Kathmandu University

Dhulikhel, Kavre, Nepal

Unit 7: Introduction to Dynamics

Prepared by:
Bini Neupane
Email id: [email protected]
 Dynamics
Deals with the forces and their effects, while acting the bodies in
Dynamics motion.

Kinematics Kinetics

Which deals with the bodies in motion, without any

Which deals with the bodies in motion due to the
reference to the forces which are responsible for the
application of forces.
motion.
Cause calculated like Force, Torque
Effect calculated like velocity, acceleration.
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Rectilinear Motion of Particle:
• A particle is said to be in rectilinear motion if it moves along a straight line.

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Determination of motion of particle and rigid body:
a. When acceleration is a given function of time i.e., a=f(t).

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Determination of motion of particle and rigid body:
b. When acceleration is a given function of position i.e., a=f(x).

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Determination of motion of particle and rigid body:
c. When acceleration is a given function of velocity i.e., a=f(v).

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Determination of motion of particle and rigid body:
d. Uniformly rectilinear motion:
• Uniform motion means
covering equal distance
over equal intervals of
time.
• In this case velocity is
constant throughout the
motion and hence
acceleration a is zero for
every value of t.

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Determination of motion of particle and rigid body:
e. Uniformly accelerated rectilinear motion:
• In this motion acceleration a of the particle is constant.

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Determination of motion of particle and rigid body:
f. Relative Motion of Particles:
• Let position coordinate of A = xA
• Position coordinate of B =xB
• Relative Position of B with respect to A is xB/A or xAB
xB/A= xB-xA
Therefore, xB=xA+xB/A
Differentiating:
VB= VA+VB/A
Again, differentiating,
aB= aA+ aB/A

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 g. Dependent Motion:
• The position of a particle sometimes depend upon the position of another particle.
• The motion of such particle is known as dependent motion.
• Consider a pulley system shown in the figure. The position of block ‘B’ depends on the position
of block ‘A’.
• In this pulley system the length of rope ACDEFG is constant,
it just changes its orientation.
• HC=EB=constant
• The portion of rope wrapped on both the pulley is constant.
• Length of ACDEFG= constant
• AC+CD+DE+EF+FG=constant
• AC+DE+FG=constant ………………………….(1)
• Again, XA= AC+CH= AC + Constant………….(2)
• XB= BF+FG= FG + Constant…………………..(3) 10
 g. Dependent Motion:

• Multiplying equation (3) by 2 and adding to (2).

• XA+2XB= (AC+constant)+ 2(FG+Constant)
= AC+ 2FG+ Constant = AC+ FG+ (HD+ DE)+ constant
= AC+ FG+ DE+ Constant= All Constant
• Therefore, XA+ 2XB= constant…………………..(4)
• Differentiating,
• VA+2VB=0……………………………………….(5)
• Again, differentiating eqn (5)
• aA+ 2aB=0……………………………………….(6)

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Curvilinear Motion:
• The motion of a particle along a curved
path, other than a straight line is known as
curvilinear motion.
• E.g., Projectile motion, motion of satellite.
• Position of particle on curved path at any
instant is defined as position vector 𝑟,
Ԧ
where,

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Curvilinear Motion:
• The motion of a particle along a curved
path, other than a straight line is known as
curvilinear motion.
• E.g., Projectile motion, motion of satellite.
• Position of particle on curved path at any
instant is defined as position vector 𝑟,
Ԧ
where,

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Curvilinear Motion:
1. Projectile Motion
• Let a body is projected with initial velocity u at an angle θ with ground as shown in figure.
• Let H be the greatest height, R be the horizontal range and T be the time of flight of projectile.
• Consider at instant of time ‘t’ projectile reaches point P(x,y)
• Then,
• uy= usinθ
• Ux=ucosθ
• For point P
x= ucosθ x t
𝑥
• 𝑡= 14
cos 𝜃
Curvilinear Motion:
1. Projectile Motion
• Consider Vertical motion;

• This is the equation of parabola. Hence, the

projectile motion is parabolic in nature.
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a) Calculation of time of flight

• During the total time of flight, the net height gain by projectile motion will be zero.

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b) Calculation of greatest height

• At the maximum height of projectile, the vertical component of velocity will be zero.

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c) Calculation of horizontal range

• Since horizontal component of projectile velocity is constant.

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Derivation of tangential and normal Component
• The velocity of a particle is a vector tangent to the path of a particle but that the
acceleration is in general, not tangent to the path.
• The acceleration vector may be resolved into component directed along the tangent
and normal to the path of particle.

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Derivation of tangential and normal Component
• Consider 𝑒ෝ𝑡 and 𝑒ෞ 𝑛 be the unit vectors
along tangential and normal direction.
• Consider a particle at a point P having
unit vector 𝑒ෝ𝑡 tangent to the path and 𝑒ෞ𝑛
perpendicular to 𝑒ෝ𝑡 .
• When P reaches to P’, 𝑒ෝ𝑡 changes to 𝑒ෝ𝑡 ′
and 𝑒ෞ ෢
𝑛 changes to 𝑒𝑛 ′ having radius of
curvature 𝛿.
• Drawing both vectors from the same
origin O, we define
∆𝑒ෝ𝑡 = 𝑒ෝ𝑡 - 𝑒ෝ𝑡 ′
• Denoting by ∆𝜃 the angle formed by 𝑒ෝ𝑡
and 𝑒ෝ𝑡 ′ .
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Derivation of tangential and normal
Component

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Derivation of Radial and Transverse Component

• The position of the particle at P is

defined by the coordinates r and 𝜃 as
shown in the figure where r is length in
meter and θ is angle in radian.
• The unit vectors in radial and transverse
direction are denoted by 𝑒ෝ𝑟 and 𝑒ෞθ
respectively.
• As the particle moves from P to P’, the
vector 𝑒ෝ𝑟 and 𝑒ෞθ changes to 𝑒෢ ෢
𝑟 ′ and 𝑒θ ′
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Derivation of Radial and Transverse Component

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Derivation of Radial and Transverse Component
For Velocity: For Acceleration:

𝑽 = 𝑽𝒓 + 𝑽𝜽 24
Derivation of Radial and Transverse Component
• Therefore,
• 𝑉𝑟 = 𝑟𝑒
ሶ 𝑟
• 𝑉θ = 𝑟θ𝑒ሶ 𝜃

• 𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 𝑒𝑟
• 𝑎𝜃 = (2𝑟ሶ 𝜃ሶ + 𝑟𝜃)𝑒
ሷ 𝜃

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THANK YOU!

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