Dynamics is that branch of mechanics which deals

with the state of motion of particles and bodies

under the action of forces.
A particle is a physical body or portion of a physical
body which has mass, the dimensions of which are
negligible in terms of its surroundings and its motion.
A rigid body is any quantity of matter, the particles of
which do not move relative to each other.

Dynamics
a) Kinematics is the science which expresses the
mathematical relationships existing between
displacement, velocity, acceleration, and time.
b) Kinetics is the study of the effect of unbalanced
forces on the motion of bodies which therefore
have accelerated or non-uniform motion.
Motion of a Particle
A) Rectilinear translation- a particle constrained
moving along a straight-line path.
B) Curvilinear translation a particle
constrained moving along a curved path.


P
General Rectilinear Motion
The linear displacement of a particle at any
time is its change in position with reference to
same fixed point.
Q S
R
Linear displacement from Q
is represented by the vector
QS.
-S
+S
0
P
S
p

a b
Linear Velocity
Defined to be the first derivative of displacement
with respect to time, which can be thought of as the
time rate of change of displacement or the time rate
of travel.
-S
+S
0
P
S
p

a b
P
S
S
p

Velocity is therefore a vector quantity, while speed is a scalar quantity.
Case I. Given Displacement as a Function of Time, s=f(t)
The velocity and acceleration functions can be
obtained by successive differentiation of s with
respect to time. Therefore,
Case II. Given Velocity as a Function of Time, v = f(t)
Substitution of the function into v = ds/dt or f(t) = ds/dt,
which can be solved by separation of variables. Therefore,

or


The acceleration can be obtained be differentiating the given
function with respect to time. Therefore,
Case III. Given Acceleration as a Function of Time, a = f(t)
Substitution of the function into a= dv/dt or f(t) = dv/dt,
which can be solved by separation of variables. Therefore,

or

The displacement function can be obtained by integrating v=
ds/dt which would be



or
Case IV. Given Velocity as a Function of Displacement, v = f(s)
Substituting the function into v= ds/dt gives f(s) =
dv/dt, which can be solved by separation of variables.
Therefore,


This would yield t as a function of s; it would therefore
be necessary to solve for s as a function of t to obtain
s = g(t). Since s is now a function of t, the velocity and
acceleration functions can be obtained as in Case I

Case V. Given Acceleration as a Function of Velocity, a = f(v)
Substituting the function into a= ds/dt or f(v) = dv/dt,
which can be solved by separation of variables.
Therefore,


This would give t as a function of v and it would be
necessary to solve for v as a function of t to obtain v
=g(t). Since v is now a function of t, the displacement
and acceleration functions can be obtained as in Case
II.

Case VI. Given Acceleration as a Function of Displacement ,
a = f(s)
Substituting the function into vdv= f(s)ds , and
integrating,



From this equation we can obtain v as a function of
s,v=g(s), and proceed as in case IV.
Example

A particle moves along a straight line so that after t seconds its
displacement s in meters from a fixed reference point O on the
line is given by The particle is 4m to
the left of the origin at t =2s. Determine :

a)The acceleration of the particle when t = 3s
b)The displacement during the interval from t =2s to t =5s,
c)The total distance travelled during the interval from t = 2s to
t =5s and ;
a)The average velocity during the interval from t = 2s to t = 5s.
Applying case I

12 m 4
t=2s
+S
When t = 2s,
Therefore, the displacement is positive to the left of the
origin, and all measurements will be positive when directed
to the left.
(a) The acceleration when t = 3s can be obtained
from the acceleration expression. Therefore,
(b) When t=2s;

When t=5s;

The displacement during this interval is :

m S 4 12 ) 2 ( 48 ) 2 ( 30 ) 2 ( 4
2 3
2
= + + =
m S 22 12 ) 5 ( 48 ) 5 ( 30 ) 5 ( 4
2 3
5
= + + =
left the to m s s s 18 4 22
2 5
= = = A
right the to directed s m
s m
a
2
2
/ 12
/ 12
60 ) 3 ( 24
=
=
+ =
(c) For rectilinear translation, the total distance is
equal to the magnitude of the displacement
unless the particle reverses direction of motion
during the time interval. A particle reverses
motion during an interval if velocity becomes
zero during the time interval. In this example,
the time when velocity is zero can be obtained
from the velocity expression :
s or s t
t t
t t
t t
4 , 1
0 ) 4 )( 1 (
0 4 5
0 48 60 12
2
2
=
=
= +
= +
(c) cont. During the interval from t=2s to t=4s,
the magnitude of the velocity is positive; that is,
the particle is moving to the left, and from t=4s
to t=5s, the velocity is negative; that is the
particle is moving to the right. When t =4s, the
position of the particle is :
m S 44 12 ) 4 ( 48 ) 4 ( 30 ) 4 ( 4
2 3
4
= + + =
, 62
22 40
44 22 4 44
4 5 2 4
=
+ =
+ =
+ = S S S S d
The total distance travelled is the sum of the
distance travelled in the two directions; that is,
(d) The average velocity during t =2s to t=5s can be
obtained by using :
2 5
2 5
;
t t
s s
v
t
S
v
ave ave

=
A
A
=
lef t the to
s
m
6
2 5
4 22
=

=
Example

The horizontal motion of the shaft and plunger is arrested by the
resistance of the attached disk. The disk moves through the oil
bath. The velocity of the plunger is vo in the position P where s
=0 and t =0, and the velocity varies accordingly to the relations
v=vo-ks where k is a constant. Derive the expressions for the the
positions coordinates s, velocity v, and acceleration a in terms of
the time t.
dt
ds
ks v
dt
ds
v
o
= = ;
disk
shaft
plunger
S
v
( ) | |
t v
k
ks v
k
t ks v
k
t c u
k
dt
u k
du
k
du
ds
kds du
ks v u Let
c u du
u
RECALL
dt
ks v
ds
o
t s
o o
s
o
t
o
s
o
t
o
o
=
=
= +
=
=
=
=
+ =
=

} }
}
} }
) ln
1
( ) ln(
1
ln
1
ln
1
) (
ln
1
:
0
0
0
| |
( )
( )
kt
o
kt
o
kt
o
o
kt
o
o
kt
o
kt
o o
kt
o
o
u
u
o
o
e kv a
e v v
e
k
v
v e v
k
s
k
v e v ks
e v ks v
e
v
ks v
u e
u e RECALL
kt
v
ks v

=
=
=
=
=
=
=

=
=
=

1
1
1
) ln(
; :
) ln(
ln
Example

The resistance to motion of a particle in air is
approximately proportional to the square of its velocity
v for speeds not exceeding 150 m/s. Thus, the
deceleration is given by the expression a = -kv
2
, where k
is taken to be a constant whose numerical value
depends on the prevailing air conditions and the shape,
roughness, and mass. If a particle which moves in a
horizontal straight line is fired with an initial velocity of
50m/s for a condition where k =1/1000m-1, in what
distance and elapsed time after firing will the velocity
be reduced to 8 m/s?
dt
dv
v
dt
dv
a = =
2
100
1
;
( ) | |
50
1
50 50 100
100
1
50
50
100
1
50
1 1
50
1 1
100
1
1
100
1
100
1
50
0
50
2
0
vt v
t
v
v
t
v
v
t
v
t
v
dv
dt
v
t
v t
=
=

+ =
+ =
=
=
} }
( ) | |
t
v
t v
vt v
vt v
vt v
vt v
+
=
+ =
+ =
=
=
=
2
100
) 2 ( 100
2 100
2 100
) 50 ( 2
50
1
50 50 100
Displacement therefore ;
| |
m
t
s
t s
t s
dt
t
ds
dt
ds
t
dt
ds
v
t s
t s
,
2
2
ln 100
2 ln 100 ) 2 ln( 100
) 2 ln( 100
2
100
2
100
0 0
0 0
|
.
|

\
|
+
=
+ =
+ =
+
=
=
+
=
} }
When speed has been reduced to 8 m/s
s 5 . 10
1 2
100
8 =
+
=
Displacement in this time is :
m s 26 . 183
2
5 . 10 2
ln 100 =
|
.
|

\
|
+
=
Rectilinear Motion with Uniform Acceleration
(Equation 1.6)
(Equation 1.7)
Three Fundamental Equations in Rectilinear
Motion with Uniform Acceleration
For a Free falling body:
Neglect the frictional resistance effects of air on the particles
Acceleration due to gravity varies for different locations
It can be observed that the value of g decreases as the
elevation above sea level increases
Assume that g has a constant value of 9.8m/s^2 directed
downward
Case 1 Case 2
a =-g
So =0
Vo
+S
So =0
Vo
+S
Case 3
a =-g
So =0
Vo
+S
Example

A point moving with constant acceleration travels 33m
in the half second which elapses after the second of its
motion and 198m in the eleventh second of its motion.
Find its initial velocity and acceleration.
Solution:

t=0s t=2s t=2.5s
t
11
=11s
S
11

S
10
198 m
S
2
33 m
S
2.5

Example

A stone is dropped from a balloon which rises vertically
at a constant rate of 4 seconds from the ground. The
stone reaches the ground in 10 seconds. Find the
velocity and the height of the balloon when the stone is
dropped
Solution:

a =0
So =0
Vo
+S
h
a =g
So =0
Vo
+S
Flight of a Projectile