Dynamics FE Review

For rectilinear motion - motion in a

Mechanics straight line - where the position is
Response of mass (body)
to mechanical disturbance defined by s:

Statics Dynamics ds dv
Analysis of body Analysis of body v a a ds v dv
at rest in motion dt dt

Kinematics Kinetics Note: Instead of s, the position could

Geometry of motion Relation between

Video
no concern for forces force, mass, and be defined by x, y, etc.
that caused motion motion

Figures and problems taken from the textbook Dynamics, 5th

edition, Meriam and Kraige, Wiley.
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Example Problem:
Kinematics of Particles
Given: Position of a car is described by
Fundamental equations of motion s 3t 3 t 2 m.
For a particle whose position is Find: v(t) and a(t)
defined by the vector r:
ds
dr dv Solution: v : v 9t 2 2t m/s
v a dt
dt dt
Where v is the instantaneous velocity, a is dv
a : a 18t 2 m/s 2
the instantaneous acceleration, and t is dt
time.
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 Note we wrote the
Example Problem: So, we start with dv
a(t ) acceleration as a(t) to
dt emphasize the fact that
Given: Acceleration of a car is given by: a is a function of t.

a( t ) 3t 2 5t 1 m/ Then: dv a( t ) dt
m/s2
v t
At t = 0, v0 = 4 m/s dv a(t ) dt
v0 0
Find: Velocity (v) when t=3 s. t
v v0 a( t ) dt
0

This gives us v as a t

function of time or v(t) v( t ) v0 a(t ) dt

2011 2011
0
5 7

t
First, look for a fundamental equation that v( t ) v0 a(t ) dt
contains both a, t and v. 0

So for a(t) = 3t2+5t+1

5t 1, v0 = 4 m/s, and t = 3 s
t
ds dv
v a a ds v dv v 4 (3t 2 5t 1) dt
dt dt 0
3
3t 3 5t 2
v 4 t
3 2 0

v 56.5 m/s
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For uniformly accelerated rectilinear If the acceleration is constant, we can
(UARM) motion (a=constant) the following apply the UARM equations in the x and y
equations apply: directions.
For the x direction For the y direction
v v0 a (t t0 )
vx vx 0 axt vy vy ayt
0
a (t t0 ) 2
s s0 v0 (t t0 )
2
ayt 2
y y0 v y t
at
2 x x0 vx 0 t x
2 0 2
v v 2a s s0
2 2
0 vx 2 vx 0 2ax x x0 v y 2 v y 0 2a y y y0
2 2

THESE ONLY APPLY IF THE

ACCELERATION IS CONSTANT!!! Note: This is for t0 = 0. If t0 = 0
2011 9 2011 then replace t with t-t0 11

Curvilinear Motion Using Rectangular Projectile Motion using Rectangular Coordinates

Coordinates (x-y)
Useful when the position (r) is given in
rectangular coordinates ax = 0
Fig 2/7 Meriam and Kraige
ay = -g
dr
v xi y j
Fig 2/8 Meriam and Kraige

dt For the x direction For the y direction

vx vx 0 v y v y gt
0
dv
a
xi
yj x x0 vx 0 t gt 2
dt y y0 v y t
0 2
v y 2 v y 2 g y y0
2
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0

3
 Example: Curvilinear Motion Using Normal-
Tangential (Path) Coordinates (n-t)
Given: Projectile fired off a cliff as shown Useful when the path is given, especially
the curvature of the path
y
180 m/s et
o 30
ymax
x en
150 m
x at impact
Fig
g 2/9 Meriam and Kraige
g

Find: x at impact and v2 v2

v vet a en vet an at v
ymax
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Special Case: Circular motion using n-t

coordinates
= constant = r
Angular position
given
i by
b

v r
v2
an r 2 v
r
at v r

note: and
Fig 2/12 Meriam and Kraige
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 Example: Car on the circular part of track For Curvilinear Motion Using Polar Coordinates:
Given: FAS, r = 200 m, v = 50 m/s, at = 2 m/s2 v rer re
r r 2 er r 2r e
a
et
e er For circular
en motion:
r 0
r r 0

Find: a note:
Fig P2/144 Meriam and Kraige

and
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Kinetics of Particles
Kinetics: Relations between forces and
motion.
Newtons Second Law: The acceleration of
a particle is proportional to the resulting
force acting on it and is in the direction of
this force.
force

F ma (assumes m is constant)

FBD: You must be able to draw good free

body diagrams!
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 Rectangular Coordinates (Cartesian) Polar Coordinates (Radial/Transverse)
For particle P: For particle A:
y
F2
F ma F ma
F ma i ma j F ma e
F3
x y F2
F3
r r ma e
P
F1
Scalar components: F1 Scalar components:

F ma x F ma m r r
r r
2

F ma m r 2r
x
x Fig 2-13 Meriam and Kraige

F y ma y

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Normal/Tangential Coordinates (Path) Units

SI US
F2 F3 For particle C:
F ma Force N lb
A
Acceleration
l ti m/s
/ 2 ft/
ft/sec 2
F1
F ma e n n mat et
Mass kg slug (32.2 lbm)
Scalar components: g 9.81 m/s2 32.2 ft/sec2
Fig 2-9 Meriam and Kraige

v2 a = 1 m/s2 a = 1 ft/sec2
F n ma n m
F=1N F = 1 lb
F
F ma
t t
mv m=1 kg m=1 slug

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 Example Problem: Textbook 3/12
Example Problem: Textbook 3/1

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3/1 3/12

Given: FAS
v0 = 7 m/s at x0 = 0
k = 0.4, m = 50 kg Given: FAS, W = 100 lb
a = 5 ft/s
ft/sec
c2 up incline
nc n
Find: t and x when v = 0 k = 0.25

Find: P

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 Example Problem: Textbook 3/54
Example Problem:Textbook 3/50

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3/50 3/54

Given: FAS, m = 2 kg Given: FAS, W = 0.2 lb

vB = 3.5 m/s = 30
= 2.4
24m = 3 rad/sec ccw
r = -4 ft/sec
Find: NB and vA such that
NA = 0 Find: N

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 Example Problem: Textbook 3/56
Work/Energy

We have been using the direct application of

Newtons Second Law to solve kinetics
problems.
F ma
Forces Acceleration Motion

This method of solution can be very difficult sometimes!

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3/56
Work/Energy methods:

These methods will make it MUCH EASIER

to solve some kinetics problems!

Definition of work: U
Component of force acting in the direction of
motion times the displacement.
Given: FAS,, W = 3000 lb
r = 100 ft, v = 35 mi/hr Units: SI Nm = J
Find: aN, FN US ftlb

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 Consider a particle moving Conservative force: Work done by a
along the path from A to A conservative force is independent of path.
r2
SCALAR! The work only depends on the starting and
U F dr ending positions!
r1 When a pparticle moves under the influence
f of
fa
conservative force:
If we let |dr| = ds
U 1 2 V1 V2 and T1 V1 T2 V2
s2

U Ft ds
s1 Work done by nonconservative forces: U12
Sign convention:
Positive if active force (Ft)
is in the direction of motion
Then: T1 V g 1 Ve1 U 1 2 T2 V g 2 Ve 2
and negative if it is in the
opposite direction
Fig 3-2 Meriam and Kraige
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Potential Energy: (V)

This is the fundamental equation for
Energy available due to position
applying the work/energy method.
Gravity: V g mgh
T1 V g 1 Ve1 U 1 2 T2 V g 2 Ve 2
h is measured
from the datum.
+ if above datum
datum The FE reference handbook gives the equation
- if below datum
in this form:

Spring: 1 2
Ve kx T1 U 1 W1 2 T2 U 2
2
Fig 33-6
6 Meriam and Kraige

1 Whenever you have conservative forces doing work -- gravity and

- Kinetic Energy: (T) T mv 2 springs -- consider using the work/energy method.
2
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 Example Problem: Textbook 3/104 Example Problem: Textbook Sample 3/17

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3/104 Sample 3/17

Given: FAS, vA = 5 m/s,

hA = 0,
hB = 0.8 m Given: FAS, mg = 6 lb, k = 2 lb/in,
Find: vB unstretched length = 24 in,
vA = 0

Find: vB

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 Example Problem: Textbook 3/144
Impulse/Momentum

In some situations, the FORCES are

described as acting over an interval of
TIME. Impulse/Momentum methods work
well in these cases.

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3/144
Linear Impulse - Linear Momentum

Define: t2

Fdt Linear Impulse

t1
VECTOR!

m v G Linear Momentum VECTOR!

Then:
t2
Given: FAS, m = 4 kg, vA = 0

Find:
unstretched length = 24 in

vB, x at max deformation

Fdt G
t1
2 G 1 G

Linear Impulse = Change of Linear Momentum

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Rearranging: t2 3/179
G 1 Fdt G 2
t1

Scalar Components: t2

G x1 Fx dt G x2 Given: FAS, For projectile:

M=75 g, v1=600 m/s
t1 For block: M=50 kg
t2 v1 = 0

G y1 Fy dt G y2 Find: E during impact

t1

Conservation of
Linear Momentum: If
If F 0 then G 1 G 2

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Example Problem: Textbook 3/179 Example Problem: Textbook 3/188

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3/188 y

Given: FAS, For tanker: M=10.43x106 slugs, v1=0,

Cable tension = 50,000 lb
Find: Time required to bring speed of tanker to 1 knot O

x
Fig 3-11 Meriam and Kraige

For plane motion in the

x-y plane:

H o r mv
mvr sin k

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Angular Impulse - Angular Momentum Define t2

Angular Momentum: H0
Angular
Impulse:
M
t1
o dt Angular Impulse

The moment of the linear momentum

about a point t2
It can be shown:
M
t1
o dt H O2 H O1 H O

t2

O Rearranging: H O1 M o dt H O2
t1

Conservation of
Angular Momentum: If M O 0 then H O 1 H O 2
Fig 3-11 Meriam and Kraige
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 Example Problem: Textbook 3/227 Kinetics of Particles -
Impact
Impact: Collision between two bodies.
bodies

Direct Central
Impact: Centers LOI

of mass located on
Line
L ne of Impact
(LOI). Velocities LOI

in direction of
LOI.
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3/277
If we have no external impulsive forces, TOTAL
linear momentum of the system is conserved.

G Before G After

Along the LOI:

m 1 v1 m 2 v 2 m 1 v1' m 2 v 2'

Given: FAS, N1 = 0 Coefficient of Restitution (e)

N2 = 150 rpm
T = 20 N Relative velocity after v2' v1'
Find:
e
t Relative velocity before v1 v2
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 Example Problem: Textbook 3/247 Plane Kinematics of Rigid
Bodies - Plane Motion

Rigid Body: System of particles for

which the distances between the
particles remain unchanged.
Plane Motion: All parts of the body move
in parallel planes.
planes
Plane of Motion: Plane that contains the
center of mass.

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3/247 Types of Plane Motion:

Translation: All points

on the rigid body have
the same velocity and
Gi
Given: FAS e = 0
FAS, 0.6
6 acceleration.
l
Kinematic concepts
Find: v1 and v2 from Chapter 2 apply

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Fig 5-1 Meriam and Kraige

16
 Rotation Concepts: Example Problem: Textbook 5/2

d
Angular velocity
dt
d
Angular acceleration
dt
d d
For = constant:
Fig 5-2 Meriam and Kraige

O (t t 0 )
O2 2 O
1
O (t t 0 ) (t t 0 ) 2
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Fixed Axis Rotation: 5/2

For any point on the rigid body,
v r
2
a n r 2 v v
r
a t r

In vector form, Given: FAS, =10 rad/s

v r r Find:
F vA an
and aA
a n r 2 r
Fig 5-3 Meriam and Kraige

at r

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 Relative Motion -Translating Axes (Velocity)
Plane Kinematics of Rigid Bodies - Absolute
velocity of origin
Relative Motion Method of the
Absolute
translating
velocity of A
frame at B wrt
G
Generall Plane
Pl Motion
M ti can beb considered
id d wrt fixed
fixed frame
as Translation + Rotation (Translating y frame (X,Y)
Frame) (X,Y)

vA vB vA B
A/B

Y x
Relative
R l velocity
l of
f A wrt a
(Fixed Frame) translating frame (x,y)
X Fig 5/6 Meriam and Kraige attached to B.
If A and B are on the same
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rigid body, vA/B = rA/B 71

Relative Motion: Relative Motion -Translating Axes (Acceleration)

Absolute Absolute
XY Fixed acceleration of acceleration of
y
xy Translating with B ((Translating
ranslat ng
A wrt fixed origin of the
Frame) f
frame (X,Y) t
translating
l ti
rA rB rA
A/B
frame at B wrt
B x fixed frame
rA rB rA or v A v B v A Y aA aB aA B (X,Y)
B B

rA
rB
rA or a A a B a A
Fig.
g 2-17 Meriam and Kraige
g B B (Fixed Frame)
X Fig 5/9 Meriam and Kraige
Relative acceleration of A
wrt a translating frame
(x,y) attached to B. Due to
rotation about B
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Relative Motion - 5/120
Translating Axes. vA vB vA B
To summarize:
or
v A v B rA B
y or
(Translating
Frame) v A v B rrel
A/B

x aA aB aA B
Given: FAS, = 2 rad/s,
Y or = 0, a0=3 m/s2

a A a B rA B rA B Find: aA when = 0, 90,

(Fixed Frame) and 180
X or
a A a B rrel rrel
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Example Problem: Textbook 5/120 Example Problem: Textbook 5/141

100

60 180
Y
80 80

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 5/141
Relative Motion - Rotating Axes
This method works best when sliding occurs
100
relative to two rigid bodies.
Consider the following:
180
60
80Y 80

Given: FAS,
OA = 10 rad/s P
CCW
Find: AB

Fig 5/11 Meriam and Kraige

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5/141
Relative Motion -Rotating Axes (Velocity)

100
180
60
80Y 80
v A v B v P B v A/ P

Or:

v A v B rrel v rel
Given: FAS,
OA = 10 rad/s
CCW
Find: AB

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Relative Motion -Rotating Axes (Acceleration) 5/174

a A aB aP B a A/ P

Given: FAS,
Or: OA = 10 rad/s
CW
= 30
a A a B rrel rrel 2 v rel a rel Find: BC , arel

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Example Problem: Textbook 5/174

Given: FAS,
OA = 10 rad/s
CW
= 30
Find: BC , arel

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 IC Method Steps:
1. Identify directions of
velocity vectors of two points.

2. At these two points draw lines

perpendicular to the velocity
vectors.

3. These lines intersect at the

IC point C.
Fig 5/7 Meriam and Kraige
Given: FAS,
OA = 10 rad/s
CW

Find:
= 30
BC , arel
4. If we know the magnitude of v A rA
vA or vb you can solve for .
v B rB
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Example Problem: Textbook 5/97

Plane Kinematics of Rigid Bodies
- Instantaneous Center of Zero
Velocity Method
For plane motion, at any instant, the motion may
be considered as pure rotation about a point
called the instantaneous center of zero velocity
(IC)

Works well if we know the directions of the

velocity vectors of two points on the rigid body

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 5/97 For general Plane Motion: Video

F ma
M I :
G

M IG

Or:
Given: FAS,
FAS
OB = 0.8 rad/sec

Find:
cw
vA and vC
Where C refers
to the center of F ma C
mass, shown as G

2011 2011
in the figures M I C C
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Plane Kinetics of Rigid Bodies - If we take

moments about an
Newtons Second Law arbitrary point, P,
then the moment
equation becomes:
All of the concepts of particle kinetics apply
to kinetics of rigid bodies. M P I m a
However, we must account for the rotational M P I mad
effects of the rigid body.
We will use the overbar to indicate a quantity Or:

reverenced to the center of mass, G.

M P I C PC m a C
Where C refers to the center of mass
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 6/33
For Fixed Axis Rotation about
point O:

F ma
M I
G
Given: FAS, M = 20 kg,
released from rest
M I
G
Find: Reaction forces at
pin O

M I
O O

M I
O O

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Example Problem: Textbook 6/33 Example Problem: Textbook 6/77

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 6/77 Kinetic Energy:

Translation: 1
T mv 2
2

Fixed Axis Rotation: 1

T I O 2
2

1 1
Given: FAS, released from rest, General Plane Motion: T mv 2 I 2
=40 s=0.3,
=40, =0 3 k=0.2
=0 2 2 2
Find: aG, friction force
1
T I IC 2
2
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Plane Kinetics of Rigid Bodies - Potential Energy: Same as for Particles

Work/Energy Methods
Gravity: V g mgh

All of the work/energy concepts of particle kinetics h is measured

apply to kinetics of rigid bodies. from the datum.
+ if above datum
However, we must account for additional rotational - if below datum
effects .
Recall:
R ll T1 V g 1 Ve1 U 1 2 T2 V g 2 Ve 2 1 2
Spring: Ve kx
2
Or:

2011
T1 U 1 W1 2 T2 U 2 2011
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 Example Problem: Textbook 6/122
Plane Kinetics of Rigid Bodies -
Impulse/Momentum Method
All of the Impulse/Momentum concepts of
particle kinetics apply to kinetics of rigid
bodies.
However, once again, we must account for
additional rotational effects .
Linear Impulse/Momentum
t2

G 1 r: Fdt G 2 G mv
t1
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6/122
Angular Momentum: HG I

t2
Angular Impulse: M
t1
G dt

t2
Then: H G1 M G dt H G2
Given: FAS, W=12 lb t1
kspring = 3 lb/in
kO= 10 in,
1=90, 2=0, For Fixed t2
1 = 0 Axis Rotation H O I O H O1 M O dt H O2
2 = 4 rad/s
Find: M About O: t1
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 Example Problem: Textbook 6/173
Vibration and Time Response
Mechanical and structural systems are
often
oft n su
subjected
j ct to vibratory
ratory mot
motion.
on.
Automobiles on a rough road
Power lines and bridges on a windy day
Aircraft wings experiencing flutter
Buildings during an earthquake
Here we have a brief introduction to
undamped, free vibration of particles.

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6/173
Undamped Free Vibration: From the FBD and
Consider what happens when the Newtons Second Law:
spring mounted cart is disturbed
from its equilibrium position a F x ma x
distance x.
O
Or:

kx mx

mx kx 0

Given: FAS
Find: at t=4s
for each Fig 8/1 Meriam and Kraige
case
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 mx kx 0

Lets define the following:

n k m
Fig 8/2 Meriam and Kraige

Then: Displacement Natural Frequency Period

Fig 8/1 Meriam and Kraige

x x 0
2
n x x0 cos n t
x0
sin n t n k m n 2
n n

This equation describes simple harmonic

motion. The acceleration is proportional Then the amplitude is
to the displacement, but of opposite
x 0
Let A x0 and B
sign. n C A2 B 2
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Example Problem: Textbook 8/4 - p 601

x n2 x 0

This is a linear, homogeneous,

second order, differential
equation The solution is as
equation.
follows:
Initial velocity
Fig 8/1 Meriam and Kraige

x0
x x0 cos n t sin n t
n
Position

Initial
displacement Natural
frequency Time
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 8/4 8/17

Given: FAS, x0 = -2 in
v0 = 7 in/sec Given: Weight = 120 lb
Deflection = 0.9 in
Find: Amplitude Find: n

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Example Problem: Textbook 8/17 Torsional Vibration

0
0 cos n t sin n t
n

n kt I

kt GJ
L

I = Mass moment of inertia

G = Shear modulus
J = Polar moment of inertia
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