ENGR 214

Engineering Mechanics II:

Dynamics
Summer 2011
Dr. Mustafa Arafa
American University in Cairo
Mechanical Engineering Department
mharafa@aucegypt.edu
1

Course Information
Textbook: Vector Mechanics for Engineers: Dynamics, F.P. Beer and E.R.
Johnston, McGraw-Hill, 8th edition, 2007.
Grading: attendance 6%; homework & quizzes 15%; mid-term exams 20%, 16%,
13%; final exam 30%; bonus project 5%.
Lecture notes: will be posted on my website. Additional material will also be
covered on the board. Please print out the notes beforehand & bring them to class.
Bonus project:
Apply the course material to the analysis of a real system
Use Working Model to model and solve some problems
Search the internet for related software, download & test the software on
simple problems
Develop your own software to solve a class of problems
Develop some teaching aids for part of the course
My advice: practice makes perfect!

Course Outline
PARTICLE

KINEMATICS

SYSTEM OF
PARTICLES

Chapter 15

Chapter 11

KINETICS
NEWTONS LAW

Chapter 12

KINETICS
ENERGY & MOMENTUM

Chapter 13

RIGID BODIES

Chapter 14

Chapter 16

Chapter 17

ENGR 214
Chapter 11
Kinematics of Particles

All figures taken from Vector Mechanics for Engineers: Dynamics,

Beer and Johnston, 2004
4

Introduction
Dynamics includes:
- Kinematics: study of the motion (displacement,
velocity, acceleration, & time) without reference to
the cause of motion (i.e. regardless of forces).
- Kinetics: study of the forces acting on a body,
and the resulting motion caused by the given
forces.
Rectilinear motion: position, velocity, and acceleration of
a particle as it moves along a straight line.
Curvilinear motion: position, velocity, and acceleration of
a particle as it moves along a curved line.
5

Rectilinear Motion: Position, Velocity & Acceleration

Rectilinear Motion: Position, Velocity & Acceleration

Particle moving along a straight line is said
to be in rectilinear motion.
Position coordinate of a particle is defined
by (+ or -) distance of particle from a fixed
origin on the line.
The motion of a particle is known if the
position coordinate for particle is known for
every value of time t. Motion of the particle
may be expressed in the form of a function,
e.g.,
x 6t 2 t 3
or in the form of a graph x vs. t.

Rectilinear Motion: Position, Velocity & Acceleration

Consider particle which occupies position
P at time t and P at t+t,
x

Average velocity
t
x

lim
Instantaneous velocity
t 0 t
Instantaneous velocity may be positive or
negative. Magnitude of velocity is referred
to as particle speed.
From the definition of a derivative,
x dx
v lim

dt
t 0 t
e.g., x 6t 2 t 3
dx
v
12t 3t 2
dt
8

Rectilinear Motion: Position, Velocity & Acceleration

Consider particle with velocity v at time t and
v at t+t,
v
Instantaneous acceleration a lim
t 0 t

From the definition of a derivative,

v dv d 2 x
a lim

2
dt dt
t 0 t
e.g. v 12t 3t 2
dv
a
12 6t
dt

Rectilinear Motion: Position, Velocity & Acceleration

Consider particle with motion given by
x 6t 2 t 3
v

dx
12t 3t 2
dt

dv d 2 x
a

12 6t
dt dt 2
at t = 0,

x = 0, v = 0, a = 12 m/s2

at t = 2 s,

x = 16 m, v = vmax = 12 m/s, a = 0

at t = 4 s,

x = xmax = 32 m, v = 0, a = -12 m/s2

at t = 6 s,

x = 0, v = -36 m/s, a = -24 m/s2

10

Determining the Motion of a Particle

Recall, motion is defined if position x is known for all time t.

dx
v
dt

dv
a
dt

d 2x
a 2
dt

dv dv dx
dv
a

v
dt dx dt
dx

If the acceleration is given, we can determine velocity and

position by two successive integrations.
Three classes of motion may be defined for:
- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)
11

Determining the Motion of a Particle

Acceleration given as a function of time, a = f(t):
v
t
t
dv
a f (t )
dv f (t )dt dv f (t )dt v v0 f (t )dt
dt
v0
0
0

dx
v
dt

x0

dx vdt dx vdt x x0 vdt

Acceleration given as a function of position, a = f(x):

dv
a f ( x) v
dx

dx
v
dt

vdv f ( x)dx vdv

v0

x0

1 2 1 2
f ( x)dx v v0 f ( x )dx
2
2
x0

dx
dx

dt
dt
v
v 0
x0
12

Determining the Motion of a Particle

Acceleration given as a function of velocity, a = f(v):

dv
a f (v )
dt

dv
a f (v ) v
dx

dv
dv
dv

dt
dt
t
f (v )
f (v ) 0
f (v )
v0
v0

vdv
dx
f (v )

x0

v0

dx

vdv
f (v )

x x0
v0

vdv
f (v )

13

Summary

Procedure:
1. Establish a coordinate system & specify an origin
2. Remember: x,v,a,t are related by:
dx
v
dt

dv
a
dt

d 2x
a 2
dt

dv dv dx
dv
a

v
dt dx dt
dx

3. When integrating, either use limits (if known) or add

a constant of integration

14

Sample Problem 11.2

Ball tossed with 10 m/s vertical velocity from window 20 m above

ground.
Determine:
velocity and elevation above ground at time t,
highest elevation reached by ball and corresponding time, and
time when ball will hit the ground and corresponding velocity.

15

Sample Problem 11.2

SOLUTION:
Integrate twice to find v(t) and y(t).
dv
a 9.81 m s 2
dt
v t
t
v t v0 9.81t
dv 9.81 dt
v0

v t 10
dy
v 10 9.81t
dt
y t
t
dy 10 9.81t dt
y0

m
m
9.81 2 t
s
s

y t y0 10t 12 9.81t 2

m
m

y t 20 m 10 t 4.905 2 t 2
s

s
16

Sample Problem 11.2

Solve for t at which velocity equals zero and evaluate
corresponding altitude.
v t 10

m
m
9.81 2 t 0
s
s

t 1.019 s

m
m

y t 20 m 10 t 4.905 2 t 2
s

s
m
m

y 20 m 10 1.019 s 4.905 2 1.019 s 2

s

s
y 25.1 m
17

Sample Problem 11.2

Solve for t at which altitude equals zero and
evaluate corresponding velocity.
m
m

y t 20 m 10 t 4.905 2 t 2 0
s

s
t 1.243 s meaningless
t 3.28 s
v t 10

m
m
9.81 2 t
s
s

v 3.28 s 10

m
m
9.81 2 3.28 s
s
s
v 22.2

m
s
18

What if the ball is tossed downwards with the same

speed? (The audience is thinking )

vo= - 10 m/s

19

Uniform Rectilinear Motion

Uniform rectilinear motion

acceleration = 0

velocity = constant

dx
v constant
dt
x

x0

dx v dt

x x0 vt
x x0 vt

20

Uniformly Accelerated Rectilinear Motion

Uniformly accelerated motion

dv
a constant
dt

acceleration = constant

v0

dv a dt

v v0 at

v v0 at
dx
v0 at
dt

x0

dx v0 at dt

x x0 v0t 12 at 2

x x0 v0t 12 at 2

Also:

dv
v a constant
dx

v0

x0

v dv a dx

1
2

v 2 v02 a x x0

v 2 v02 2a x x0

Application: free fall

21

Motion of Several Particles: Relative Motion

For particles moving along the same
line, displacements should be
measured from the same origin in
the same direction.
x B x A relative position of B
with respect to A
xB x A xB A
xB

v B v A relative velocity of B
with respect to A
vB v A vB A
vB

a B a A relative acceleration of B
with respect to A
aB a A aB A
aB

22

Sample Problem 11.4

Ball thrown vertically from
12 m level in elevator
shaft with initial velocity of
18 m/s. At same instant,
open-platform elevator
passes 5 m level moving
upward at 2 m/s.
Determine (a) when and
where ball hits elevator
and (b) relative velocity of
ball and elevator at
contact.
23

Sample Problem 11.4 SOLUTION:

Ball: uniformly accelerated motion
(given initial position and velocity).
Elevator: constant velocity (given
initial position and velocity)
Write equation for relative position
of ball with respect to elevator
and solve for zero relative
position, i.e., impact.
Substitute impact time into
equation for position of elevator
and relative velocity of ball with
respect to elevator.
24

Sample Problem 11.4

SOLUTION:
Ball: uniformly accelerated rectilinear motion.

v B v0 at 18

m
m
9.81 2 t
s
s

m
m

y B y0 v0 t 12 at 2 12 m 18 t 4.905 2 t 2
s

s
Elevator: uniform rectilinear motion.
vE 2

m
s

m
y E y0 v E t 5 m 2 t
s
25

Sample Problem 11.4

Relative position of ball with respect to elevator:
yB

12 18t 4.905t 2 5 2t 0
t 0.39 s meaningless
t 3.65 s

Substitute impact time into equations for position of

elevator and relative velocity of ball with respect to elevator.
y E 5 2 3.65
vB

y E 12.3 m

18 9.81t 2
16 9.81 3.65
vB

19.81

m
s
26

Motion of Several Particles: Dependent Motion

Position of a particle may depend on position of one
or more other particles.
Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A 2 x B constant (one degree of freedom)
Positions of three blocks are dependent.
2 x A 2 x B xC constant (two degrees of freedom)
For linearly related positions, similar relations hold
between velocities and accelerations.
dx
dx A
dx
2 B C 0 or 2v A 2v B vC 0
dt
dt
dt
dv
dv
dv
2 A 2 B C 0 or 2a A 2a B aC 0
dt
dt
dt
2

27

Applications

28

Sample Problem 11.5

Pulley D is attached to a collar which is pulled down at 3 in./s. At t = 0,

collar A starts moving down from K with constant acceleration and zero
initial velocity. Knowing that velocity of collar A is 12 in./s as it passes L,
determine the change in elevation, velocity, and acceleration of block B
when block A is at L.

29

Sample Problem 11.5

SOLUTION:
Define origin at upper horizontal surface with
positive displacement downward.
Collar A has uniformly accelerated rectilinear
motion. Solve for acceleration and time t to reach L.
v 2A v A 02 2a A x A x A 0
in.

12

2a A 8 in.

aA 9

in.
s2

v A v A 0 a At
12

in.
in.
9 2t
s
s

t 1.333 s

30

Sample Problem 11.5

Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
xD xD 0 vDt
in.
x D x D 0 3 1.333 s 4 in.
s
Block B motion is dependent on motions of collar
A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A 2 x D x B x A 0 2 x D 0 x B 0

x A x A 0 2 x D xD 0 xB x B 0 0
8 in. 2 4 in. x B x B 0 0
x B x B 0 16 in.
31

Sample Problem 11.5

Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A 2 x D x B constant
v A 2v D v B 0

12

in.
in.

3 vB 0
s
s

vB 18

in.
s

a A 2aD aB 0
in.
9 2 aB 0
s

a B 9

in.
s2

32

Curvilinear Motion
A particle moving along a curve other than a straight line
is said to be in curvilinear motion.

http://news.yahoo.com/photos/ss/441/im:/070123/ids_photos_wl/r2207709100.jpg

33

Curvilinear Motion: Position, Velocity & Acceleration

Position vector of a particle at time t is defined by a
vector between origin O of a fixed reference frame and
the position occupied by particle.
Consider particle which occupies position P

r by
defined
at t +
r by at time t and P defined

t,
r dr
v lim

dt
t 0 t
instantaneous velocity (vector)
s ds

dt
t 0 t

v lim

instantaneous speed (scalar)

Velocity is tangent to path

34

Curvilinear Motion: Position, Velocity & Acceleration

Consider velocity v of particle at time t and velocity

v
at t + t,

v dv

a lim

dt
t 0 t
instantaneous acceleration (vector)
In general, acceleration vector is not tangent to
particle path and velocity vector.

35

Rectangular Components of Velocity & Acceleration

Position vector of particle P given by its
rectangular components:

r xi y j zk
Velocity vector,
dx dy dz
v i j k x i y j z k
dt
dt
dt

vx i v y j vz k
Acceleration vector,
d 2 x d 2 y d 2 z
a 2 i 2 j 2 k xi y j zk
dt
dt
dt

ax i a y j az k
36

Rectangular Components of Velocity &

Acceleration

Rectangular components are useful when

acceleration components can be integrated
independently, ex: motion of a projectile.
a x x 0
a y y g
a z z 0
with initial conditions,

x0 y0 z0 0
Therefore:

vx 0 v y 0 given

vx vx 0

v y v y gt

x vx 0 t

1 2
y v y t gt
0
2

Motion in horizontal direction is uniform.

Motion in vertical direction is uniformly
accelerated.
Motion of projectile could be replaced by two
independent rectilinear motions.
37

Example
A projectile is fired from the edge of a 150-m cliff with an initial
velocity of 180 m/s at an angle of 30 with the horizontal. Find
(a) the range, and (b) maximum height.

y
Remember:

v v0 at
x x0 v0t at
1
2

v v 2a x x0
2

2
0

38

Example
Car A is traveling at a constant speed of 36 km/h. As A crosses
intersection, B starts from rest 35 m north of intersection and
moves with a constant acceleration of 1.2 m/s2. Determine the
speed, velocity and acceleration of B relative to A 5 seconds
after A crosses intersection.

39

Tangential and Normal Components

Velocity vector of particle is tangent to path
of particle. In general, acceleration vector is
not. Wish to express acceleration vector in
terms of tangential and normal
components.

et and et are tangential unit vectors for the

particle path at P and P. When drawn with
r r r
respect to the same origin, de e e
t

r
det
d

r r
r
et et det
From geometry: det d
r
r
r
det d en
det r
en
d
40

Tangential and Normal Components

With the velocity vector expressed as v vet
the particle acceleration may be written as
r
r
r
det dv r
det d ds
r dv dv r
a
et v
et v
dt dt
dt dt
d ds dt
but
det
ds
en
d ds
v
d
dt
After substituting,

r dv r v 2 r
a et en
dt

dv
at
dt

v2
an

Tangential component of acceleration reflects

change of speed and normal component reflects
change of direction.
Tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
41

Radial and Transverse Components

If particle position is given in polar coordinates,

we can express velocity and acceleration with
components parallel and perpendicular to OP.

r re r

de r
e
d

r r
Particle position vector: r rer
r
r d r
dr r
der
Particle velocity vector: v
rer er r
dt
dt
dt
dr r
d r
r
r
&
&r r e
v er r
e re
dt
dt

de

er
d

der der d d

e
dt
d dt
dt

de de d
d

er
dt
d dt
dt

Similarly, particle acceleration:

r d r
r
&r r&e
a
re
dt
r
r
r
der
r
r
de
&
&r r& r&
&
re
&e r&
e r&
dt
dt
r
r d
r
r
r d
&
&r re
&
&
re
r&
&e r&
e r&er
dt
dt

r
r
2 r
&
&
&
&
a &
r& r er r 2r&
e

42

Sample Problem 11.10

A motorist is traveling on curved section of highway at 60 mph. The

motorist applies brakes causing a constant deceleration.
Knowing that after 8 s the speed has been reduced to 45 mph, determine
the acceleration of the automobile immediately after the brakes are
applied.

43

Sample Problem 11.10

SOLUTION:
Calculate tangential and normal components of
acceleration.
v 66 88 ft s
ft
at

2.75 2
t
8s
s
v 2 88 ft s 2
ft
an

3.10 2

2500 ft
s
60 mph 88 ft/s
45 mph 66 ft/s

Determine acceleration magnitude and direction

with respect to tangent to curve.
ft
2
2
2
2
a

4
.
14
a at a n 2.75 3.10
s2

tan

1 a n

at

tan 1

3.10
2.75

48.4

44

Sample Problem 11.11

Determine the minimum radius of curvature of the trajectory
described by the projectile.

v2
Recall: an

v2

an
Minimum , occurs for small v and large an
155.9

9.81

v is min and an is max

2480 m
an
a
45

Sample Problem 11.12

Rotation of the arm about O is defined by = 0.15t2 where is in radians

and t in seconds. Collar B slides along the arm such that r = 0.9 - 0.12t2
where r is in meters.
After the arm has rotated through 30o, determine (a) the total velocity of the
collar, (b) the total acceleration of the collar, and (c) the relative acceleration
of the collar with respect to the arm.

46

Sample Problem 11.12

SOLUTION:
Evaluate time t for = 30o.

0.15 t 2
30 0.524 rad

t 1.869 s

Evaluate radial and angular positions, and first

and second derivatives at time t.
r 0.9 0.12 t 2 0.481 m
r 0.24 t 0.449 m s
r 0.24 m s 2

0.15 t 2 0.524 rad

0.30 t 0.561 rad s
0.30 rad s 2
47

Sample Problem 11.12

Calculate velocity and acceleration.
vr r 0.449 m s
v r 0.481m 0.561rad s 0.270 m s
v
tan 1
vr

v vr2 v2

v 0.524 m s

31.0

ar r r 2
0.240 m s 2 0.481m 0.561rad s 2
0.391m s 2
a r 2r

0.481m 0.3 rad s 2 2 0.449 m s 0.561rad s

0.359 m s 2
a ar2 a2

a
tan 1
ar
a 0.531m s

42.6
48

Sample Problem 11.12

Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear
and defined by coordinate r.
a B OA r 0.240 m s 2

49