Engineering Dynamics

Dr. Umair Ahmed Rajput

 Engineering Mechanics

Dynamics Statics

Kinematics Kinetics
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 Course Supplemental Materials
Textbook - Engineering Mechanics:
Dynamics, R. C. Hibbeler, 8th Edition,
Pearson Prentice Hall, 1998.

References: Engineering Mechanics:

Dynamics , J . L. Meriam and L. G. Kraige ,
6th Edition, John Wiley & Sons, Inc., 2008.

Lectures Notes prepared by instructors.

 Grading System

• 20% Quiz & Presentation

• 20% Midterm Exam
• 60% Final Exam
 Course Topics
• Chapter 1: Introduction to dynamics
• Chapter 2: Kinematics of a Particle:
Topic # 1: Particle motion along a straight line
Topic # 2: Particle motion along a curved path
Topic # 3: Dependent motion of connected particles
Topic # 4: Relative motion of two particles
• Chapter 3: Kinetics of a Particle:
Topic # 1: Force and Acceleration
Topic # 2: Work and energy
Topic # 3: Impulse and momentum
 Course Topics – Cont.
• Chapter 4: Planer Kinematics of a Rigid
Body.
• Chapter 5: Planar Kinetics of a Rigid
Body: Force and Acceleration.
• Chapter 6: Introduction to Mechanical
Vibration.

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Chapter 1: Introduction to dynamics

Engineering Mechanics

Dynamics Statics

Kinematics Kinetics
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 Definitions

• Statics: concerned with the

equilibrium of a body that is
either at rest or moves with
constant velocity.
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 Definitions – Cont.
Dynamics
1- Kinematics: study of the motion of
particles/rigid bodies (relate
displacement, velocity, acceleration,
and time, without reference to the
cause of the motion).
• 2- Kinetics: study of the forces acting
on the particles/rigid bodies and the
motions resulting from these forces.
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 Definitions – Cont.

• Rigid Body
• Particle

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 Review of Vectors and Scalars

• A Scalar quantity has magnitude only.

• A Vector quantity has both magnitude and

direction.
• Scalars (e.g) • Vectors (e.g.)
– Distance – Displacement
– Mass – Velocity
– Temperature – Acceleration
– Pure numbers – Force
– Time
– Pressure
– Area
– Volume
 Vectors

• Can be represented by an arrow (called the “vector”).

• Length of a vector represents its magnitude.

• Symbols for vectors:

– (e.g. force) F , F , or F (bold type), or F

F 2F
 Chapter 2: Kinematics of a
Particle:

Topic # 1: Particle motion along a

straight line (Rectilinear Motion)
 Definition

Rectilinear motion: A particle moving

along a horizontal/vertical/inclined straight
line.
 Position of the particle (horizontal)
• Since the particle is moving, so the
position is changing with time (t):

• OP = Position = S = S (t)
Displacement of the particle (horizontal)
• Displacement (∆s) : The displacement
of the particle is the change in its
position.
Displacement of the particle (horizontal)
1- ∆S is positive since the particle's final
position is to the right of its initial position,
i.e., s` > s.
2- If the final position to the left of its initial
position, ∆S would be negative.
 Velocity of the particle (horizontal)
• Velocity (v) : If the particle displacement ∆s during
time interval ∆t, the average velocity of the
particle during this time interval is (displacement
per unit time)
• The magnitude of the velocity is known as the
speed, and it is generally expressed in units of m/s

s
v av =
t
 Velocity of the particle (horizontal)
• Instantaneous velocity :
s
V = lim
t →0 t
ds
v=
dt
• So (v) is a function of time (t):

v = v(t)
Acceleration of the particle (horizontal)
• Acceleration : The rate of
change in velocity {(m/s)/s}
V = V  − V
• Average acceleration :
V
aavg =
t
• Instantaneous acceleration :
v dv d 2 s
a = lim = = 2
t →0 t dt dt
• If v ‘ > v “ Acceleration “
• If v ‘ < v “ Deceleration”
 Acceleration of the particle (horizontal)
• Acceleration (a) : is the rate of change of
velocity with respect to time.

2
dv d s
a= = 2
dt dt
 Solved Examples
Example 1
• A particle moves along a straight line such that its
position is defined by s = (t3 – 3 t2 + 2 ) m.
Determine the velocity of the particle when t = 4 s.

ds
v= = 3t − 6t
2

dt

At t = 4 s,
the velocity (v) = 3 (4)(4) – 6(4) = 24 m/s
 Example 2
• A particle moves along a straight line such that its
position is defined by s = (t3 – 3 t2 + 2 ) m.
Determine the acceleration of the particle when
t = 4 s.
ds
v= = 3t 2 − 6t
dt

dv
a= = 6t − 6
dt

• At t = 4 a(4) = 6(4) - 6 = 18 m/s2

 Relation involving s, v, and a
No time t
Position s

ds ds
Velocity v dt =
dt v ds dv
=
dv dv v a
Acceleration a dt =
dt a

a ds = v dv
 Motion with uniform/constant
acceleration a

dv
a= dv = a dt
dt
v t

 
dv
vo
= a dt
0
v − v 0 = at
v = v 0 + at
 Motion with uniform/constant
acceleration a
ds
v= = v0 + a t
dt
s t

 
ds
so
= (
0
v 0 + a t ) dt

1 2
s − s0 = v 0 t + a t
2
 Motion with uniform/constant
acceleration a
v s

v dv = a ds 
v0
v dv = 
s0
a ds

1 2 1 2
v − v 0 = ac ( s − s 0 )
2 2

v = v + 2 a ( s − s0 )
2 2
0
 Summary
• Time dependent acceleration • Constant acceleration
s = s (t )
v = v0 + a t
ds
v= 1 2
dt s − s0 = v 0 t + a t
2
2
dv d s
a= = 2 v = v + 2 a ( s − s0 )
2 2
0
dt dt
a ds = v dv
Example 3
• A car moves in a straight line such that for a short time its
velocity is defined by v = (3t^2 + 2t) m/s, where t is in
seconds. Determine its position and acceleration when t =
3 s. (When t = 0, s = o).

When t = 3 s

s = (3) + (3) = 36 m
3 2

a = 6 * (3) + 2 = 20 m s 2
 Chapter 2: Kinematics of a
Particle:

Topic # 2: Particle Motion along a

Curved Path
 Cartesian (Rectangular) Coordinates
To describe the plane motion of a particle, we use the
Cartesian (Rectangular) Coordinates (x-y).
Y
Path
x
P

r y

X
Y vP Y
Ay aP
vy
Ax
vx P
P path
path

X X
 12Projectile Motion

• Projectile: any body that is given an initial

velocity and then follows a path determined by
the effects of gravitational acceleration and air
resistance.

• Trajectory – path followed by a projectile

 Cartesian Coordinates of
Projectile Motion

Max. Height
y
V0
V0 sin
g

 V0 cos
o x B X
Range
Horizontal and vertical components of velocity
are independent.
Vertical velocity decreases at a constant rate
due to the influence of gravity.
 Cartesian Coordinates of
Projectile Motion
• Assumptions:
(1) free-fall acceleration
(2) neglect air resistance
• Choosing the y direction as positive upward:
ax = 0; ay = - g (a constant)
y
• Take x0= y0 = 0 at t = 0 v0
• Initial velocity v0 makes an 
angle  with the horizontal x

v 0x = v 0cosθ v0y = v 0sinθ

 Horizontal Motion of Projectile

• Acceleration in X-direction: ax= 0

• Integrate the acceleration yields:

+
(→) v x = v 0 cosθ = constant

• Integrate the velocity yields:

+
(→) x = v 0 t cosθ
 Vertical Motion of Projectile
• ay = ac= -g = -9.81 m/s2
• Integrate the acceleration yields:
(+ ) v = v0 + ac t v y = (v0 ) y − gt

( + ) v y = v 0 sinθ − gt

• Integrate the velocity yields:

gt 2
( + ) y = v 0 t sinθ −
2
• ax = 0; ay = - g (a constant)
• Integration of these acceleration yields
v x = v0 cosθ = constant
v y = v 0 sinθ − g t
x = v 0 t cosθ (1)
y = v 0 t sinθ − g t /2 2
(2)
• Elimination of time t from Eqs. 1 & 2 yields
• Equation of the path of projectile
y = x tan θ − (g x sec θ / 2 v )
2 2 2
o (3)
Maximum Height of Projectile

y Max. Height

V0

o
x X
 Maximum Height of Projectile
At the peak of its trajectory, vy = 0.
v y = v 0y + a t = v o sin  − gt = 0
v 0yv 0 sin 
Time t1 to reach the peak t1 = =
g g
1 2
Substituting into: y = v 0 sin  t − gt
2
2
 v 0sinθ  1  v 0 sinθ 
h = y max = v 0sinθ   − g  
 g  2  g 

h = y max =
(v 0sinθ )
2
−
1 (v 0sinθ )
2

g 2 g
 Maximum Height of Projectile

h = y max =
(v 0 sin  )
2
−
1 (v 0 sin  )
2

g 2 g
(v o sin ) v sin  v
2 2 2 2

h = y max = = = o 0y

2g 2g 2g
v 0 sinθ v 0 sinθ
x = v 0x t = v 0x = v 0 cosθ
g g
2
v sin 2θ
 sinθ cosθ =
sin2θ x = o

2 2g
Maximum Height of Projectile and
the corresponding time and X
v sin 
2 2
h = y max = o
2g
2
v sin 2θ
x = o
2g
v 0 sin 
t1 =
g
The Horizontal Range of Projectile

V0

 V0

o
Range OB B X
 The Horizontal Range of Projectile
The range (OB) where y = 0.
1 2
y = v 0 sin  t − gt
2
2 v 0 sin 
Time for the range OB tB =
g
For the rang OB substitute into: x = v 0 t B cosθ
2
2v o v
X = OB = v o cosθ sinθ = o
2 sinθ cosθ
g g
2 2
vo vo
X = OB = sin2(90 - θ) = sin2θ
g g
The Horizontal Range of Projectile

From the Rang equation it is clear that an

angle of firing  with the horizontal gives the

same range OB as an angle of firing (90 - )

with the horizontal or as an angle  of with

vertical.
Maximum Range OB* of Projectile

V0

o
Range OB B B* X

Max. Range OB*

 Maximum Range OB* of Projectile
To calculate max. Range (OB*) and its angle

2
v
X = OB = sin2(90 - θ)
o
g
sin2(90 - θ) = 1 = sin(2 )

θ = 45
* o

2
v 
OB = o
g
 Projection Angle

• The optimal angle of projection is dependent

on the goal of the activity.

• For maximal height the optimal angle is 90o.

• For maximal horizontal distance the optimal

angle is 45o.
Projection angle = 10 degrees

10 degrees
Projection angle = 45 degrees
10 degrees
30 degrees
40 degrees
45 degrees
Projection angle = 60 degrees
10 degrees
30 degrees
40 degrees
45 degrees
60 degrees
80 degrees
Projection angle = 75 degrees
10 degrees
30 degrees
40 degrees
45 degrees
60 degrees
75 degrees
80 degrees

So angle that maximizes Range

(optimal) = 45 degrees
 Example: A ball traveling at 25 m/s drive off of
the edge of a cliff 50 m high. Where do they
land?

25 m/s Horizontally
x = x0 + (v0)x t

Initial Conditions
Vertically
vx = 25 m/
s
v = v0-gt
vy0 = 0 m/s
a =- 9.8 m/ 2 y = y0 + v0t + 1/2gt2 …. -50 = 0+0+1/2(-9.8)t2 … t = 3.19 s
s

t=0 v2 = v02 - 2g(y-y0)….

y0 = 0 m
x = 25 *3.19 = 79.8 m
y =- 50 m
x0 =0 m 79.8 m