DYNAMICS of

RIGID BODIES
CE 223: PRELIM MODULE
ENGR. KRISTELLE ANN V. GINEZ
Reference:
 What is Engineering Mechanics ?
 is a branch of
engineering that
applies the
principles of
mechanics to any
design that must
take into account the
effect of forces
Engineering Mechanics
STATICS
which concerned
DYNAMICS
with the equilibrium
which deals with the
of a body that is
accelerated motion of
either at rest or
a body
moves with constant
velocity
Newton’s first law: Newton’s 2nd Law

FR=0 FR= ma
Application of Dynamics

 Robot arm
 Car Engine
 Vehicle Dynamics
- Braking/
Accelerating
- Cornering
 Planetary Gear
 TWO BRANCHES OF DYNAMICS
• Concerned with the geometric
KINEMATICS aspects of motion
• ABSOLUTE MOTION

• Analysis of the forces causing

the motion
KINETICS • FORCE-MASS ACCELERATION METHOD
• WORK-ENERGY METHOD
• IMPULSE-MOMENTUM METHOD
1  Is used to define
motion of a particle
or body without
KINEMATICS consideration of the
forces causing the
motion.

 It essentially deals
with relation
between
displacement (S),
velocity (V), and
acceleration(a).
2  Is used to relate the
force acting on a
KINETICS body to its mass and
acceleration. When
acceleration of a
body caused by the
forces acting on it
has been
determined, the
principles of
kinematics may be
now be applied to
determine the
displacement of
velocity at any
instant.
https://byjus.com/physics/difference-between-kinetics-and-kinematics/
 HISTORY OF DYNAMICS
-was one of the first major contributors to
this field
- His work consisted of experiments using
pendulums and falling bodies.
- He was largely responsible for bringing a scientific
approach to the investigation of physical problems.

Galileo Galilei
(1564-1642)

https://
serpmedia.org/ https://slideplayer.com/slide/11597028/
scigen/e1.3.html
 HISTORY OF DYNAMICS
- guided by Galileo’s
work, was able to
make an accurate
formulation of the
laws of motion
and, thus, to place
dynamics on a
sound basis.
- He formulate the
three fundamental
Isaac Newton laws of motion
(1642-1727) and the law of
universal https://sciencenotes.org/newtons-laws-of-motion/
gravitational
attraction.
 HISTORY OF DYNAMICS
Interesting Stuff

- Monument: Westminster Abbey

England
- Apple Tree
- He stated “ I can calculate the
motions of heavenly bodies, but
not the madness of people”
Isaac Newton
(1642-1727)
RECTILINEAR KINEMATICS
 The kinematics of a particle is characterized by specifying, at any given
instant, the particle's position, velocity, and acceleration.
 Differential Kinematic Equations of Motion
Position - The straight-line path of a particle
will be defined using a single coordinate axis s.

 The origin 0 on the path is a fixed point, and

from this point the position coordinate s is
used to specify the location of the particle
at any given instant.
 The magnitude of s is the distance from 0 to
the particle, usually measured in meters (m)
or feet (ft)
 the sense of direction is defined by the
algebraic sign on s.
 Differential Kinematic Equations of Motion
Displacement (∆s) of a particle is defined as the ∆s = s’ –
change in its position s

Velocity - If the particle moves through a

displacement ∆S during the time interval ∆t, the ∆𝑆
average velocity of the particle during this time 𝑉𝑎𝑣𝑔=
interval is, ∆𝑡
Acceleration - Provided the velocity of the
particle is known at two points, the average ∆𝑉
𝐴 𝑎𝑣𝑔=
acceleration of the particle during the time ∆𝑡
interval ∆t is defined as
Differential Kinematic Equations of Motion
When velocity (V) is equal to the time rate of
change of Displacement. (Instantaneous Velocity)

When acceleration(a) is equal to the rate of

change of velocity (Instantaneous acceleration)
 Differential Kinematic Equations of Motion
DECELERATING
- when the particle is slowing down, or its speed is
decreasing

note that when the velocity

is constant, the acceleration
is zero since
Δ v=v-v
= O. In this case, v’ is less than v, and so Δv = v'-v will be
negative. Consequently, a will also be negative, and
therefore it will act to the left, in the opposite sense to v
 Differential Kinematic Equations of Motion
Units commonly used to express the magnitude of
acceleration,
While the magnitude of velocity is known as the speed
ezpressed in

important differential relation involving the

displacement, velocity, and acceleration along the
path may be obtained by eliminating the time
differential dt,
 Differential Kinematic Equations of Motion
Constant Acceleration - a = ac. When the acceleration is constant, each of the three
kinematic equations ac = dv/dt, v = ds/dt, and ac ds = v dv can be integrated to obtain
formulas that relate ac, v, s, and t.

Velocity as a Function of Time

Integrate ac = dv/dt, assuming that initially v = v0
when t = O.

Position as a Function of Time

Integrate v = ds/dt = v0 + ac t, assuming that
initially s = s0 when t = O.
 Differential Kinematic Equations of Motion

Velocity as a Function of Position

Integrate v dv = ac ds, assuming that initially
v = v0 at s = so.
EXAMPLES:
1. The car in moves in a straight line such that for a short time its velocity is
defined by v = (3t2 + 2t) ft/s, where t is in seconds. Determine its
position and acceleration when t = 3s, t = 0, s = o.
2. A car starts from rest and with constant acceleration achieves a
velocity of
15 m/s when it travels a distance of 200m. Determine the acceleration
of the car and the time required.
3. During a test, a rocket travels upward at 75
m/s, and when it is 40 m from the ground its engine
fails. Determine the maximum height SB reached by
the rocket and its speed just before it hits the
ground. While in motion the rocket is subjected to a
constant downward acceleration of 9.81 m/ due to
gravity. Neglect the effect of air resistance.
4. A particle moves along a horizontal path
with a velocity of v = (3 - 6t) m/s, where t is the
time in seconds. If it is initially located at
the origin 0, determine the distance traveled
in 3.5 s, and the particle's average velocity
and average speed during the time interval.
RECTILINEAR KINEMATICS:
ERRATIC MOTION
- When a particle has erratic or changing motion then its position, velocity, and
acceleration cannot be described by a single continuous mathematical function
along the entire path. Instead, a series of functions will be required to specify the
motion at different intervals.
- it is convenient to represent the motion as a graph
The s-t, v-t, and a-t Graphs
The s-t, v-t, and a-t Graphs
The s-t, v-t, and a-t Graphs
EXAMPLES:
1. A bicycle moves along a straight
road such that its position is
described by the graph. Construct
the v-t and a-t graphs for 0 ≤ t ≤ 30 s.
2. The car starts from rest and travels
along a straight track
such that
it accelerates at 10 m/ for 10 s,
and then decelerates at 2 m/.
Draw the v-t and s-t graphs
and
determine the time t’ needed
to
stop the car. How far has the
car
traveled?
3. The car starts from rest and travels
along a straight track
such that
it accelerates at 10 m/ for 10
s, and then decelerates at 2
m/.
Draw the v-t and s-t graphs
and
determine the time t’ needed
to
stop the car. How far has the
car
traveled?
GENERAL CURVILINEAR MOTION
Curvilinear motion occurs when a particle moves along a curved path.
Since this path is often described in three dimensions, vector analysis will
be used to formulate the particle's position, velocity, and acceleration.
Differential Kinematic Equations of Curvilinear Motion

Position

Consider a particle located at a point on a

space curve defined by the path function s(t).
The position of the particle, measured from a
fixed point 0, will be designated by the position
vector r = r (t). Notice that both the magnitude
and direction of this vector will change as the
particle moves along the curve.
Differential Kinematic Equations of Curvilinear Motion

Displacement

Suppose that during a small-time interval t the

particle moves a distance s along the curve to a
new position, defined by r' = r + r. The
displacement r represents the change in the
particle's position and is determined by vector
subtraction; i.e., r = r' - r.
Differential Kinematic Equations of Curvilinear Motion

Velocity

During the time t, the average velocity of the

particle is
vavg =

dr = tangent to the curve

v = direction of v is also tangent to the curve
and the magnitude is called speed
Differential Kinematic Equations of Curvilinear Motion

Acceleration

If the particle has a velocity v at time t and a

velocity v' = v + v at t + t

aavg =

v = v' - v
Differential Kinematic Equations of Curvilinear Motion

This curve is called a hodograph, and when constructed, it describes the locus of
points for the arrowhead of the velocity vector in the same manner as the path s
describes the locus of points for the arrowhead of the position vector.
Differential Kinematic Equations of Curvilinear Motion

a acts tangent to the hodograph, and, in

general it is not tangent to the path of motion.

a = or a =
EXAMPLES:
1. At any instant the horizontal position of
the weather balloon is defined by x = (8t)
ft, where t is in seconds. If the equation of
the path is y = x2/10, determine the
magnitude and direction of the velocity
and the acceleration when t = 2 s.
2. For a short time, the path of the plane is
described by y = (0.00lx2) m. If the plane is
rising with a constant velocity of 10 m/s,
determine the magnitudes of the velocity
and acceleration of the plane when it is at
y = 100 m.
MOTION OF A PROJECTILE
The free-flight motion of a projectile is often studied in terms of its
rectangular components
 the kinematic analysis, consider a
projectile launched at point (xo,
yo), with an initial velocity of vo,
having components (vo)x and (vo)y.

 When air resistance is neglected,

the only force acting on the
projectile is its weight, which
causes the projectile to have a
constant downward acceleration
of approximately ac = g = 9.81
m/s2 or g = 32.2 ft/s2.
Horizontal Motion
Since ax = 0, application of the constant acceleration equations

The first and last equations indicate that the horizontal component of velocity
always remains constant during the motion.
Vertical Motion

Since the positive y axis is directed upward, then ay = -g.

the last equation can be formulated on the basis of eliminating the time t from the
first two equations, and therefore only two of the above three equations are
independent of one another.
 SUMMARY

problems involving the

motion of a projectile
can have at most three
unknowns since only
three independent
equations can be written;
that is, one equation in
the horizontal direction
and two in the vertical
direction.V
EXAMPLES:
1. A sack slides off the ramp, with a
horizontal velocity of 12 m/s. If the height
of the ramp is 6 m from the floor,
determine the time needed for the sack to
strike the floor and the range R where
sacks begin to pile up.
2. The chipping machine is designed to
eject wood chips at vo = 25 ft/s as shown.
If the tube is oriented at 30° from the
horizontal, determine how high, h, the
chips strike the pile if at this instant they
land on the pile 20 ft from the tube.
CURVILINEAR MOTION:
NORMAL AND TANGENTIAL COMPONENTS
When the path along which a particle travels is known, then it is often
convenient to describe the motion using n and t coordinate axes which act
normal and tangent to the path, respectively, and at the instant considered
have their origin located at the particle.
Curvilinear Motion Equations

Planar Motion

- Provided the path of the particle is known, we can

establish a set of n and t coordinates having a fixed
origin, which is coincident with the particle at the
instant considered.

- The positive tangent axis acts in the direction of

motion and the positive normal axis is directed toward
the path's center of curvature.
Curvilinear Motion Equations

Velocity
- The particle's velocity is always tangent to the path.
- The magnitude of velocity is found from the time
derivative of the path function, s = s(t),

v = ds/ dt
Curvilinear Motion Equations
Tangential Acceleration

- The tangential component of acceleration is the result of the time

rate of change in the magnitude of velocity. This component acts in
the positive s direction if the particle's speed is increasing or in the
opposite direction if the speed is decreasing.
- The relations between at , v, t and s are the same as for rectilinear
motion, namely,

If at is constant, at = (at)c, the above equations, when integrated, yield

s = so + v0t + ½(at)ct 2
v = v0 + (at)ct
v2 = v02 + 2(at)c (s - so)
Curvilinear Motion Equations

Normal Acceleration

• The normal component of acceleration is the result of the time rate

of change in the direction of the velocity. This component is always
directed toward the center of curvature of the path, i.e., along the
positive n axis.
• The magnitude of this component is determined from

These two mutually perpendicular

components are shown in the figure.
• If the path is expressed as y = f(x), the radius of curvature at any
Therefore, the magnitude of
acceleration is the positive value of point on the path is determined from the equation
EXAMPLES:
1. When the skier reaches point A along
the parabolic path, he has a speed of 6
m/s which is increasing at 2 m/s2.
Determine the direction of his velocity and
the direction and magnitude of his
acceleration at this instant. Neglect the
size of the skier in the calculation.
2. A race car C travels around the horizontal circular track that has a radius of 300 ft. If the car
increases its speed at a constant rate of 7 ft/s2, starting from rest, determine the time needed
for it to reach an acceleration of 8 ft/s2. What is its speed at this instant?
ABSOLUTE DEPENDENT MOTION
“ ANALYSIS OF TWO PARTICLES”
In some types of problems, the motion of one particle will depend on the
corresponding motion of another particle. This dependency commonly occurs
if the particles, here represented by blocks, are interconnected by
inextensible cords which are wrapped around pulleys.
THE END!!