DYNAMICS OF RIGID BODIES A rigid body does not deform when loaded and can be considered a

combination of two or more particles that remain at a fixed, finite

distance from each other. At any given instant, the parts(particles) of a
Introduction to Dynamics rigid body can have different displacement, velocities, and accelerations
if the body has rotational as well as translational motion.
Classical Dynamics studies the motion of bodies using the principles
established by Newton and Euler. The subdivision of classical dynamics If s is the position vector of a particle, instantaneous velocity and
shown in Fig.1 acceleration are

s [ position ]

v=ds/d t [ velocity ]

𝑑𝑑𝑑𝑑 𝑑𝑑 2 𝑠𝑠
𝑎𝑎 = 𝑑𝑑𝑑𝑑
= 𝑑𝑑𝑡𝑡 2 [ acceleration ]

The branch of Dynamics

Fig.1 Kinematics is the study of geometry of motion and used to relate

displacement, velocity, acceleration and time without reference to the cause
of the motion.
Kinematics is the study of a body’s motion independent of the forces Kinetics is the study of the relation existing between the forces acting on a
on the body. It is the study of the geometry of motion without body, the mass of the body and the motion of the body.
consideration of the causes of motion. Kinematics deals only with
relationships among position, velocity, acceleration, and time. RECTILINEAR MOTION

A body in motion can be considered a particle. A particle is a mass point; A particle moving along a straight line is said to be in rectilinear motion. The
it possesses a mass but no size. The particle is an approximate model of only variables we need to describe this motion are the time(t), and the
a body whose dimensions are negligible in comparison with all other distance along the line(x), as the function of time. With these variables, we
dimensions that appear in the formulation of the problem. For example, can define the particle’s position, velocity, and acceleration, which
in studying the motion of the earth around the sun, it is permissible to completely describe the particle’s motion.
consider the earth as a particle, because its diameter is much smaller
than the dimensions of its orbit.

1
Position Velocity

At any given instant t, a particle in rectilinear motion occupies some position If the particle moves through a displacement Ds during the time interval Dt,
on the straight line. To define the particle’s position P, we choose a fixed the average velocity of the particle during this time interval is
origin O on the straight line and positive direction along the line. We measure
the distance x from O to P and record it with a plus or minus sign, according ∆𝑠𝑠
𝑣𝑣𝑎𝑎𝑎𝑎𝑎𝑎 =
to whether we reach P from O by moving along the line in the positive or ∆𝑡𝑡
negative direction. The distance x, with the appropriate sign, completely
defines the position of the particle; it is called the position coordinate of the If we take smaller and smaller values of Dt, the magnitude of Ds becomes
particle. For example, the position coordinate corresponding to P in Fig. 2a is smaller and smaller. Consequently, the instantaneous velocity is a vector
x = +5 m; the coordinate corresponding to P’ in Fig 2b is x’= -2m. ∆𝑠𝑠
defined as v = lim ( ), or
∆𝑡𝑡→0 ∆𝑡𝑡

𝑑𝑑𝑑𝑑
𝑣𝑣 =
𝑑𝑑𝑑𝑑

Acceleration

Provided the velocity of the particle is known at two points, the average
acceleration of the particle during the time interval Dt is defined as

∆𝑣𝑣
𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 =
∆𝑡𝑡
Fig 2 a) a positive position coordinate ; b) negative position coordinate The instantaneous acceleration at time t is a vector that is found by taking
smaller and smaller of Dt and corresponding smaller and smaller values of
∆𝑣𝑣
Dv, so that a = lim � �, or
Displacement ∆𝑡𝑡→0 ∆𝑡𝑡

The displacement of the particle is defined as the change in its position. For example, 𝑑𝑑𝑑𝑑
𝑎𝑎 =
if the particle moves from one point to another, Fig. 3. 𝑑𝑑𝑑𝑑

substituting v = ds/dt into this result, we can also write

𝑑𝑑 2 𝑠𝑠
∆𝑠𝑠 = 𝑠𝑠′ − 𝑠𝑠 𝑎𝑎 =
𝑑𝑑𝑡𝑡 2

Fig. 3

2
Finally, an important differential relation involving the displacement, Uniform Rectilinear Motion
velocity, and acceleration along the path may be obtained by eliminating the
time differential dt (v=ds/dt and a=dv/dt),which gives. Uniform rectilinear motion is a type of straight-line motion that is frequently
encountered in practical applications. In this motion, the acceleration a of
𝑎𝑎 𝑑𝑑𝑑𝑑 = 𝑣𝑣 𝑑𝑑𝑑𝑑 the particle is zero for every value of t. the velocity v is therefore constant.

𝑣𝑣 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑎𝑎 = = 𝑣𝑣 = 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
Example A We can obtain the position coordinate x by integrating this equation.
Denoting the initial value of x by x0 , we have
1. The car moves in a straight line such that for a short time its velocity is
defined by v = (3t2 + 2t) ft/s, where t is in seconds. Determine its position Distance in uniform rectilinear motion
and acceleration when t = 3s.
𝑥𝑥 𝑡𝑡
� 𝑑𝑑𝑑𝑑 = 𝑣𝑣 � 𝑑𝑑𝑑𝑑
𝑥𝑥0 0

𝑥𝑥 − 𝑥𝑥0 = 𝑣𝑣𝑣𝑣

𝑥𝑥 = 𝑥𝑥0 + 𝑣𝑣𝑣𝑣
2. Consider a particle moving in a straight line, and assume that its position This equation can be used only if the velocity of the particle is known to be
defined by x = 6t2 – t3 , when t is in seconds and x in meters. Find velocity constant. For example, this would be true for an airplane in steady flight or
and acceleration of the moving particle. a car cruising along a highway at a constant speed.

3. If s = 2t3 m, where t is in seconds, determine v when t = 2s Uniformly Accelerated Rectilinear Motion

4. Given v = (4t + 5) m/s , where t is in seconds, determine the acceleration Uniformly accelerated rectilinear motion is another common type of
when t = 2s motion. In this case, the acceleration a of the particle is constant , and
becomes
5. the motion of a particle is defined by the relation x = 6t4 – 2t3 – 12t2 +
3t + 3, where x and t are expressed in meters and seconds, respectively. 𝑑𝑑𝑑𝑑
= 𝑎𝑎 = 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐
Determine the time, the position, and the velocity when acceleration is 𝑑𝑑𝑑𝑑
zero.

3
We obtain the velocity v of the particle by integrating this equation as 1 2
(𝑣𝑣 − 𝑣𝑣02 ) = 𝑎𝑎(𝑥𝑥 − 𝑥𝑥0 )
2
𝑣𝑣 𝑡𝑡
� 𝑑𝑑𝑑𝑑 = 𝑎𝑎 � 𝑑𝑑𝑑𝑑 𝑣𝑣 2 = 𝑣𝑣02 + 2𝑎𝑎 (𝑥𝑥 − 𝑥𝑥0 )
𝑣𝑣0 0

𝑣𝑣 − 𝑣𝑣0 = 𝑎𝑎𝑎𝑎
Example B
𝑣𝑣 = 𝑣𝑣0 + 𝑎𝑎𝑎𝑎
1. An airplane begins its take-off run at A with zero velocity and a
Where vo is the initial velocity. Substituting for v = dx/dt constant acceleration a. Knowing that it becomes airborne 30 s later at
B and that the distance AB is 900 m, determine a) the acceleration a,
𝑑𝑑𝑑𝑑 b) the take-off velocity vB.
= 𝑣𝑣0 + 𝑎𝑎𝑎𝑎
𝑑𝑑𝑑𝑑
2. During a test a rocket travels upward at 75m/s, and when it is 40 m
Denoting by x0 the initial value of x and integrating, we have from the ground its engine fails. Determine the maximum height
𝑥𝑥 𝑡𝑡
reached by the rocket and its speed just before it hits the ground. While
� 𝑑𝑑𝑑𝑑 = � (𝑣𝑣0 + 𝑎𝑎𝑎𝑎)𝑑𝑑𝑑𝑑 in motion the rocket is subjected to a constant downward acceleration
𝑥𝑥0 0 of 9.81m/s2 due to gravity. Neglect the effect of air resistance.
1
𝑥𝑥 − 𝑥𝑥0 = 𝑣𝑣0 𝑡𝑡 + 𝑎𝑎𝑡𝑡 2
2

1
𝑥𝑥 = 𝑥𝑥0 + 𝑣𝑣0 𝑡𝑡 + 𝑎𝑎𝑡𝑡 2
2

We can also use and write

𝑑𝑑𝑑𝑑
𝑣𝑣 = 𝑎𝑎 = 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐
𝑑𝑑𝑑𝑑

𝑣𝑣𝑣𝑣𝑣𝑣 = 𝑎𝑎 𝑑𝑑𝑑𝑑

Integrating both sides, we obtain

𝑣𝑣 𝑥𝑥
� 𝑣𝑣 𝑑𝑑𝑑𝑑 = 𝑎𝑎 � 𝑑𝑑𝑑𝑑
𝑣𝑣0 𝑥𝑥0

4
Curvilinear Motion: Rectangular Components Horizontal Motion. Since ax = 0, application of the constant acceleration
equation
Motion of a Projectile +
(→) 𝑣𝑣 = 𝑣𝑣0 + 𝑎𝑎𝑐𝑐 𝑡𝑡 ; 𝑣𝑣𝑥𝑥 = (𝑣𝑣0 )𝑥𝑥
The free-flight motion of a projectile is often studied in terms of its + 1
rectangular components. To illustrate the kinematic analysis, consider (→) 𝑥𝑥 = 𝑥𝑥0 + 𝑣𝑣0 𝑡𝑡 + 𝑎𝑎 𝑡𝑡 2 ; 𝑥𝑥 = 𝑥𝑥0 + (𝑣𝑣0 )𝑥𝑥 𝑡𝑡
2 𝑐𝑐
a projectile launched at point ( x0 , y0 ), with an initial velocity of v0 , +
having components ( vo )x and ( v0 )y , figure below. When air resistance �→� 𝑣𝑣 2 = 𝑣𝑣02 + 2𝑎𝑎𝑐𝑐 (𝑥𝑥 − 𝑥𝑥0 ) ; 𝑣𝑣𝑥𝑥 = (𝑣𝑣0 )𝑥𝑥
is neglected, the only force acting on the projectile is its weight, which
causes the projectile to have a constant downward acceleration of
approximately ac = g = 9.81 m/s2 or g = 32.2 ft/s2. The first and last equations indicate that the horizontal component of
velocity always remains constant during the motion.

Vertical Motion. Since the positive y axis is directed upward, then ay = - g.

(+↑) 𝑣𝑣 = 𝑣𝑣0 + 𝑎𝑎𝑐𝑐 𝑡𝑡 ; 𝑣𝑣𝑦𝑦 = (𝑣𝑣0 )𝑦𝑦 − 𝑔𝑔𝑔𝑔

1 1
(+↑) 𝑦𝑦 = 𝑦𝑦0 + 𝑣𝑣0 𝑡𝑡 + 𝑎𝑎𝑐𝑐 𝑡𝑡 2 ; 𝑦𝑦 = 𝑦𝑦0 + (𝑣𝑣0 )𝑦𝑦 𝑡𝑡 − 𝑔𝑔𝑡𝑡 2
2 2
(+↑) 𝑣𝑣 2 = 𝑣𝑣02 + 2𝑎𝑎𝑐𝑐 (𝑦𝑦 − 𝑦𝑦0 ) ; 𝑣𝑣𝑦𝑦2 = (𝑣𝑣0 )2𝑦𝑦 − 2𝑔𝑔(𝑦𝑦 − 𝑦𝑦0 )

5
Example C

1. A sack slides off the ramp, shown below, with a horizontal velocity of
12m/s. if the height of the ramp is 6m from the floor, determine the time
needed for the sack to strike the floor and the range R where the sacks
begin to pile up.

2. A projectile is fired from the edge of a 150m cliff with an initial velocity of
180 m/s at angle of 300 with the horizontal. Neglecting air resistance, find a)
the horizontal distance from the gun to the point where the projectile
strikes the ground, b) the greatest elevation above the ground reached by
the projectile.