Dynamics of Rigid Bodies

Mechanics
• a branch of the physical sciences that is concerned with the state of
rest or motion of bodies that are subjected to the action of forces.
Mechanics

Statics of Dynamics Mechanics of Fluid

of Rigid Deformable Mechanics
Rigid
Bodies
Bodies Bodies

Kinetics Kinematics
Dynamics
• Branch of Mechanics dealing with Forces, energy, equilibrium and
their relation to Motion
• Applications may require calculus to solve effectively

• Kinetics-analyzes the forces connected to motion

• Kinematics-analyzes the geometric aspects of motion
Position vs Displacement
• Position is used to specify the location of an object or particle at any
instant from the origin O on the path
• Displacement is the change in position between two instances
Speed vs Velocity
• Average speed is a positive scalar quantity, and it is the total distance
divided by the change in time
𝒔𝒕
• 𝒗𝒔𝒑 = ∆𝒕
• Average velocity is the displacement travelled divided by the change
in time
∆𝒔
• 𝒗𝒂𝒗𝒆 =
∆𝒕

• Remember that velocity is a vector quantity with magnitude and

direction. Speed is a scalar quantity
Instantaneous Velocity vs Average Velocity
• Instantaneous Velocity is defined as:
∆𝑠 𝑑𝑠
• v = lim ; 𝑣=
∆𝑡→0 ∆𝑡 𝑑𝑡

• Average velocity on the other hand is the displacement travelled

divided by elapsed time
∆𝒔
• 𝒗𝒂𝒗𝒆 = ∆𝒕
Instantaneous acceleration vs Average
• Average acceleration is a vector defined as the difference in the
velocity divided by the elapsed time
∆𝑣
• 𝑎𝑎𝑣𝑔 = ∆𝑡

• Instantaneous acceleration at time t is a vector defined by

∆𝑣 𝑑𝑣 𝑑2 𝑣
• a = lim ∆𝑡 ; a= 𝑜𝑟 𝑎 =
∆𝑡→0 𝑑𝑡 𝑑𝑡 2
Derivation
𝑑𝑣 𝑑2 𝑠
•𝑎= =
𝑑𝑡 𝑑𝑡 2
𝑑𝑠
•𝑣= 𝑑𝑡
• 𝑣𝑑𝑣 = 𝑎𝑑𝑠
𝑣 𝑡
• ‫׬ = 𝑣𝑑 𝑣׬‬0 𝑎𝑑𝑡 ; 𝑣 = 𝑎 𝑡 + 𝑣𝑜
𝑜
𝑠 𝑡 1
• ‫׬ = 𝑠𝑑 𝑠׬‬0 𝑣𝑑𝑡 ; 𝑠 − 𝑠𝑜 = 2 𝑎 𝑡 2 + 𝑣𝑜 𝑡
𝑜
𝑣 𝑠 𝑣 2 −𝑣𝑜2
• ‫׬ = 𝑣𝑑𝑣 𝑣׬‬0 𝑎𝑑𝑠; 2 = 𝑎𝑠; 𝑣 2 = 𝑣𝑜2 + 2 𝑎 𝑠
𝑜
 Rectilinear Motion
• The motion of an object in rectilinear motion can be analyzed using
the following equations depending on the known parameters
• Some problems can have different functions for parameters

𝑑𝑣
Velocity as a function of time 𝑎= 𝑣 = 𝑣𝑜 + 𝑎 𝑡
𝑑𝑡

Velocity as a function of position 𝑣𝑑𝑣 = 𝑎𝑑𝑠 𝑣 2 = 𝑣𝑜2 + 2𝑎𝑠

𝑑𝑠 1
Position as a function of time 𝑣= 𝑠 = 𝑠𝑜 + 𝑣𝑜 𝑡 + 𝑎 𝑡 2
𝑑𝑡 2
Problems
• A car is travelling on the highway at 5m/s. After 10 seconds, it slows
down until it comes to a stop at an intersection. The car was slowing
down at 2 m/s^2. Find the a.) distance it travelled while braking b.)
the time it took to reach a full stop c.) the total displacement it
travelled
𝑚 𝑚 𝑚
• 𝐺𝑖𝑣𝑒𝑛: 𝑣𝑜 = 5 𝑠 ;𝑣 = 0 𝑠 ;𝑎 = −2 𝑠2 ; 𝑡 = 10 𝑠𝑒𝑐; 𝑡1 =? ; 𝑠1 =? ; 𝑠𝑇 =?
Problems
• 𝑎. ) 𝑣 2 = 𝑣𝑜2 + 2𝑎𝑠
2 2 𝑚2
𝑣 2 −𝑣𝑜2 0 −5
𝑠2
• 𝑠1 = = 𝑚 = 𝟔. 𝟐𝟓𝒎
2𝑎 2∗ −2 2
𝑠
𝑚
𝑣−𝑣𝑜 0−5
• 𝑏. ) 𝑣 = 𝑣𝑜 + 𝑎 𝑡; 𝑡1 = 𝑎
= 𝑚
𝑠
= 𝟐. 𝟓 𝒔𝒆𝒄
−2 2
𝑠
1 𝑚
• 𝑐. ) 𝑠 = 𝑠𝑜 + 𝑣𝑜 𝑡 + 2 𝑎 𝑡2; 𝑠 = 5𝑠 ∗ 10 𝑠𝑒𝑐 = 50𝑚
• 𝑠𝑇 = 𝑠 + 𝑠1 = 50𝑚 + 6.25𝑚 = 𝟓𝟔. 𝟐𝟓𝒎
Problems
• A bullet is shot downward into a lake at 100 m/s initially and decelerates
2 𝑚
due to drag resistance by the fluid where 𝑎 = 0.2𝑣 𝑠2 taking gravity into
account. The velocity is in m/s. How far will it go after 10 sec and what is
its velocity?

𝑚 2 𝑚
• 𝐺𝑖𝑣𝑒𝑛: 𝑣𝑜 = 100 ; 𝑎 = −0.2𝑣 2 ; 𝑣 =? ; 𝑠 =?
𝑠 𝑠
Problems
𝑑𝑣
• 𝑎. ) 𝑎 = 𝑑𝑡
𝑑𝑣 2 0 𝑑𝑣 𝑡
• = −0.2𝑣 ; ‫׬‬100 2 = ‫׬‬0
𝑑𝑡
𝑑𝑡 −0.2𝑣
𝑣
• ‫׬‬100 −5 𝑣 −2 𝑑𝑣 = 𝑡 − 0
𝑣
• 𝑡 = −5 ‫׬‬100 𝑣 −2 𝑑𝑣
1 1 1 𝑡 1 1 1 𝑡 1
• 𝑡 = −5 −1 𝑣 − 100 ; 5 = 𝑣 − 100 ; 𝑣 = 5 + 100
1 500 100 𝑚
• 𝑣 = 𝑡 1 = 100𝑡+5 = 20 10 +1 ; 𝑣 = 0.4975 𝑠
+
5 100
Problems
• 𝑏. )𝑣𝑑𝑣 = 𝑎𝑑𝑠
• 𝑎 = −0.2𝑣 2
• −0.2𝑣 2 𝑑𝑠 = 𝑣𝑑𝑣
𝑠 𝑣 −5𝑣 𝑣 1
• ‫׬‬0 𝑑𝑠 = ‫׬‬100 𝑣 2 ; 𝑠 −0= ‫׬‬100 −5
𝑣
𝑚
• 𝑠 = −5 ln 𝑣 − ln 100 ; 𝑣 𝑎𝑓𝑡𝑒𝑟 10 𝑠𝑒𝑐 = 0.4975
𝑠
• 𝑠 = −5 ln 0.4975 − ln 100 = 26.5166 𝑚
Problems
• A spaceship travels in space at 500 m/s heading towards another
solar system. What is its displacement from its original position after
20 seconds?
𝑑𝑣 𝑣 𝑡
•𝑎= 0; 𝑎 = ; ‫׬ = 𝑣𝑑 𝑣׬‬0 𝑎𝑑𝑡 ; 𝑣 − 𝑣𝑜 = 0
𝑑𝑡 𝑜
𝑑𝑠 𝑡 𝑠
•𝑣= 𝑣𝑜 ; 𝑣 = 𝑑𝑡 ; ‫׬‬0 𝑣𝑑𝑡 = ‫׬‬0 𝑑𝑠
• 𝑠 − 0 = 𝑣𝑡 − 𝑣 ∗ 0 ; 𝑠 = 𝑣𝑡
𝑚
• 𝑠 = 500 20 𝑠𝑒𝑐 = 10000𝑚 𝑜𝑟 10𝑘𝑚
𝑠
Problems
• A ball is thrown vertically upwards by a 1.5m tall player on a beach
where 𝑔 = 9.81 𝑚/𝑠 2 . It is initially launched at 3m/s. Find the time it
takes to reach its maximum height, and the time it takes to reach the
ground.
𝑚 𝑚
•𝑎= 𝑔 = −9.81 𝑠2 , 𝑠𝑜 = 1.5𝑚, 𝑣𝑜 = 3𝑠
𝑑𝑣 𝑣 𝑡
•𝑎= ; ‫׬ = 𝑣𝑑 𝑣׬‬0 𝑎𝑑𝑡 ; 𝑣 = 𝑎 𝑡 + 𝑣𝑜
𝑑𝑡 𝑜
• a.) find t where 𝑣 = 0
𝑚 𝑚
• 0 = 𝑎 𝑡 + 𝑣𝑜 ; 0 = −9.81 𝑠2 𝑡 +3 𝑠
3𝑚/𝑠
•𝑡= ;𝑡 = 0.3058 𝑠𝑒𝑐𝑜𝑛𝑑𝑠
9.81 𝑚/𝑠2
 Problems
• b.) 𝑓𝑖𝑛𝑑 𝑡 𝑤ℎ𝑒𝑟𝑒 𝑠 = 0
𝑡 0
• 𝑣= 𝑎 𝑡+ 𝑣𝑜 ; ‫׬‬0 𝑣𝑑𝑡
= ‫𝑠𝑑 𝑠׬‬
0
𝑡 1
• 0 − 𝑠𝑜 = ‫׬‬0 𝑎 𝑡 + 𝑣𝑜 𝑑𝑡 = 2 𝑎𝑡 2 + 𝑣𝑜 𝑡 − 0
1 𝑚 2 𝑚
• 0 − 1.5𝑚 = 2 −9.81 𝑠 𝑡 + 3 𝑠 𝑡
𝑚 2 𝑚
• −4.905 𝑠 𝑡 + 3 𝑠 𝑡 + 1.5 = 0
𝑚 2 𝑚
• −9.81 𝑠 𝑡 + 6 𝑠 𝑡 + 3 = 0; 𝑞𝑢𝑎𝑑𝑟𝑎𝑡𝑖𝑐 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛
 Problems
−𝑏± 𝑏2 −4𝑎𝑐 𝑚 2 𝑚
•𝑥= 2𝑎
; −9.81 𝑠
𝑡 + 6 𝑠
𝑡+3=0
−6± (6)2 −4 −9.81∗3
•𝑥= ; 𝑥 = 0.9377
2∗−9.81

• 𝑡 = 0.9377 𝑠𝑒𝑐𝑜𝑛𝑑𝑠
• 𝑢𝑠𝑒 𝑚𝑜𝑑𝑒 5,3
 Problems
3 𝑚
• A particle’s motion is defined by the equation 𝑣 = 0.5𝑡 − 8𝑡 𝑠
where t is
in seconds. Find the acceleration of the particle when 2 seconds have
passed
𝑚
•𝑣= 0.5𝑡 3 − 8𝑡 ; 𝑡 = 2 𝑠𝑒𝑐𝑜𝑛𝑑𝑠; 𝑎 =?
𝑠
𝑑𝑣 𝑑 3 𝑚
•𝑎= 𝑑𝑡
; 𝑎 = 𝑑𝑡
0.5𝑡 − 8𝑡 𝑠
•𝑎= 1.5𝑡 2 − 8
2 𝑚
• Find a at 2 seconds:𝑎 = 1.5 2 − 8; 𝑎 = −2 𝑠2
Projectile Motion
• From Newton’s 2nd Law of motion, force is what causes an object to
accelerate
• A projectile is a body that is given an initial velocity and angle of
release to travel with gravity acting on it
• Gravity causes the velocity of a projectile to change because it causes
it to accelerate
• Depending on the angle of release, the distance that projectile travels
can increase or decrease
Motion of a Projectile
• The motion of a projectile can be divided into horizontal and vertical
motion to better analyze it
Horizontal Vertical
Acceleration 0 𝑓𝑡
𝑔 = 9.8066 𝑚 Τ𝑠 2
𝑜𝑟 32.174 2
𝑠
downwards

Velocity 𝑣0 𝑥 𝑣𝑦 = 𝑣0 𝑦 − 𝑔𝑡
𝑣0 cos 𝜃 𝑣𝑦2 = 𝑣0 2𝑦 − 2𝑔 𝑠𝑦
Displacement 𝑠𝑥 = 𝑣0 𝑥 𝑡 1 2
𝑠𝑦 = 𝑣0 𝑦 𝑡 − 𝑔𝑡
2
Derivation
𝑑𝑣 𝑑2 𝑠
•𝑎= =
𝑑𝑡 𝑑𝑡 2
𝑑𝑠
•𝑣= 𝑑𝑡
• 𝑣𝑑𝑣 = 𝑎𝑑𝑠
𝑣 𝑡
• ‫׬ = 𝑣𝑑 𝑣׬‬0 𝑎𝑑𝑡 ; 𝑣 = −𝑔 𝑡 + 𝑣𝑜
𝑜
𝑠 𝑡 1
• ‫׬‬0 𝑑𝑠 = ‫׬‬0 𝑣𝑑𝑡 ; 𝑠 = 2 −𝑔 𝑡 2 + 𝑣𝑜 𝑡
𝑣 𝑠 𝑣 2 −𝑣𝑜2
• ‫׬ = 𝑣𝑑𝑣 𝑣׬‬0 𝑎𝑑𝑠; 2 = 𝑎𝑠; 𝑣 2 = 𝑣𝑜2 + 2 −𝑔 𝑠
𝑜
Problems
• A ball is thrown horizontally from a 10 m building by a 70 cm child at
1 m/s velocity on release. How far from the building will the ball
travel before hitting the ground and at what velocity? How far will the
ball be from initial position?
𝑠𝑜𝑦 = 10 + 0.7 = 10.7𝑚
𝑣𝑜 = 1 𝑚/𝑠
𝑠𝑥 =? 𝑣 =? 𝑠 =?
Problems
• 𝜃 = 0°; 𝑣𝑜𝑥 = 𝑣𝑜 ; 𝑣𝑜𝑦 = 0; 𝑣𝑦 = −𝑔𝑡
• Find t when sy=0:
0 𝑡
• ‫𝑠𝑑 𝑠׬‬= ‫׬‬0 −𝑔𝑡 𝑑𝑡
1 0−𝑠𝑦
•0 − 𝑠𝑦 = − 2 𝑔𝑡 2 ; 2 ∗ = 𝑡2
−𝑔
−10.7𝑚
•𝑡= 2∗ 𝑚 = 1.4772 𝑠𝑒𝑐𝑜𝑛𝑑𝑠
−9.8066 2
𝑠
Problems
𝑑𝑠 𝑠𝑥 𝑡
• 𝑣 = 𝑑𝑡 ; ‫׬‬0 𝑑𝑠 = ‫׬‬0 𝑣𝑑𝑡 ; 𝑠𝑥 = 𝑣𝑜𝑥 𝑡
𝑚
• 𝑠𝑥 = 1 ∗ 1.4772 𝑠𝑒𝑐𝑜𝑛𝑑𝑠 = 1.4772 𝑚 𝑓𝑟𝑜𝑚 𝑡ℎ𝑒 𝑏𝑢𝑖𝑙𝑑𝑖𝑛𝑔
𝑠
𝑣𝑦 𝑡
• ‫׬‬0 𝑑𝑣 = ‫׬‬0 𝑎𝑑𝑡 ; 𝑣𝑦 = −𝑔 𝑡 + 𝑣𝑜𝑦 ; 𝑣𝑜𝑦 = 0
𝑚 𝑚
• 𝑣𝑦 = −9.8066 𝑠2 ∗ 1.4772 𝑠𝑒𝑐𝑜𝑛𝑑𝑠 = −14.4863 𝑠
• 𝑅 = 𝑥 2 + 𝑦2
𝑚
•𝑣= 1 2 + −14.4863 2 = 14.5208 𝑠
•𝑠= 1.4772 2 + 10.7 2 = 10.8015 𝑚 𝑓𝑟𝑜𝑚 𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛
Problems
• A volleyball is received by a player and returns it with a velocity of
2m/s at 45 degrees. The net is 4m away. Will the ball go over the net
if the net is 2.4m tall while the player is 1.5 m tall?
• 𝑖𝑠 𝑠𝑦 > 2.4𝑚 𝑎𝑡 𝑠𝑥 = 4𝑚
• 𝜃 = 45°; 𝑠𝑥 = 4𝑚; 𝑠𝑜𝑦 = 1.5𝑚
𝑚 𝑚
• 𝑣𝑜𝑥 = 𝑣𝑜 cos 𝜃 = 2 𝑠 cos 45° = 2𝑠 2.4m

𝑚 𝑚
• 𝑣𝑜𝑦 = 𝑣𝑜 sin 𝜃 = 2 sin 45° = 2 1.5m
𝑠 𝑠
2
2

2 4m
 Problems
• Find 𝑡 𝑤ℎ𝑒𝑛 𝑠𝑥 = 4𝑚
𝑑𝑠 𝑠𝑥 𝑡 𝑠𝑥
•𝑣= ; ‫𝑠𝑑 ׬‬ = ‫׬‬0 𝑣𝑑𝑡 ; 𝑠𝑥 = 𝑣𝑜𝑥 𝑡; 𝑡 =
𝑑𝑡 0 𝑣𝑜𝑥
4𝑚
•𝑡= 𝑚 = 2 2 𝑠𝑒𝑐𝑜𝑛𝑑𝑠
2
𝑠
𝑣𝑦 𝑡
• ‫׬‬0 𝑑𝑣 = ‫׬‬0 𝑎𝑑𝑡 ; 𝑣𝑦 = −𝑔 𝑡 + 𝑣𝑜𝑦
𝑠𝑦 𝑡 1
• ‫𝑠𝑑 𝑠׬‬ = ‫׬‬0 𝑣𝑑𝑡 ; 𝑠𝑦 = −𝑔 𝑡 2 + 𝑣𝑜𝑦 𝑡
𝑜𝑦 2
𝑚
−9.8066 2 2 𝑚
• 𝑠𝑦 − 𝑠𝑜𝑦 = 𝑠
∗ 2 2 𝑠𝑒𝑐 + 2𝑠 2 2 𝑠𝑒𝑐
2
• 𝑠𝑦 = −39.2264𝑚 + 4𝑚 + 1.5𝑚
• 𝑠𝑦 = −33.7264𝑚 𝑡ℎ𝑒𝑟𝑒𝑓𝑜𝑟𝑒 𝑡ℎ𝑒 𝑏𝑎𝑙𝑙 ℎ𝑖𝑡 𝑡ℎ𝑒 𝑔𝑟𝑜𝑢𝑛𝑑 𝑏𝑒𝑓𝑜𝑟𝑒 𝑟𝑒𝑎𝑐ℎ𝑖𝑛𝑔 4𝑚