CEDYNA20: Dynamics of Rigid Bodies

Unit 1 | Rectilinear
Translation
Mechanics

ENGINEERING MECHANICS

RIGID-BODY DEFORMABLE-BODY FLUID

MECHANICS MECHANICS MECHANICS

STATICS It deals with the equilibrium of bodies, those that

are either at rest or move with a constant velocity.

DYNAMICS It is concerned with that accelerated motion of

bodies.
• Kinematics – treats only the geometric aspects of motion
• Kinetics – analysis of the forces causing the motion
Rectilinear Translation
Rectilinear motion is another name for straight-line motion. This type of motion describes
the movement of a particle or a body. A body is said to experience rectilinear motion if any two
particles of the body travel the same distance along two parallel straight lines.
Rectilinear Kinematics
The kinematics of a particle is characterized by specifying, at any given instant, the particle’s
position, velocity, and acceleration.

Position, s
It is the location of the particle at any given
instant. Constant Acceleration
Displacement, Δs Velocity as a function of Time
It is the change in position. 𝒗𝒇 = 𝒗𝒐 + 𝒂𝒕
∆𝒔 = 𝒔𝒇 − 𝒔𝒐
Position as a function of Time
Velocity, v 𝟏 𝟐
It is the time rate of change of displacement. 𝒔𝒇 − 𝒔𝒐 = 𝒗𝒐 𝒕 + 𝒂𝒕
∆𝒔 𝒅𝒔 𝟐
𝒗𝒂𝒗𝒆 = 𝒗=
∆𝒕 𝒅𝒕 Velocity as a function of Position
Acceleration, a 𝒂 𝒅𝒔 = 𝒗 𝒅𝒗 𝒗𝟐𝒇 = 𝒗𝟐𝒐 + 𝟐𝒂(𝒔𝒇 − 𝒔𝒐 )
It is time rate of change of velocity.
∆𝒗 𝒅𝒗
𝒂𝒂𝒗𝒆 = 𝒂=
∆𝒕 𝒅𝒕
Rectilinear Kinematics
The kinematics of a particle is characterized by specifying, at any given instant, the particle’s
position, velocity, and acceleration.

Position, s
It is the location of the particle at any given Constant Acceleration
instant. Free-falling Bodies: Air Resistance Neglected

Displacement, Δs Velocity as a function of Time

It is the change in position. 𝒗𝒇 = 𝒗𝒐 − 𝒈𝒕
∆𝒔 = 𝒔𝒇 − 𝒔𝒐
Position as a function of Time
Velocity, v 𝟏 𝟐
It is the time rate of change of displacement. 𝒔𝒇 − 𝒔𝒐 = 𝒗𝒐 𝒕 − 𝒈𝒕
∆𝒔 𝒅𝒔 𝟐
𝒗𝒂𝒗𝒆 = 𝒗=
∆𝒕 𝒅𝒕 Velocity as a function of Position
Acceleration, a 𝒂 𝒅𝒔 = 𝒗 𝒅𝒗 𝒗𝟐𝒇 = 𝒗𝟐𝒐 − 𝟐𝒈(𝒔𝒇 − 𝒔𝒐 )
It is time rate of change of velocity.
∆𝒗 𝒅𝒗
𝒂𝒂𝒗𝒆 = 𝒂=
∆𝒕 𝒅𝒕
Motion Curves
The motion of most machines is usually too complex to be analyzed mathematically. Instead,
graphical method is used in the analysis. The method of graphical analysis is particularly useful
when applied to problems involving variation of displacement, velocity or acceleration with time.

𝑑𝑠 ∆𝑣 = 𝑎 𝑑𝑡
=𝑣
𝑑𝑡
Slope of change in area under
= Velocity =
the a-t graph
s-t graph velocity

𝑑𝑣 ∆𝑠 = 𝑣 𝑑𝑡
=𝑎
𝑑𝑡
Slope of area under
= Velocity displacement =
the v-t graph
v-t graph
Motion Curves
The motion of most machines is usually too complex to be analyzed mathematically. Instead,
graphical method is used in the analysis. The method of graphical analysis is particularly useful
when applied to problems involving variation of displacement, velocity or acceleration with time.

The change in displacement ∆𝑠 may

∆𝑣 = 𝑎 𝑑𝑡 be calculated directly from the area
under the a-t curve using the equation,
change in area under
=
velocity the a-t graph
∆𝒔 = 𝒗𝟏 𝒕𝟐 − 𝒕𝟏 + 𝑨𝒓𝒆𝒂𝒂 𝒕 × 𝒕𝟐

It states that the change in

displacement ∆𝑠 in any time interval
∆𝑠 = 𝑣 𝑑𝑡 𝑡2−𝑡1 is equal to the velocity 𝑣1 at the
start of the interval multiplied by the
displacement =
area under time interval plus the moment of the
the v-t graph
area about 𝑡2 of that part of the a-t
diagram included in the interval 𝑡2−𝑡1.
Motion Curves
Motion Curves
Rectilinear Kinetics
Kinetics is a branch of dynamics that deals with the relationship between the change in
motion of a body and the forces that cause this change. The basis for kinetics is Newton’s Second
Law, which states that when an unbalanced force acts on a particle, the particle will accelerate in
the direction of the force with a magnitude that is proportional to the force.

Inertia / Reverse Effective Force

𝑾 = 𝒎𝒈 𝑾
𝑹𝑬𝑭 = 𝒎𝒂 = 𝒂
𝒈
The direction of REF is always opposite to the direction of a.

Equilibrium
𝑹𝑬𝑭 𝒂

𝑭𝒙 = 𝟎 𝑭𝒚 = 𝟎
𝑭𝟏 𝑭𝟐
𝑵𝟏 𝑵𝟐 𝑴𝒛 = 𝟎
Sample Problem
A car traveling at the speed Vo on a straight, level Solution:
road. After the brakes are applied at t = 0, the
motion can be approximated by 𝑥 = − 𝑡 + 17𝑡 a. Value of velocity Vo
where x is the distance traveled in meters and t is 𝑡
the time in seconds. 𝑥= − 𝑡 + 17𝑡 ← differentiate
100
a. Which of the following gives the value of Vo? 𝑑𝑥 3𝑡
= −2𝑡 +17
𝑑𝑡 100
b. Which of the following gives the distance
required for the car to stop? 3𝑡
𝑉= − 2𝑡 + 17
100
c. Which of the following gives the maximum
acceleration during braking? When t = 0,

3(0)
𝑉 = − 2(0) + 17
100
𝑉 = 17 m/s
Sample Problem
A car traveling at the speed Vo on a straight, level Solution:
road. After the brakes are applied at t = 0, the
motion can be approximated by 𝑥 = − 𝑡 + 17𝑡 b. Distance required to stop
where x is the distance traveled in meters and t is 3𝑡
the time in seconds. 𝑉= − 2𝑡 + 17
100
a. Which of the following gives the value of Vo? When V = 0,
3𝑡
b. Which of the following gives the distance 0= − 2𝑡 + 17 ← solve for t
required for the car to stop? 100
𝑡 = 56.667 sec 𝑡 = 10 sec
c. Which of the following gives the maximum
acceleration during braking? 𝑡
𝑥= − 𝑡 + 17𝑡 ← substitute t1 and t2
100
When t = 56.667 sec, When t = 10 sec,
(56.667) (10)
𝑥= − 56.667 + 17(56.667) 𝑥= − 10 + 17(10)
100 100
𝑥 = −428.148 m 𝑥 = 80 m
Sample Problem
A car traveling at the speed Vo on a straight, level Solution:
road. After the brakes are applied at t = 0, the
motion can be approximated by 𝑥 = − 𝑡 + 17𝑡 c. Maximum acceleration during braking
where x is the distance traveled in meters and t is 3𝑡
𝑉= − 2𝑡 + 17 ← differentiate
the time in seconds. 100
a. Which of the following gives the value of Vo? 𝑑𝑉 6𝑡
= −2
𝑑𝑡 100
b. Which of the following gives the distance 6𝑡
required for the car to stop? 𝑎= −2
100
c. Which of the following gives the maximum When t = 0 sec,
acceleration during braking?
6 0
𝑎= −2
100
𝑎 = −2 m/s
Sample Problem 𝒗𝒇 = 𝒗𝒐 + 𝒂𝒕
𝟏
𝒔𝒇 − 𝒔𝒐 = 𝒗𝒐 𝒕 + 𝒂𝒕𝟐
𝟐
𝒗𝟐𝒇 = 𝒗𝟐𝒐 + 𝟐𝒂(𝒔𝒇 − 𝒔𝒐 )

A car starting from rest picks up at a uniform rate Solution:

and passes three electric posts in succession. The
posts are spaced 360 m apart along a straight road. a. Acceleration of car
The car takes 10 s from first to second post and
takes 6 s from second to the third post. From first to second post:
1
a. Which of the following most nearly the 𝑠 − 𝑠 = 𝑣 𝑡 + 𝑎𝑡
2
acceleration of the car in m/s2?
1
b. Which of the following most nearly gives the (360 + 𝑆) − (𝑆) = 𝑉 (10) + 𝑎(10)
2
velocity of the car as it reaches the first post?
360 = 10𝑉 + 50𝑎
c. Which of the following gives the distance from
𝑉 = 36 − 5𝑎
the starting point to the first post?
From second to third post:
1
(360 + 360 + 𝑆) − (360 + 𝑆) = 𝑉 (6) + 𝑎(6)
2

𝑎 360 = 6𝑉 + 18𝑎
𝑉 𝑉 𝑉 = 60 − 3𝑎
𝑡 = 10 s 𝑡 =6s
𝑆 360 m 360 m
Sample Problem 𝒗𝒇 = 𝒗𝒐 + 𝒂𝒕
𝟏
𝒔𝒇 − 𝒔𝒐 = 𝒗𝒐 𝒕 + 𝒂𝒕𝟐
𝟐
𝒗𝟐𝒇 = 𝒗𝟐𝒐 + 𝟐𝒂(𝒔𝒇 − 𝒔𝒐 )

A car starting from rest picks up at a uniform rate Solution:

and passes three electric posts in succession. The
posts are spaced 360 m apart along a straight road. a. Acceleration of car
The car takes 10 s from first to second post and
takes 6 s from second to the third post. 𝑉 = 36 − 5𝑎 𝑉 = 60 − 3𝑎

a. Which of the following most nearly the From first to second post:
acceleration of the car in m/s2?
𝑣 = 𝑣 + 𝑎𝑡
b. Which of the following most nearly gives the 𝑉 = 𝑉 + 𝑎𝑡
velocity of the car as it reaches the first post?
60 − 3𝑎 = 36 − 5𝑎 + 𝑎(10)
c. Which of the following gives the distance from
the starting point to the first post? 𝑎 = 3 m/s

b. Velocity of the car reaching first post

𝑉 = 36 − 5𝑎
𝑉 = 36 − 5 3
𝑎
𝑉 𝑉
𝑉 = 21 m/s
𝑡 = 10 s 𝑡 =6s
𝑆 360 m 360 m
Sample Problem 𝒗𝒇 = 𝒗𝒐 + 𝒂𝒕
𝟏
𝒔𝒇 − 𝒔𝒐 = 𝒗𝒐 𝒕 + 𝒂𝒕𝟐
𝟐
𝒗𝟐𝒇 = 𝒗𝟐𝒐 + 𝟐𝒂(𝒔𝒇 − 𝒔𝒐 )

A car starting from rest picks up at a uniform rate Solution:

and passes three electric posts in succession. The
posts are spaced 360 m apart along a straight road. 𝑎 = 3 m/s 𝑉 = 21 m/s
The car takes 10 s from first to second post and
takes 6 s from second to the third post. c. Distance from starting point to the first post

a. Which of the following most nearly the 𝑣 = 𝑣 + 2𝑎 𝑠 − 𝑠

acceleration of the car in m/s2?
𝑉 = 0 +2 𝑎 𝑆−0
b. Which of the following most nearly gives the
21 = 0 + 2 3 𝑆
velocity of the car as it reaches the first post?

c. Which of the following gives the distance from 𝑆 = 73.5 m

the starting point to the first post?

𝑎
𝑉 𝑉
𝑡 = 10 s 𝑡 =6s
𝑆 360 m 360 m
Sample Problem
A stone is projected vertically upward from the top Solution:
of a 120 m high tower at a velocity of 36 m/s.

a. How high will it go reckoned from the ground? a. 𝑣 = 𝑣 + 2𝑎 𝑦 − 𝑦

0 = 36 +2 −9.81 (𝑦 − 120)
b. How long will it take it to reach the top?
𝑦 = 186.06 m
c. How long will it be above the ground after 9 seconds?
b. 𝑣 = 𝑣 + 𝑎𝑡
d. How long will it reach the ground?
0 = 36 +(−9.81) 𝑡
e. With what velocity will it hit the ground?
𝑡 = 3.67 sec

1
c. 𝑦 = 𝑦 + 𝑣 𝑡 + 𝑎𝑡
2
1
𝑦 = 120 +36 (9) + (−9.81) 9
2
𝑦 = 46.70 m

120 m
Sample Problem
A stone is projected vertically upward from the top Solution:
of a 120 m high tower at a velocity of 36 m/s.
1
a. How high will it go reckoned from the ground? d. 𝑦 = 𝑦 + 𝑣 𝑡 + 𝑎𝑡
2
1
b. How long will it take it to reach the top? 0 = 120 +36 𝑡 + −9.81 𝑡
2
c. How long will it be above the ground after 9 seconds? 𝑡 = −2.49 sec
d. How long will it reach the ground? 𝑡 = 9.83 sec

e. With what velocity will it hit the ground? e. 𝑣 = 𝑣 + 𝑎𝑡

𝑣 = 36 + −9.81 (9.83)
𝑣 = −60.42 m/s

120 m
Sample Problem
The motion of a particle starting from initial velocity Solution:
of 5 ft/s is governed by the a-t diagram shown.
a. Velocity of the particle
a. Determine the velocity at t = 9 seconds.
𝑣 − 𝑣 = 𝑎𝑟𝑒𝑎 𝑢𝑛𝑑𝑒𝑟 𝑡ℎ𝑒 𝑎 − 𝑡 𝑐𝑢𝑟𝑣𝑒
b. Determine the displacement at t = 9 seconds.
1
𝐴= 6 (12) = 36
2 𝑣 − 5 = 36 + 6 + 24
a (ft/s2) 1
𝐵= 3 (4) = 6 𝑣 = 71 ft/s
2
12 𝐶 = 3 (8) = 24

B b. Displacement of the particle

8
𝑥 − 𝑥 = 𝑣 𝑡 + 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑎𝑟𝑒𝑎 𝑜𝑓 𝑡ℎ𝑒 𝑎 − 𝑡 𝑑𝑖𝑎𝑔𝑟𝑎𝑚
C
A 1 2
𝑥 − 𝑥 = 5 9 +36 × 6 + 3 +6 × 3 +24 1.5
t (sec) 3 3
6 9 𝑥 − 𝑥 = 273 ft
Sample Problem
A 100-kg block rests on a horizontal plane. Find the Solution:
magnitude of the force P required to give the block
an acceleration of 2.5 m/s2 to the right. The +↑ Σ𝐹 = 0
coefficient of kinetic friction between the block and
the plane in μk = 0.25. 𝑃 sin 30°+𝑁 −100 9.81 = 0
𝑃 sin 30° + N = 981
100 kg
+→ Σ𝐹 = 0
ma 𝑃 cos 30° − 𝑓 −100 2.5 = 0
𝑃 cos 30° − 0.25𝑁 = 250
f = 𝜇𝑁
𝑃 = 499.73 N
N 𝑁 = 731.13 N
Sample Problem
An elevator weighing 15 kN starts from rests and Solution:
acquires an upward velocity of 3 m/s in a distance of
6m. If the acceleration is constant, what is the
tension in the cable?

3m

3m
Upward
motion
Sample Problem
An elevator weighing 15 kN starts from rests and Solution:
acquires an upward velocity of 3 m/s in a distance of
6m. If the acceleration is constant, what is the 𝑣 = 𝑣 + 2𝑎 𝑠 − 𝑠
tension in the cable?
T 3 = 0 + 2𝑎 6 − 0

𝑎 = 0.75 m/s
W = 15 kN
+↑ Σ𝐹 = 0

𝑇 − 𝑊 − 𝑚𝑎 = 0

3m ma 15000
𝑇 − 15000 − 0.75 = 0
9.81

𝑇 = 16,146.789 N

𝑇 = 16.147 kN
3m
Upward
motion
Sample Problem
Block A having a weight of 981 N is released from rest. If the mass of the pulleys and the chord is neglected.
Weight of block B is 196.2 N.

a. Which of the following gives the acceleration of block A?

b. Which of the following gives the velocity of block B after 2 seconds?

c. Which of the following gives the tension of the cable supporting block B?
Solution:

𝐷𝑎𝑡𝑢𝑚
𝑅𝑒𝑙𝑎𝑡𝑖𝑜𝑛𝑠ℎ𝑖𝑝𝑠
2𝑆 +𝑆 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑆 𝑆
2𝑣 +𝑣 = 0

𝑆 2𝑎 +𝑎 = 0 1

A
B
 Sample Problem
Block A having a weight of 981 N is released from rest. If the mass of the pulleys and the chord is neglected.
Weight of block B is 196.2 N.

a. Which of the following gives the acceleration of block A?

b. Which of the following gives the velocity of block B after 2 seconds?

c. Which of the following gives the tension of the cable supporting block B?
Solution: 𝐵𝑙𝑜𝑐𝑘 𝐴
+↑ Σ𝐹 = 0; 2𝑇 +𝑚 𝑎 −981 = 0
𝑅𝑒𝑙𝑎𝑡𝑖𝑜𝑛𝑠ℎ𝑖𝑝𝑠 981
2𝑇 + 𝑎 = 981 2
T 2𝑆 +𝑆 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 9.81
T
T 2𝑣 +𝑣 = 0 𝐵𝑙𝑜𝑐𝑘 𝐵
+motion
2𝑎 +𝑎 = 0 1 +↑ Σ𝐹 = 0; 𝑇 +𝑚 𝑎 −196.2 = 0
2T
T 196.2
𝑇+ 𝑎 = 196.2 3
mAaA 9.81
A
𝑇 = 327 N 𝑎 = 3.27 m/s downward
981 N B mBaB
𝑎 = −6.54 m/s = 6.54 m/s upward
196.2 N
 Sample Problem
Block A having a weight of 981 N is released from rest. If the mass of the pulleys and the chord is neglected.
Weight of block B is 196.2 N.

a. Which of the following gives the acceleration of block A?

b. Which of the following gives the velocity of block B after 2 seconds?

c. Which of the following gives the tension of the cable supporting block B?
Solution:
𝑇 = 327 N 𝑎 = 3.27 m/s downward

𝑎 = −6.54 m/s = 6.54 m/s upward

T T
𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝐵𝑙𝑜𝑐𝑘 𝐵 𝑎𝑓𝑡𝑒𝑟 2 𝑠𝑒𝑐.
T
+motion
𝑣 = 𝑣 + 𝑎𝑡
2T
𝑣 = 0 + 6.54(2)
T
mAaA 𝑣 = 13.08 m/s
A

981 N B mBaB

196.2 N