=0

=0
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO

4 s and 6 s.
= = = 10
2
0.4 = 4
= = 2 2
= 10
0.4 2 = 4 2
2 10
=
=
0.8
12 2
=
0.53
=
12
(1)
=
0
(2) = 0
+ sin + cos
=0
cos + sin
=0
(3) =
0
=0
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO

4 s and 6 s.
= = = 10
2
0.4 = 4
= = 2 2
= 10
0.4 2 = 4 2
2 10
=
=
0.8
12 2
=
0.53
=
12
(1)
=
0
(2) = 0
(3) =
0
+ sin + cos
=0
cos + sin
=0

=0
2
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO

4 s and 6 s.
= = = 10
2
0.4 = 4
= = 2 2
= 10
0.4 2 = 4 2
2 10
=
=
0.8
12 2
=
0.53
=
12
(1)
=
0
(2) = 0
(3) =
0
+ sin + cos
=0
cos + sin
=0

2
=0
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO

4 s and 6 s.
=
=
=
4
0.53
4 2
We first solve the moment
equation:
(3)
2
=0
5 0.53 4 0.4 = 0
2.13 = 5
= 0 +
2
= 0 + 0 +
5
=
2.13
rad
= 2.35 =
const.
s
htlaselt kiirenev
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO
= 0 +
2
= 0 + 0 +

4 s and 6 s.
=
=
=
4
0.53
4 2
equation:
(3)
2
=0
5 0.53 4 0.4
=0
2.13 = 5
5
=
= 2.35
2.13
rad
= const.
s
htlaselt kiirenev prlemine!
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO
= 0 +
2
= 0 + 0 +

4 s and 6 s.
=
=
=
4
0.53
4 2
equation:
(3)
2
=0
5 0.53 4 0.4
=0
2.13 =
5
5
rad
=
= 2.35 = const.
2.13
s
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO
= 0 +
2
= 0 + 0 +

4 s and 6 s.
=
=
=
4
0.53
4 2
equation:
(3)
2
=0
5 0.53 4 0.4
=0
2.13 =
5
5
ra
=
d = const.
2.1
=
2.35 s
3
2
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO
= 0 +
2
= 0 + 0 +

4 s and 6 s.
=
=
=
4
0.53
4 2
equation:
(3)
2
=0
5 0.53 4 0.4
=0
2.13 =
5
5
ra
=
d =
2.1
=
2.35 s const.
3
2
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO
= 0 +
2
= 0 + 0 +

4 s and 6 s.
=
=
=
4
0.53
4 2
equation:
(3)
2
=0
5 0.53 4 0.4
=0
2.13 =
5
5
ra
=
d =
2.1
=
2.35 s const.
3
2
Uniformly accelerating
rotation!
Problem 2.5.2
Horisontal
plane
a
M
M
O
XO
= 0 +
= 0 +
0 +
22

4 s and 6 s.
=
=
=
4
0.53
4 2
equation:
(3)
2
=0
5 0.53 4 0.4
=0
2.13 =
5
5
rad
=
= 2.35 =
const.
2.13 accelerating
s2
Uniformly
rotation!
Problem 2.5.2
Horisontal
plane
= 2.35
M
O

4 s and 6 s.
=
= 4
=
0.53
4 2
rad
s2
const.
When
t=4 s:
= 0 + = 2.35 4 = 9.4 rad/s
2
2.35 42
XO
= 0 + 0 +
= 18.8
rad
= 0 +
= 0 +
0 +
22
+ sin + cos = 0
Problem 2.5.2
Horisontal
plane
= 2.35
M
O

4 s and 6 s.
=
= 4
=
0.53
4 2
rad
s2
const.
When
t=4 s:
= 0 + = 2.35 4 = 9.4
rad/s
2
2.35 42
XO
= 0 + 0 +
= 18.8
rad
= 0 +
= 0 +
0 +
22
+ sin + cos = 0
Problem 2.5.2
Horisontal
plane
= 2.35
M
O
s2
const.
When t=4 s:
= 0 + = 2.35 4 = 9.4
rad/s
2 2.35
=
= 18.8
= 0 +
422
rad
0 +
2
+ sin + cos = 0
XO
= 0 +
= 0 +
0 +

4 s and 6 s.
= 4
=
0.53
= 4 2 rad
22
Problem 2.5.2
Horisontal
plane
= 2.35
M
O
s2
const.
When t=4 s:
= 0 + = 2.35 4 = 9.4
rad/s
2 2.35
=
= 18.8
= 0 +
422
rad
0 +
2
+ sin + cos
=0
XO
= 0 +
= 0 +
0 +

4 s and 6 s.
= 4
=
0.53
= 4 2 rad
22
cos + sin
=0
Problem 2.5.2
Horisontal
plane
= 2.35
M
O

4 s and 6 s.
= 4
=
0.53
= 4 2 rad
s2
const.
When t=4
s:
= 18.8
= 9.4
rad
=rad/s
sin cos =
XO
= 4 2.35 sin 18.8 4 9.42 cos

18.8 =
= 352.5 N
= 0 +
= 0 +
0 +
22
= cos sin =
= 4 2.35 cos 18.8 4 9.42 sin
18.8 =
Problem 2.5.2
Horisontal
plane
= 2.35
M
O
s2
const.
When t=4 s:
= 9.4 rad/s
= 18.8
rad
= sin
cos= 4
= 2.35 sin 18.8 4 9.42 cos
18.8 =
XO
= 352.5 N
= 0 +
= 0 +
0 +

4 s and 6 s.
= 4
=
0.53
= 4 2 rad
22
= cos sin =
= 4 2.35 cos 18.8 4 9.42 sin
18.8 =
Problem 2.5.2
Horisontal
plane
= 2.35
M
O

4 s and 6 s.
= 4
=
0.53
= 4 2 rad
s2
const.
When t=4 s:
= 9.4 rad/s
= 18.8
rad
= sin cos =
XO
= 4 2.35 sin 18.8 4 9.42

cos352.5
18.8 =N
=
= 0 +
= 0 +
0 +
= cos sin =
22
= 4 2.35 cos 18.8 4 9.42 sin

18.8 =
= 26.9 N
Problem 2.5.2
Horisontal
plane
= 2.35
M
O

4 s and 6 s.
= 4
=
0.53
= 4 2 rad
s2
const.
When t=4 s:
= 9.4 rad/s
= 18.8
rad
= sin cos =
XO
= 4 2.35 sin 18.8 4 9.42

cos 18.8 =
= 352.5 N
= cos sin =
= 0 +
= 0 +
0 +
22
= 4 2.35 cos 18.8 4 9.42 sin

18.8 =
= 26.9 N
Problem 2.5.2
Horisontal
plane
= 2.35
M
O

4 s and 6 s.
= 4
=
0.53
= 4 2 rad
s2
const.
When t=4 s:
= 9.4 rad/s
= 18.8
rad
= sin cos =
XO
= 4 2.35 sin 18.8 4 9.42

cos 18.8 =
= 352.5 N
= 0 +
= 0 +
0 +
22
sin =
==4 2.35
cos cos
18.8
4 9.42 sin
18.8 =
= 26.9 N
Problem 2.5.2
Horisontal
plane
= 2.35
M
O

4 s and 6 s.
= 4
=
0.53
= 4 2 rad
s2
const.
When t=4 s:
= 9.4 rad/s
= 18.8
rad
= sin cos =
XO
= 4 2.35 sin 18.8 4 9.42

cos 18.8 =
= 352.5 N
= 0 +
= 0 +
0 +
22
= cos sin =
4 2.35
= 26.9
N cos 18.8 4 9.42 sin
18.8 =
Problem 2.5.2
Horisontal
plane
= 2.35
M
O

4 s and 6 s.
=
= 4
=
0.53
4 2
rad
s2
const.
When
t=4 s:
= 9.4 rad/s
= 18.8
rad
= sin cos =
XO
= 4 2.35 sin 18.8 4 9.42

cos 18.8 =
= 352.5 N
= 0 +
= 0 +
0 +
22
= cos sin =
= 4 2.35 cos 18.8 4 9.42 sin
18.8 =
Problem 2.5.2
Horisontal
plane
= 2.35
M
O

4 s and 6 s.
= 4
=
0.53
= 4 2 rad
s2
const.
When t=6 s:
= 14.1
= 42.3
rad/s
rad
= sin cos =
XO
= 4 2.35 sin 42.3 4 14.12 cos

42.3 =
= 791.3 N
= 0 +
= 0 +
0 +
22
= cos sin =
= 4 2.35 cos 42.3 4 14.12 sin
42.3 =
Problem 2.5.2
Horisontal
plane
= 2.35
M
O

4 s and 6 s.
=
= 4
=
0.53
4 2
rad
s2
const.
When
t=6 s:
= 14.1 rad/s
= 42.3
rad
= sin cos =
XO
= 4 2.35 sin 42.3 4 14.12

cos 42.3 =
= 791.3 N
= cos sin =
= 0 +
= 0 +
0 +
22
= 4 2.35 cos 42.3 4 14.12 sin

42.3 =
= 789.3 N
Problem 2.5.2
Horisontal
plane
= 2.35
M
O

4 s and 6 s.
=
= 4
=
0.53
4 2
rad
s2
const.
When
t=6 s:
= 14.1 rad/s
= 42.3
rad
= sin cos =
XO
= 4 2.35 sin 42.3 4 14.12

cos 42.3 =
= 791.3 N
= 0 +
= 0 +
0 +
22
= cos sin =
= 4 2.35 cos 42.3 4 14.12 sin
42.3 =
Problem 2.5.3
Disc moves in vertical plane about axis O. Its

mass is 25 kg, radius 0.4 m. Rotation begins
from rest when discs mass center is on the
horisontal line. Find reactions at O when
position angle is 30, 60 and 90 degrees.
Problem 2.5.3

Problem 2.5.3
YO
XO
O

Problem 2.5.3
YO
XO
O

Problem 2.5.3
YO
XO
O

Problem 2.5.3
YO
XO
O
a
a

Problem 2.5.3
YO
XO
O
a
a

Problem 2.5.3
YO
XO
O

Problem 2.5.3
YO
XO
O

Problem 2.5.3

YO
XO
O
= = = 25
0.4 = 10
= = 2 = 25 0.4 2 = 10 2
(1)
=0
2
0.42
= =
2
25
=
2
= 2
= 0 + sin + cos
= 0
(2)
=0
+ cos sin
(3)
= 0
+ cos
Problem 2.5.3

= = = 25 0.4 =
10
YO
XO
O
= =
2 2 = 25
2
0.4 2 = 10
0.42
(1)
=0
= =
2
=
2
25
= 2
= 0 + sin + cos
= 0
(2)
=0
+ cos sin
(3)
=0
= 0
+ cos
Problem 2.5.3

= = = 25 0.4 =
10
YO
XO
O
= =
2 225
= 25
=
2 =
2 =
=
10
0.4
0.4
22
2
=
2
(1)
=0
= 0 + sin + cos
= 0
(2)
=0
+ cos sin
(3)
=0
= 0
+ cos
Problem 2.5.3

= = = 25 0.4 =
10
YO
XO
O
= =
2 225
= 25
=
2 =
2 =
=
10
0.4
0.4
22
2
=
2
(1)
=0
(2) =
0
(3) =
0
+ sin + cos = 0
+ cos sin
=0
+ cos =
Problem 2.5.3

= = = 25 0.4 =
10
YO
XO
O
= =
2 225
= 25
=
2 =
2 =
=
10
0.4
0.4
22
2
=
2
(1)
=0
(2) =
0
(3) =
0
+ sin + cos
=0
+ cos sin
=0
+ cos =
Problem 2.5.3

= = = 25 0.4 =
10
YO
XO
O
= =
2 225
= 25
=
2 =
2 =
=
10
0.4
0.4
22
2
=
2
(1)
=0
+ sin + cos =
0
(2) =
+ cos sin
+ cos =
=0
0
(3) =
0
Problem 2.5.3

= = = 25 0.4 =
10
YO
XO
O
= =
2 225
= 25
=
2 =
2 =
=
10
0.4
0.4
22
2
=
2
(1)
=0
+ sin + cos =
0
(2) =
+ cos sin
=0
(3) =
0
+ cos
=0
Problem 2.5.3
= 10
2
YO
XO
O
a
M

= 10 2
We first solve the moment equation:

(3)
+
cos = 0
2 + 100.4 25 9.81 0.4 cos = 0
6 = 98.1 cos
= 16.35 cos
= 16.35 cos
= 16.35 cos
Problem 2.5.3
= 10
2
YO
XO
O
a
M

= 10 2

(3)
+
cos = 0
2 + 100.4 25 9.81 0.4
cos = 0
6 = 98.1 cos
= 16.35 cos
= 16.35 cos
= 16.35 cos
Problem 2.5.3
= 10
2
YO
XO
O
a
M

= 10 2

(3)
+
cos = 0
2 + 100.4 25 9.81 0.4
cos = 0
6 = 98.1 cos
= 16.35 cos
= 16.35 cos
= 16.35 cos
Problem 2.5.3
= 10
2
YO
XO
O
a
M

= 10 2

(3)
+
cos = 0
2 + 100.4 25 9.81 0.4
cos = 0
6 = 98.1 cos
= 16.35 cos
= 16.35 cos
= 16.35 cos
Problem 2.5.3
= 10
2
YO
XO
O
a
M

= 10 2

(3)
+
cos = 0
2 + 100.4 25 9.81 0.4
cos = 0
6 = 98.1 cos
= 16.35 cos
= 16.35 cos
= 16.35 cos
Problem 2.5.3
= 10
2
YO
XO
O
a
M

= 10 2

(3)
+
cos = 0
2 + 100.4 25 9.81 0.4
cos = 0
6 = 98.1 cos
= 16.35 cos
= 16.35
cos
= 16.35 cos
Problem 2.5.3
= 10
2
YO
XO
O
a
M

= 10 2

(3)
+
cos = 0
2 + 100.4 25 9.81 0.4
cos = 0
6 = 98.1 cos
= 16.35 cos
= 16.35
cos
= 16.35 cos

Problem 2.5.3

= 10
YO
XO
O
= 16.35
=
2
= 16.35 cos
= 10 2
0.5 2 = 16.35 sin

2 = 32.7 sin
cos
Problem 2.5.3

= 10
YO
XO
O
= 10 2
=
2
= 16.35 cos
= 16.35
cos
0
0.5 2 = 16.35 sin

2 = 32.7 sin
Problem 2.5.3
= 10
=
10 2
YO
XO
O
a

= 16.35 cos
G
0
0.5 2 = 16.35
sin
= 16.35
2 cos
= 32.7
sin
0
=
2
Problem 2.5.3

= 10
YO
XO
O
= 10 2
= 16.35 cos
= 16.35
cos
0
0.5 2 = 16.35
sin
2 = 32.7 sin
=
2
Problem 2.5.3
YO
O
=
=
=
10
2
10 2
= 16.35
2 = 32.7
cos
sin
XO

30
14.16
16.35
60
8.18
28.32
90
32.7
Problem 2.5.3
YO
XO
O
a
M

=
=
=
10
2
10 2
= 16.35
2 = 32.7
cos
sin
30
14.16
16.35
60
8.18
28.32
90
32.7
Problem 2.5.3
YO
XO
O
a
M

=
=
=
10
2
10 2
= 16.35
2 = 32.7
cos
sin
30
14.16
16.35
= sin cos =
G
= 10 14.16 sin 30 10 16.35 cos 30

= 212 N
= sin + cos =
= 10 16.35 sin 30 + 25 9.81 10
14.16 cos 30 =
= 204 N
Problem 2.5.3
YO
XO
O
a
M

=
=
=
10
2
10 2
= 16.35
2 = 32.7
cos
sin
30
14.16
16.35
= sin
cos= 10
= 14.16 sin 30 10 16.35 cos 30
= 212 N
= sin + cos =
= 10 16.35 sin 30 + 25 9.81 10
14.16 cos 30 =
= 204 N
Problem 2.5.3
YO
XO
O
a
M

=
=
=
10
2
10 2
= 16.35
2 = 32.7
cos
sin
30
14.16
16.35
= sin cos =
= 10 14.16 sin 30 10 16.35 212 N
cos 30 =
= sin + cos =
= 10 16.35 sin 30 + 25 9.81 10
14.16 cos 30 =
= 204 N
Problem 2.5.3
YO
XO
O
a
M

=
=
=
10
2
10 2
= 16.35
2 = 32.7
cos
sin
30
14.16
16.35
= sin cos =
= 10 14.16 sin 30 10 16.35 cos 30
= 212 N
= sin + cos =
= 10 16.35 sin 30 + 25 9.81 10
14.16 cos 30 =
= 204 N
Problem 2.5.3
YO
XO
O
a
M

=
=
=
10
2
10 2
= 16.35
2 = 32.7
cos
sin
30
14.16
16.35
= sin cos =
= 10 14.16 sin 30 10 16.35 cos 30
= 212 N
= sin +
cos=10
= 16.35 sin 30 + 25 9.81 10
14.16 cos 30 =
= 204 N
Problem 2.5.3
YO
XO
O
a
M

=
=
=
10
2
10 2
= 16.35
2 = 32.7
cos
sin
30
14.16
16.35
= sin cos =
= 10 14.16 sin 30 10 16.35 cos 30
= 212 N
= sin + cos =
= 10 16.35 sin 30 + 25 9.81 10
14.16 cos 30 =
= 204 N
Problem 2.5.3
YO
XO
O
a
M

=
=
=
10
2
10 2
= 16.35
2 = 32.7
cos
sin
30
14.16
16.35
= sin cos =
= 10 14.16 sin 30 10 16.35 cos 30
= 212 N
= sin + cos =
= 10 16.35 sin 30 + 25 9.81 10
14.16 cos 30 =
= 204 N
Problem 2.5.3
YO
XO
O
a
M

=
=
=
10
2
10 2
= 16.35
2 = 32.7
cos
sin
60
8.18
28.32
= sin cos =
G
= 10 8.18 sin 60 10 28.32 cos 60 =

212 N
= sin + cos =
= 10 28.32 sin 60 + 25 9.81 10
8.18 cos 60 =
= 450 N
Problem 2.5.3
YO
XO
O
a
M

=
=
=
10
2
10 2
= 16.35
2 = 32.7
cos
sin
60
8.18
28.32
= sin cos =
= 10 8.18 sin 60 10 28.32 cos 60
= 212 N
= sin + cos =
= 10 28.32 sin 60 + 25 9.81 10
8.18 cos 60 =
= 450 N
Problem 2.5.3
YO
XO
O
a
M

=
=
=
10
2
10 2
= 16.35
2 = 32.7
cos
sin
60
8.18
28.32
= sin cos =
= 10 8.18 sin 60 10 28.32 cos 60
= 212 N
= sin + cos =
= 10 28.32 sin 60 + 25 9.81 10
8.18 cos 60 =
= 450 N
Problem 2.5.3
YO
XO
O
a
M

=
=
=
10
2
10 2
= 16.35
2 = 32.7
cos
sin
90
32.7
= sin cos =
G
= 0 10 32.7 cos 90 = 0 N
= sin + cos =
= 10 32.7 sin 90 + 25 9.81 0 = 527 N
Problem 2.5.3
YO
XO
O
a
M

=
=
=
10
2
10 2
= 16.35
2 = 32.7
cos
sin
90
32.7
= sin cos
=
= 0 10 32.7 cos 90
==0 N sin + cos =
= 10 32.7 sin 90 + 25 9.81 0 = 527 N
Problem 2.5.3
YO
XO
O
a
M

=
=
=
10
2
10 2
= 16.35
2 = 32.7
cos
sin
90
32.7
= sin cos
=
= 0 10 32.7 cos 90
==0 N sin + cos =
= 10 32.7 sin 90 + 25 9.81 0
= 527 N

Dynamics 2015

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Dynamics 2015

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Dynamics

1. Hibbeler. Engineering Mechanics Statics Dynamics 12th

Newtons Law of Gravitation

kus: r distance between

Gravitational pull exerted by the Earth on a body

Can be used to solve any

These methods are integral

1.1. Newtons 2 law.

Inertial reference frame. For engineering purposes

Coordinate systems, force components.

Coordinate systems, force components.

Procedure for analysis.

Newtoni 2 seadus 2 telje

Newtoni 2 seadus 2 telje

Newtoni 2 seadus 2 telje

Newtoni 2 seadus 2 telje

htlase kiirendusega liikumine:

htlase kiirendusega liikumine:

Uniformly accelerated motion:

Uniformly accelerated motion:

Uniformly accelerated motion:

20 2 = 0.94 0.4 20 9.81 +

Uniformly accelerated motion:

20 2 = 0.94 0.4 20 9.81 +

Uniformly accelerated motion:

Uniformly accelerated motion:

Uniformly accelerated motion:

Uniformly accelerated motion:

released. Coeficient of dynamic friction between surfaces is =

= 9.81 0.77 0.3 0.64

= 9.81 0.77 0.3 0.64 = 5.62 m s2

Block weighing 20 kg is held in place on inclined surface, then

Block weighing 20 kg is held in place on inclined surface, then

Block weighing 20 kg is held in place on inclined surface, then

Block weighing 20 kg is held in place on inclined surface, then

Block weighing 20 kg is held in place on inclined surface, then

Block weighing 20 kg is held in place on inclined surface, then

Block weighing 20 kg is held in place on inclined surface, then

Block weighing 20 kg is held in place on inclined surface, then

Block weighing 20 kg is held in place on inclined surface, then

Block weighing 20 kg is held in place on inclined surface, then

Block weighing 20 kg is held in place on inclined surface, then

Block weighing 20 kg is held in place on inclined surface, then

Block weighing 20 kg is held in place on inclined surface, then

Block weighing 20 kg is held in place on inclined surface, then

Block weighing 20 kg is held in place on inclined surface, then

= ==01 cos 2 sin

= 9.34 sin 0.43 + 2.5 cos 0.43

General solutions for some differential equations are available in

Table 1. Some solutions to differential equations.

1.2 System of particles

1.2 System of particles

1.2 System of particles

Rigid body as system of particles.

1.2 System of particles

Rigid body as system of particles.

Every particle in the system is subjected to internal

Properties of internal forces.

Properties of internal forces.

Properties of internal forces.

the sum of internal

Properties of internal forces.

Properties of internal forces.

Properties of internal forces.