DYNAMICS OF

RIGID BODIES
MIDTERM EXAMINATION
DANIEL GERALDO BSCE 2B
 Kinematics:
ABSOLUTE
DEPENDENT
MOTION
APPLICATIONS
The cable and pulley system shown here
can be used to modify the speed of block B
relative to the speed of the motor. It is
important to relate the various motions in
order to determine the power
requirements for the motor and the
tension in the cable.
If the speed of the cable coming onto the
motor pulley is known, how can we
determine the speed of block B?
ABSOLUTE
DEPENDENT MOTION
APPLICATIONS
Rope and pulley arrangements are often
used to assist in lifting heavy objects. The
total lifting force required from the truck
depends on the weight and acceleration
of the cabinet.
How can we determine the acceleration and
velocity of the cabinet if the acceleration of
the truck is known?

ABSOLUTE
DEPENDENT MOTION
Dependent motion

Absolute dependent motion analysis of

two particles states that when particles
are interconnected by a cable, the motion
of the particles are always dependent on
the other one. Thus, each coordinate axis
system for the particles should be
directed along the path of motion.
ABSOLUTE
DEPENDENT MOTION
Dependent motion
The blocks in this figure are connected by an
inextensible cord wrapped around a pulley.
If block A moves downward along the
inclined plane, block B will move up the
other incline.
The motion of each block can be related
mathematically by defining position
coordinates, SA and SB. Each coordinate axis is
defined from a fixed point or datum line,
measured positive along each plane in the
direction of motion of each block. ABSOLUTE
DEPENDENT MOTION
 Dependent motion
Position coordinates SA and SB can
be defined from fixed datum lines
extending from the center of the
pulley along each incline to blocks
A and B.
If the cord has a fixed length, the position
coordinates SA and SB are related
mathematically by the equation SA + lCD + SB =
lT Here lT is the total cord length and lCD is the
length of cord passing over arc CD on the pulley. ABSOLUTE
DEPENDENT MOTION
 Dependent motion
The velocities of blocks A and B can be
related by differentiating the position
equation. Note that lCD and lT remain
constant, so dlCD/dt = dlT/dt = 0

dSA/dt + dSB/dt = 0 => VB = -VA

The negative sign indicates that as A moves down
the incline (positive SA direction), B moves up the
incline (negative SB direction). Accelerations can
be found by differentiating the velocity equation,
resulting : aB = -aA . ABSOLUTE
DEPENDENT MOTION
 DEPENDENT
MOTION
Consider a more complicated example.
Position coordinates (SA and SB) are defined
from fixed datum lines, measured along the
direction of motion of each block.

Note that SB is only defined to the center of

the pulley above block B, since this block
moves with the pulley. Also, h is a constant.
Notice that the red colored segments of the
cord remain constant in length during motion ABSOLUTE
of the blocks. DEPENDENT MOTION
DEPENDENT
MOTION
The position coordinates are related by the
equation 2SB + h + SA = l. Where l is the
total cord length minus the lengths of
the red segments.
Since l and h remain constant during the
motion, the velocities and accelerations
can be related by two successive time
derivatives: 2VB = -VA and 2aB = -aA
When block B moves downward (+SB), block A
moves to the left (-SA). Remember to be
ABSOLUTE
consistent with the sign convention. DEPENDENT MOTION
 Dependent motion
These procedures can be used to relate the
dependent motion of particles moving along
rectilinear paths (only the magnitudes of velocity
and acceleration change, not their line of
direction).
1. Define position coordinates from fixed datum
lines, along the path of each particle. Different datum
lines can be used for each particle.

ABSOLUTE
DEPENDENT MOTION
 Dependent motion
2. Relate the position coordinates to the cord length.
Segments of cord that do not change in length during
the motion may be left out.
3. If a system contains more than one cord, relate the
position of a point on one cord to a point on another
cord. Separate equations are written for each
cord..
4. Differentiate the position coordinate equation(s)
to relate velocities and accelerations. KEEP
TRACK OF SIGNS!
ABSOLUTE
DEPENDENT MOTION
PROBLEM

1. If motor draws in cable at a constant

rate of 100 mm/ sec, (a)find the velocity
of blocks A and B. If motor starts from
rest and releases cable at a constant rate
of 5 mm/sec2, (b)find the velocity of
blocks A and B at 3 sec.

Work and energy

SOLUTION

Equations for Length of the

Cables:
2SA+SB = l
2SB+SM = I

Equations for Velocity and

Acceleration:
vA = -1/2(vB) aA = -1/2(aB)
vB = -1/2(vM) aB = -1/2(aM)

Work and energy

 SOLUTION
a. Solving for vA and vB when vM =
100 mm/sec
↓vB = -1/2vM = -1/2(100) = -50
mm/sec↑
↓vA = -1/2(vB) = -1/2(-50) = 25
b. Solving for vA and vB when aM = -5 mm/sec2
mm/sec↓
and t = 3 sec.
aB = -1/2aM = 5/2 = 2.5 mm/sec2
aA = -1/2aB = -2.5/2 = -1.25 mm/sec2
↓vB = vBo+aB.t = 0+2.5(3) = 7.5 mm/sec↓
↓vA = vAo+aA.t = 0+(-1.25)(3) = -3.75
Work and energy
mm/sec↑
PROBLEM

2. For the pulley

system as shown, the
velocity of object A is
known, determine the
velocity of B.

Work and energy

SOLUTION
Equations for Length of the
Cables:
SA+2SC = l
2SB-SC = I
SA + 4SB = I
SA/t + 4SB/t = I
vA + 4SB = I
vB = vA/4
vB = 3/4 m/s or 0.75
m/s↓
Work and energy
kinetics of a particle:
FORCE AND
ACCELERATION
NEWTON’S SECOND LAW
OF MOTION
Newton's second law of motion
states that the acceleration of an
object as produced by a net force is
directly proportional to the
magnitude of the net force, in the
same direction as the net force, and
inversely proportional to the mass of
the object.
FORCE AND
ACCELERATION
NEWTON’S SECOND LAW
OF MOTION
Mathematically, Newton's second law of motion is
expressed as:
F=
ma
Wherein:
F = net force applied to
the object
m = mass of the object
a = acceleration of the
FORCE AND
object ACCELERATION
NEWTON’S LAW
OFGRAVITATIONAL
ATTRACTION
Newton postulated the Law of
Gravitational Attraction right after he
formulated his three laws of motion
which states that any particle of
matter in the universe attracts any
other with a force varying directly as
the product of the masses and
inversely as the square of the
distance between them.
FORCE AND
ACCELERATION
 NEWTON’S LAW
OFGRAVITATIONAL
ATTRACTION
Mathematically, Newton’s law of gravitational
attraction is expressed as:
F=G
(m1m2/r2)
Wherein:

F = force of attraction between the two particles

G = universal constant of gravitation; 66.73(10-
12
) m3 / (kg · s2)
m1 , m2 = mass of each of the two particles
r = distance between the centers of the two FORCE AND
particles ACCELERATION
NEWTON’S LAW
OFGRAVITATIONAL
ATTRACTION

In the case of a particle located at or near the

surface of the earth, the only gravitational force
having any sizable magnitude is that between
the earth and the particle. This force is termed
the "weight" and, for our purpose, it will be the
only gravitational force considered which
expressed as: W = mg
FORCE AND
ACCELERATION
 NEWTON’S LAW
OFGRAVITATIONAL
ATTRACTION

In the FPS system the weight of

In the SI system the mass of the
the body is specified in pounds.
body is specified in kilograms:
The mass is measured in slugs:
m = W/g (kg) ; g = 9.81 m/s2
m = W/g (slug) ; g = 32.2
ft/s2 FORCE AND
ACCELERATION
 Force and acceleration
DIAGRAM
The equation of
∑F = ma
motion:

Free-Body Kinetic
Diagram Diagram

FORCE AND
ACCELERATION
 INERTIAL REFERENCE
FRAME
When applying the equation of motion, it is
important that the acceleration of the particle be
measured with respect to a reference frame that is
either fixed or translates with a constant
velocity. In this way, the observer will not
accelerate and measurements of the particle's
acceleration will be the same from any reference of
this type.
FORCE AND
ACCELERATION
INERTIAL REFERENCE
FRAME
In this way, the observer will
not accelerate and
measurements of the particle's
acceleration will be the same
from any reference of this type.
Such a frame of reference is
commonly known as a
Newtonian or Inertial
Reference Frame.
FORCE AND
ACCELERATION
Force and acceleration
ILLUSTRATION
We are all familiar with the sensation one that feels
when sitting in a car that is subjected to a forward
acceleration. Often people think it is caused by a
"force" which acts on them and tends to push them
back in their seats; however, this is not the case.
Instead, this sensation occurs due to their inertia or
the resistance of their mass to a change in velocity.
Consider the passenger who is strapped to the seat of
a rocket sled. Provided the sled is at rest or is moving
with constant velocity, then no force is exerted on his
back as shown in his free-body diagram.

FORCE AND
ACCELERATION
Force and acceleration
ILLUSTRATION

When the thrust of the rocket engine causes the

sled to accelerate, then the seat upon which he is
sitting exerts a force F on him which pushes him
forward with the sled.

In the photo, notice that the inertia of his head

resists this change in motion (acceleration), and so
his head moves back against seat and his face,
which is non-rigid, tends to distort backward.

FORCE AND
ACCELERATION
Force and acceleration
ILLUSTRATION
Upon deceleration, the force of the seat belt F
tends to pull his body to a stop, but his head leaves
contact with the back of the seat and his face
distorts forward.

Again due to his inertia or tendency to continue to

move forward. No force is pulling him forward,
although this is the sensation he receives.

FORCE AND
ACCELERATION
 RECTANGTULAR
COORDINATES
When a particle moves relative to an inertial x, y, z
frame of reference, the forces acting on the
particle, as well as its acceleration, can be
expressed in terms of their i, j, k components.
Applying the equation of motion, we have:
∑F = ma
∑Fxi + ∑Fyj + ∑Fzk = m(axi
+ ayj + azk)
FORCE AND
ACCELERATION
 RECTANGTULAR
COORDINATES
For this equation to be satisfied, the respective
i-component, j-component, k-component on
the left side must equal the corresponding
∑Fxside.
components on the right =
max

∑Fy =
may

∑Fz = FORCE AND

ACCELERATION
 EQUATION OF MOTION

If the forces can be resolved directly from the free-

body diagram, apply the equations of motion in
their scalar component form.
If the geometry of the problem appears
complicated, which often occurs in three
dimensions, Cartesian vector analysis can be used
for the solution.
FORCE AND
ACCELERATION
 EQUATION OF MOTION
Friction - If a moving particle contacts a rough
surface, it may be necessary to use the frictional
equation, which relates the frictional (Ff) and
normal forces (N) and acting at the surface of
contact by using the coefficient of kinetic friction
(uk).
Ff =
ukN
FORCE AND
ACCELERATION
 EQUATION OF MOTION

Remember that Ff always acts on the free body

diagram such that it opposes the motion of the
particle relative to the surface it contacts. If the
particle is on the verge of relative motion, then
the coefficient of static friction should be used.

FORCE AND
ACCELERATION
 EQUATION OF MOTION
Spring - If the particle is connected to an elastic
spring having negligible mass, the spring force
(Fs ) can be related to the deformation of the
spring by the equation:
Fs =
ks.
Wherein:
k = the spring's stiffness
s = the stretch or compression expressed
FORCE AND
as: (s = l – lo )
ACCELERATION
KINEMATICS

If the velocity or position of the particle is to be

found, it will be necessary to apply the necessary
kinematic equations once the particle's
acceleration is determined from : ∑F = ma.
If acceleration is a function of time, use a =
dv/dt and v = ds/dt which, when integrated,
yield the particle's velocity and position,
respectively.
FORCE AND
ACCELERATION
 KINEMATICS

If acceleration is a function of displacement,

integrate ads = vdv to obtain the velocity as a
function of position.

If acceleration is constant, use v = v0 + act, s

= so + v0t + act2, v2 = v02 + 2ac( s - so) to
determine the velocity or position of the particle.
FORCE AND
ACCELERATION
PROBLEM

1. A 10kg box is pulled to the right by a

horizontal force of 500N. A constant
frictional force of 150N opposes it,
(a)determine its acceleration and (b) how
far will the box travel after 5 seconds?

Work and energy

SOLUTION

a. Solving for acceleration:

∑Fx = max
F-Ff = 10ax
500-150 = 10ax
ax = 35 m/sec2
b. Solving for the distance of box
after 5 sec:
s = vot+1/2axt2
s = 0+1/2(35)(5)2
s = 437.5 meters Work and energy
PROBLEM

2. A 20kg box is pulled to the right by a

200N force that is 30 degrees above the
horizontal. A constant frictional force of
80N opposes it. (a) Calculate the
acceleration and (b) find the final speed
of the box after it traveled a distance of
100m?

Work and energy

SOLUTION

a. Solving for acceleration:

∑Fx = max
Fcosɵ-Ff = 20ax
200cos30-80 = 20ax
ax = 4.66 m/sec2
b. Solving for the final velocity after it
travelled 100m:
vf2 = vo2+2as
vf2 = 0+2(4.66)(100)
vf = 30.53 m/sec Work and energy
kinetics of a particle:
work and
energy method
Work and energy
method
WORK (U) is the amount of
energy transferred by a force
acting through a distance.
Work is only done by forces
that are in the direction of or
opposing the direction of
motion.
Work and energy
Work and energy
method
The Kinetic Energy (T) of an object is the
energy that it possesses due to its motion. It is
the work needed to accelerate a body of a given
mass from rest to its stated velocity. Having
gained this energy during its acceleration, the
body maintains this kinetic energy unless its
speed changes.

Work and energy

Work and energy
method
The Potential Energy is the energy held by an
object because of its position relative to other
objects, stresses within itself, its electric charge
or other factors. It is associated with forces that
act on a body in a way that the total work done
by these forces on the body depends only on
the initial and final positions of the body in
space.
Work and energy
Work and energy
method

The cars of a roller coaster reach

their maximum kinetic energy
when at the bottom of the path
from the top. When they start
rising, the kinetic energy begins
to be converted to gravitational
potential energy.

Work and energy

Work and energy
method
When the archer does work on the
bow, drawing the string back, some of
the chemical energy of the archer’s
body is transformed into elastic
potential energy in the bent limb of
the bow. When the string is released,
the force between the string and the
arrow does work on the arrow. The
potential energy in the bow limbs is
transformed into the kinetic energy
of the arrow as it take flights.
Work and energy
 Principle of work and
kinetic energy
U1-2 = ∆T or T1 + T=
U1-2 = T2 1/2mv2
Work - Energy Equation Kinetic Energy
states the total Work (U) Equation:
done by all forces acting on
a particle as it moves from T – Kinetic Energy
point 1 to point 2 equals the (N.m or Joules/ ft.lb)
corresponding change in v - velocity
Kinetic Energy of the
Work and energy
particle.
Work and energy
method
A. WORK • Work is a scalar quantity. It is
ASSOCIATED WITH
defined as the product of the
CONSTANT
force and the displacement in the
EXTERNAL FORCE
direction of the force. It is
denoted by letter U. Units of work
are N.m or Joule (J).
• A special case, when ϴ=0 i.e.
force acts along the placement,
then work by force U=PL
• Also when ϴ=90 i.e. force is ꓕ to
the displacement, then work by
U1-2 = force = 0
PLcos α Work and energy
 Work and energy
method
B. WORK
ASSSOCIATED WITH A • The basic force on a spring force
SPRING FORCE is proportional to the change of
the spring length.
F = kx
k = spring modulus, it represents
the force required to deform a
given spring through a unit
distance.
x = displacement from the
U1-2 = ½k (x1² unstretched position

- x2²) Work and energy

 Work and energy
method
C. WORK ASSOCIATED • If the altitude variation is
WITH WEIGHT (Case A: sufficiently small so that the
g = constant) acceleration of gravity may be
considered constant.
• Take note that if the body rises
then (y2-y1) > 0 and this work is
negative. If the body falls, (y2-y1)
< 0 then the work is positive
• Note that the work is from point 1
(lower point) to point 2 (upper
U1-2 = -mg point)

(y2-y1) Work and energy

 Work and energy
method
C. WORK ASSOCIATED • If large changes in altitude occur,
WITH WEIGHT (Case then the weight (gravitational force)
B: g ≠ constant) is no longer constant.
• Where:
g = acceleration of gravity at the
earth’s surface
R = radius of the earth
r = radial distance from the center of
the earth
Gme = gR2
U1-2 = Gmem (1/r2 – 1/r1) = mgR2
(1/r2 – 1/r1) Work and energy
Work and energy
method
D. WORK AND
CURVILINEAR • Work done on a particle of mass
MOTION m, moving along a curved path
under the action of the force F,
which stands for the resultant
summation of all forces acting on
the particle.
U1-2 = ½m
(v2²-v1²)
Work and energy
Work and energy
method
E. WORK OF A • Consider a block of mass m slide
FRICTION FORCE down distance s on an inclined
rough plane. If us and uk are the
coefficient of static and kinetic
friction, the block's motion would
be resisted by the frictional force
= ukN.
U1-2 =-ukN x
s
Work and energy
Work and energy
method
F. POWER AND
EFFICIENCY
• The mechanical efficiency of a
P= machine is the ratio of the useful
Fv power produced (output power) to
e = power the power supplied to the
machine (input power).
output • If the time interval for output and
power input is the same
• e < 1 (always less than 1).
input
Work and energy
 Work and energy
method
Advantages of the Work-
Energy Method:
It avoids the necessity of computing the
acceleration and leads directly to the velocity
changes as functions of the forces which do work.

This principle is useful whenever the problem

involves known or unknown parameters like forces,
mass, velocity and displacement.

Work and energy

PROBLEM

1. A constant force P = 750N acts on

the body shown during only the first
6m of its motor, starting from rest. If u
= 0.20, find the velocity of the body
after it has moved moved a total
distance of 9m.

Work and energy

SOLUTION
N1 = 1600 - 750 (3/5) =
1150N
F1 = 0.20 (1150) =
230N
N2 = 1600N
F2 = 0.20 (1600) =
320N
U1-2 = 1/2 (W/g) (v22-v12)
750(4/5)(6) - 230(6) - 320(3) = 1/2(1600/9.81)(v22)
1260 = 1/2(1600/9.81)(v22)
v2 = 3.92 m/sec2
Work and energy
PROBLEM
2. After the block in the figure has moved 3m
from rest, the constant force P = 600N is
removed. Find the velocity of the block when
it returns to its initial position.

Work and energy

SOLUTION
N = 500(4/5) = 400N
F = 0.20(400) = 80N
FROM A TO C:
U1-2 = 1/2 (W/g) (v22-v12)
600(3)- 80(3+S) - 500(3/5)
(3+S) = 0
S = 1.74m
FROM C TO A:
U1-2 = 1/2 (W/g) (v22-v12)
300(4.74) - 80(4.74) =
1/2(500/9.81)(v32)
Work and energy
v32 = 6.4 m/sec
PROBLEM

3. Find the velocity of

body A in the figure
after it has removed
3m from rest. Assume
that the pulleys to be
weightless and
frictionless.

Work and energy

 SOLUTION

U1-2 = ∑1/2 (W/g) (v22-v12)

1000(6) - 1500(3) = 1/2(1000)(vB2-0) +
1/2(1500/9.81)(vA2-0)
1500 = (500/9.81)vB2 + (750/9.81)vA2
vB = 2vA
1500 = (500/9.81)(2vA2)+
(750/9.81)vA2
1500 = 280.3vA2
vA = 2.31 m/sec
Work and energy
PROBLEM

4. Through what
distance will body A
move in changing its
velocity from 1.8 m/sec
to 3.6 m/sec?

Work and energy

SOLUTION

U1-2 = ∑1/2 (W/g) (v22-v12)

100S - 1500(S/2) = 1/2(1000/9.81)
[(3.6)2 - (1.8)2] + 1/2(1500/9.81)
[(1.8)2 - (0.9)2]
250S = 681.2
S = 2.72m

Work and energy

PROBLEM

5. A block weighing 500N is dropped from a

height of 1.2m upon a spring whose
modulus is 20 N/mm. What velocity will the
block have at the instant the spring is
deformed 100mm?

Work and energy

SOLUTION
k = 20 N/mm = 0.02N/m
U1-2 = ∑1/2 (W/g) (v22-v12)
W.h - kS2/2 = 1/2 (W/g)
(v22-0)
500(1.3) - 0.02(0.1)2/2
= 1/2(500/9.81)(v22)
649.99 = 25.48 v22
v2 = 5.05 m/sec
Work and energy
PROBLEM

6. It is experementally determined that the

drive wheels of a car must exert attractive
force of 530N on the road surface in order
to maintain a steady vehicle speed of
90kph on a horizontal road. If it is known
that the overall drive train efficiency is
0.70, determine the required motor output?

Work and energy

SOLUTION

Efficiency =
P = Fv
Input/Output
P = 560(90)/3.6
Output =
N.m/s
Input/Efficiency
P = 14000 Watts
Output = 14/0.7
P = 14KW
Output = 20 KW

Work and energy

GODBLESS AND
STAY SAFE!
MIDTERM EXAMINATION
DANIEL GERALDO BSCE 2B