Lecture Note

Engineering Mechanics II
(Dynamics)

Dr. Collins N. NWAOKOCHA

Olabisi Onabanjo University, Ago-Iwoye
 Description of Engineering Mechanics - Dynamics

Statics is the branch of mechanics that deals with the

analysis bodies at rest, while dynamics deals with the
analysis od bodies in motion.
Dynamics includes:
Kinematics – study of geometry of motion without
reference to the cause of the motion.
•Kinetics – study of the relation existing between the
forces acting on a body, the mass of the body, and the
motion of the body.
Rectilinear motion: position, velocity, and acceleration of
a particle as it moves along a straight line.
Curvilinear motion: position, velocity, and acceleration of
a particle as it moves along a curved line in two or three
dimensions.
 I. Dynamics of Particles – Kinematics of
Particles

The word particles does not restrict our study to

small corpuscles; rather, the motion of bodies –
possibly as large as rockets, cars, buses or airplanes
– will be considered without regard to their size.
For bodies analyzed as particles, only their motion
as an entire unit will be considered; rotations about
their own mass center will be neglected.
In cases, when such a rotation is not negligible;
such bodies cannot be considered as particles, it is
analyzed as dynamics of rigid bodies.
Rectilinear Motion: Position, Velocity &
Acceleration

• Rectilinear motion: particle moving

along a straight line
• Position coordinate: defined by
positive or negative distance from a
fixed origin on the line.

• The motion of a particle is known if

the position coordinate for particle is
known for every value of time t.
• May be expressed in the form of a
function, e.g., 2 3
x 6t  t
or in the form of a graph x vs. t.
 Rectilinear Motion: Position, Velocity &
Acceleration
• Consider particle which occupies position
P at time t and P’ at t+t,
x
Average velocity 
t
x
Instantaneous velocity v  lim
t  0 t

• Instantaneous velocity may be positive or

negative. Magnitude of velocity is referred
to as particle speed.
• From the definition of a derivative,
x dx
v  lim 
t  0 t dt
e.g., x 6t 2  t 3
dx
v  12t  3t 2
11 - 5 dt
Rectilinear Motion: Position, Velocity &
Acceleration
• Consider particle with velocity v at time t
and v’ at t+t,
v
Instantaneous acceleration a  lim
t  0 t

• Instantaneous acceleration may be:

- positive: increasing positive velocity
or decreasing negative velocity
- negative: decreasing positive velocity
or increasing negative velocity.
• From the definition of a derivative,
v dv d 2 x
a  lim   2
t  0 t dt dt
e.g. v 12t  3t 2
dv
a  12  6t
dt
 Concept Quiz
What is true about the kinematics of a particle?

a) The velocity of a particle is always positive

b) The velocity of a particle is equal to the slope of
the position-time graph
c) If the position of a particle is zero, then the
velocity must zero
d) If the velocity of a particle is zero, then its
acceleration must be zero
Exercise 1.1

• Consider particle with motion given by

x 6t 2  t 3
dx
v 12t  3t 2
dt

dv d 2 x
a   2 12  6t
dt dt

• at t = 0, x = 0, v = 0, a = 12 m/s2

• at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0

• at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

• at t = 6 s, x = 0, v = -36 m/s, a = 24 m/s2

 Determination of the Motion of a Particle

• We often determine accelerations from the forces applied

(kinetics will be covered later)
• Generally have three classes of motion
- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)
• Can you think of a physical example of when force is a
function of position? When force is a function of velocity?

11 - 9
a spring drag
 Exercise 1.2

SOLUTION:
• Integrate twice to find v(t) and y(t).

• Solve for t when velocity equals zero

(time for maximum elevation) and
evaluate corresponding altitude.

• Solve for t when altitude equals zero

Ball tossed with 10 m/s vertical velocity (time for ground impact) and evaluate
from window 20 m above ground. corresponding velocity.
Determine:
• velocity and elevation above ground at
time t,
• highest elevation reached by ball and
corresponding time, and
• time when ball will hit the ground and
corresponding
11 - 10 velocity.
 SOLUTION:
• Integrate twice to find v(t) and y(t).
dv
a  9.81 m s 2
dt
v t  t
dv  9.81 dt vt  v0  9.81t
v0 0

m  m
vt  10   9.81 2  t
s  s 
dy
v 10  9.81t
dt
y t  t
dy 10  9.81t dt y t  y0 10t  12 9.81t 2
y0 0

 m  m
y t  20 m   10  t   4.905 2  t 2
11 - 11  s  s 
• Solve for t when velocity equals zero and evaluate
corresponding altitude.
m  m
vt  10   9.81 2  t 0
s  s 
t 1.019 s

• Solve for t when altitude equals zero and evaluate

corresponding velocity.
 m  m
y t  20 m   10  t   4.905 2  t 2
 s  s 
 m  m
y 20 m   10  1.019 s   4.905 2  1.019 s 2
 s  s 
y 25.1 m
• Solve for t when altitude equals zero and evaluate
corresponding velocity.
 m  m 2
y t  20 m   10  t   4 .905 2
 t 0
 s  s 
t  1.243 s meaningless 
t 3.28 s

m  m
vt  10   9.81 2  t
s  s 
m  m
v3.28 s  10   9.81 2  3.28 s 
s  s 

m
v  22.2
s
 Motion of Several Particles
We may be interested in the motion of
several different particles, whose motion
may be independent or linked together.
• For particles moving along the same line, time
should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.

x B A  x B  x A  relative position of B
with respect to A
xB x A  xB A

v B A v B  v A  relative velocity of B
with respect to A
v B v A  v B A

aB a B  a A  relative acceleration of B
A
with respect to A
a B a A  a B A
 Exercise 1.3
SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.

• Substitute initial position and constant

velocity of elevator into equation for
uniform rectilinear motion.
Ball thrown vertically from 12 m level
in elevator shaft with initial velocity of • Write equation for relative position of
18 m/s. At same instant, open-platform ball with respect to elevator and solve
elevator passes 5 m level moving for zero relative position, i.e., impact.
upward at 2 m/s.
• Substitute impact time into equation
Determine (a) when and where ball hits for position of elevator and relative
elevator and (b) relative velocity of ball velocity of ball with respect to
and11elevator
- 15 at contact. elevator.
 SOLUTION:
• Substitute initial position and velocity and constant
acceleration of ball into general equations for
uniformly accelerated rectilinear motion.
m  m
v B v0  at 18   9.81 2  t
s  s 
 m  m
y B  y0  v0t  12 at 2 12 m   18  t   4.905 2  t 2
 s  s 

• Substitute initial position and constant velocity of

elevator into equation for uniform rectilinear
motion. m
v E 2
s
 m
y E  y0  v E t 5 m   2  t
 s
11 - 16
• Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.

yB E  
 12  18t  4.905t 2  5  2t  0
t  0.39 s meaningless 
t 3.65 s

• Substitute impact time into equations for position of

elevator and relative velocity of ball with respect to
elevator.
y E 5  23.65
y E 12.3 m

vB E 18  9.81t  2
16  9.813.65
m
vB E  19.81
s
 II. Dynamics of Particles – Kinetics of Particles

• Newton’s first and third laws are sufficient for the study of bodies at
rest (statics) or bodies in motion with no acceleration.
• When a body accelerates (changes in velocity magnitude or direction),
Newton’s second law is required to relate the motion of the body to the
forces acting on it.

• Newton’s second law:

- A particle will have an acceleration proportional to the magnitude of
the resultant force acting on it and in the direction of the resultant
force.
- The resultant of the forces acting on a particle is equal to the rate of
change of linear momentum of the particle.
- The sum of the moments about O of the forces acting on a particle is
equal to the rate of change of angular momentum of the particle
about O.
Kinetics of Particles – Newton’s Second Law of Motion

• Newton’s Second Law: If the resultant force acting on a

particle is not zero, the particle will have an acceleration
proportional to the magnitude of resultant and in the
direction of the resultant.
• Consider a particle subjected to constant forces,
F1 F2 F3
   constant mass, m
a1 a2 a3

• When a particle of mass m is acted upon by a force F ,
 
the acceleration
F m a of the particle must satisfy
• Acceleration must be evaluated with respect to a
Newtonian frame of reference, i.e., one that is not
accelerating or rotating.
• If force acting on particle is zero, particle will not
accelerate, i.e., it will remain stationary or continue on a
straight line at constant velocity.
Linear Momentum of a Particle

• Replacing the acceleration by the derivative of the

velocity yields
 
dv
 F m
dt

d  dL
 m v  
dt dt

L linear momentum of the particle

• Linear Momentum Conservation Principle:

If the resultant force on a particle is zero, the linear
momentum of the particle remains constant in both
magnitude and direction.
 Systems of Units
• Of the units for the four primary dimensions (force,
mass, length, and time), three may be chosen arbitrarily.
The fourth must be compatible with Newton’s 2nd Law.

• International System of Units (SI Units): base units are

the units of length (m), mass (kg), and time (second).
The unit of force is derived,
 m kg m
1 N 1 kg  1 2  1 2
 s  s

• U.S. Customary Units: base units are the units of force

(lb), length (m), and time (second). The unit of mass is
derived,
1 lb 1 lb lb s 2
1 lbm  2
1slug  2
1
32.2 ft s 1 ft s ft
12 - 22
Equations of Motion

• Newton’s second law provides

 
 F  m a
• Solution for particle motion is facilitated by resolving
vector equation into scalar component equations, e.g.,
for rectangular components,
     
 Fx i  Fy j  Fz k  ma x i  a y j  a z k 
 Fx ma x  Fy ma y  Fz ma z
 Fx mx  Fy my  Fz mz
• For tangential and normal components,
 F t mat  F n man
dv v2
 t
F  m  F n m
dt 
Dynamic Equilibrium

• Alternate expression of Newton’s second law,

 
 F  m a 0

 ma inertial vector
• With the inclusion of the inertial vector, the system
of forces acting on the particle is equivalent to
zero. The particle is in dynamic equilibrium.
• Methods developed for particles in static
equilibrium may be applied, e.g., coplanar forces
may be represented with a closed vector polygon.
• Inertia vectors are often called inertial forces as
they measure the resistance that particles offer to
changes in motion, i.e., changes in speed or
direction.
• Inertial forces may be conceptually useful but are
not like the contact and gravitational forces found
in statics.
 Exercise 2.1

SOLUTION:
• Resolve the equation of motion for the
block into two rectangular component
equations.

• Unknowns consist of the applied force

P and the normal reaction N from the
plane. The two equations may be
A 200-lb block rests on a horizontal solved for these unknowns.
plane. Find the magnitude of the force
P required to give the block an accelera-
tion or 10 ft/s2 to the right. The coef-
ficient of kinetic friction between the
block and plane is k0.25.
 Solution 2.1

SOLUTION:
• Resolve the equation of motion for the block
into two rectangular component equations.
 Fx ma :
y
 
P cos 30  0.25 N  6.21lb s 2 ft 10 ft s 2 
62.1 lb
O
x  Fy 0 :
W 200 lb N  P sin 30  200 lb 0
m 
g 32.2 ft s 2 • Unknowns consist of the applied force P and
the normal reaction N from the plane. The two
lb s 2
6.21 equations may be solved for these unknowns.
ft
N  P sin 30  200 lb
F  k N
P cos 30  0.25P sin 30  200 lb  62.1 lb
0.25 N
P 151lb
 Exercise 2.2

SOLUTION:
• Write the kinematic relationships for the
dependent motions and accelerations of
the blocks.
• Write the equations of motion for the
blocks and pulley.
• Combine the kinematic relationships
with the equations of motion to solve for
the accelerations and cord tension.
The two blocks shown start from rest.
The horizontal plane and the pulley
are frictionless, and the pulley is
assumed to be of negligible mass.
Determine the acceleration of each
block and the tension in the cord.
12 - 27
Solution 2.2

SOLUTION:
• Write the kinematic relationships for the dependent
O motions and accelerations of the blocks.
x
y B  12 x A a B  12 a A
y
• Write equations of motion for blocks and pulley.
 Fx m A a A :
T1 100 kg a A
 F y m B a B :
m B g  T2 m B a B
300 kg 9.81 m s 2  T2 300 kg a B
T2 2940 N - 300 kg a B
 Fy mC aC 0 :
12 - 28 T2  2T1 0
 • Combine kinematic relationships with equations of
motion to solve for accelerations and cord tension.
O
x y B  12 x A a B  12 a A

y T1 100 kg a A
T2 2940 N - 300 kg a B

2940 N - 300 kg  12 a A 
T2  2T1 0
2940 N  150 kg a A  2100 kg a A 0

a A 8.40 m s 2
a B  12 a A 4.20 m s 2
T1 100 kg a A 840 N

12 - 29
T2 2T1 1680 N