BDA 20103

LECTURE 2

DYNAMICS
DR. MOHD KHIR MOHD NOR
Jabatan Kejuruteraan Mekanik, FKMP
Universiti Tun Hussein Onn Malaysia

1-4 weeks

KINEMATICS OF PARTICLES
Rectilinear motion
Curvilinear motion
- Rectangular components of velocity and
acceleration (x-y axis)
- Normal and tangential components (n-t axis)
- Radial and transverse components (r- axis)
Relative motion

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Dynamics: Branch of mechanics

M e c h a n ic s
R ig id B o d ie s
(T h in g s th a t d o n o t c h a n g e s h a p e )
S ta tic s

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D y n a m ic s

D e fo rm a b le B o d ie s
(T h in g s th a t d o c h a n g e s h a p e )

F lu id s

In c o m p re s s ib le

C o m p re s s ib le

 Statics

- equilibrium of a body.
- either at rest or moves with constant
velocity.
Dynamics
deals with accelerated motion of a
body.
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Dynamics: Kinematics and

Kinetics
Kinematics deal with the study of motion
without reference to the force which cause
the motions.
Kinetics relate the action of forces on
bodies to their resulting motions.

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Kinematics: Motion only

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Kinetics:

Interaction Force - Motion

Force
Path of motion because of the
force

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Particle and Rigid Body

A particle is a point mass. No dimensions (height,
width, etc) or orientation (angular position) .
A Rigid Body: Things that do not change shape.

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When a body can be replaced by a

particle

Can be replaced by a particle (no rotation

involved)

The body motion cannot be replaced by a particle

(rotation involved)
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Kinematics:
Rectilinear Motion

Specifying at any instant, the particles

Position, Velocity, and Acceleration.
Position
1) Single coordinate axis, s
2) Origin, O
3) Position vector r (magnitude and direction)
specific location of particle P at any
instant.

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Continue.
4) Algebraic Scalar s in meters

Note : - Magnitude of s = Dist from O to P

- The direction (sense) of r shown by the
arrowhead.
=> +ve = right of origin, O,
-ve = left of origin, O
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Continue.

Displacement change in its position from P

to P, and vector quantity.

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Continue.

If particle moves from P to P

=> Change in position vector

r r r
And change in position

s s s

s is +ve if particles position is right of its

initial position.
s is -ve if particles position is left of its initial
position.
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Continue.

Velocity
Average velocity,

r
vavg
t
Instantaneous velocity (vector)is defined as
vins lim r / t
t 0

vins

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dr

dt
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Continue.
Representing the velocity as an algebraic
scalar,
ds

(1)

dt

Velocity is +ve = particle moving to the right.

Velocity is ve = Particle moving to the left.
Magnitude of velocity is the speed (m/s)
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Continue.
Average speed is defined as total
distance traveled by a particle, sT, divided
by the elapsed time t .

sp avg

sT

The particle travels along

the path of length sT in time t
=>
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sT
vsp avg
t
s
vavg
t
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Continue.

Acceleration velocity of particle is known at

points P and P during time interval t,
average acceleration is

aavg

v represents difference in the velocity

during the time interval t, ie

v v'v
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Continue.
Instantaneous acceleration at time t is found
by taking smaller and smaller values of t and
corresponding smaller and smaller values of
v,
a lim v / t
t 0

dv
a
dt2
d s
a
2
dt
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(2)

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Continue.

Particle is slowing down, its speed is

decreasing => decelerating => v v '
will
v
be negative.
Consequently, a will also be negative,
therefore it will act to the left, in the opposite
sense to v
If velocity is constant,
acceleration is zero

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EXAMPLE 1
A particle moves along a horizontal path with a
velocity of v = (3t2 6t) m/s. if it is initially located at
the origin O, determine the distance traveled in 3.5s
and the particles average velocity and speed during
the time interval.

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Solution:

Coordinate System. Assuming positive

motion to the right, measured from the
origin, O

Distance traveled. Since v = f(t), the

position as a function of time may be found
by integrating v = ds/dt with t = 0, s = 0.

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v = (3t2 6t) m/s

0 t < 2 s: -ve velocity. The particle is

moving to the left.
t > 2s: +ve velocity. The particle is moving to
the right
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ds vdt

3t 6t dt
2

ds 3 t dt 6 tdt
2

s t 3t m
3

t 0

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t 2 s

4.0m s

t 3.5 s

6.125m

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The distance traveled in 3.5s is

sT = 4.0 + 4.0 + 6.125 = 14.125m
Velocity. The displacement from t = 0 to t = 3.5s is
s = 6.125 0 = 6.125m
And so the average velocity is

Average speed,

sp avg

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sT 14.125

4.04 m / s
t 3.5 0
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EXAMPLE 2
The car moves in a straight line such that for a
short time its velocity is defined by v = (0.9t2 +
0.6t) m/s where t is in sec. Determine it position
and acceleration when t = 3s. When t = 0, s = 0.

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EXAMPLE: Solution:
Coordinate System. The position coordinate
extends from the fixed origin O to the car, positive
to the right.
Position. Since v = f(t), the cars position can be
determined from v = ds/dt, since this equation
relates v, s and t. Noting that s = 0 when t = 0, we
have

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ds
v
0.9t 2 0.6t
dt

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 ds 0.9t
s

0.6t dt

s 0.3t 0.3t
0

s 0.3t 0.3t
3

t
0

When t = 3s,
s = 10.8m

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Acceleration. Knowing v = f(t), the acceleration is

determined from a = dv/dt, since this equation
relates a, v and t.

dv d
a

0.9t 2 0.6t
dt dt
1.8t 0.6

When t = 3s,
a = 6m/s2

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EXAMPLE 3
A bicycle moves along a straight road such that
it position is described by the graph as shown.
Construct the v-t and a-t graphs for 0 t 30s.

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Solution:
v-t Graph. The v-t graph can be determined by
differentiating the eqns defining the s-t graph
0 t 10s;

s 0.3t

10 s t 30 s; s 6t 30

ds
v
0.6t
dt
ds
v
6
dt

The results are plotted.

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We obtain specify values of v by measuring the

slope of the s-t graph at a given time instant.

ds 150 30
v

6m / s
dt 30 10
a-t Graph. The a-t graph can be determined by
differentiating the eqns defining the lines of the
v-t graph.

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dv
0 t 10 s; v 0.6t a
0.6
dt
dv
10 t 30 s; v 6
a
0
dt

The results are plotted.

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EXAMPLE 4
A test car starts from rest
and travels along a
straight track such that it
accelerates at a constant
rate for 10 s and then
decelerates at a constant
rate. Draw the v-t and s-t
graphs and determine the
time t needed to stop the
car. How far has the car
traveled?
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Solution:
v-t Graph. The v-t graph can be determined by
integrating the straight-line segments of the a-t
graph. Using initial condition v = 0 when t = 0,

0 t 10 s a 10;

dv 10 dt , v 10t
0

When t = 10s, v = 100m/s, using this as initial

condition for the next time period, we have
10s t t ; a 2;

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100

dv 2 dt , v 2t 120
10

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When t = t we require v = 0. This yield t = 60 s

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s-t Graph. Integrating the eqns of the v-t graph

yields the corresponding eqns of the s-t graph.
Using the initial conditions s = 0 when t = 0,

0 t 10s; v 10t ;

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ds 10t dt , s 5t 2
0

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When t = 10s, s = 500m. Using this initial condition,

10 s t 60s; v 2t 120;

ds 2t 120 dt
s

500

10

s t 2 120t 600

When t = 60s, the position is s = 3000m

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Differential equation of motion

dv adt
Multiply by v

ds
v dv v a dt a dt a ds
dt

v dv a ds
or

s&ds& &
s&ds

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(3)

Rectilinear motion at constant velocity

s

s0

t0

ds vdt

s s0 v (t t0 )
s s0 + v (t t0 )

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(4)

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Velocity at constant acceleration

( = 10 m/s2 )
v

v0

t0

dv adt

v0

s0

v dv a ds

v v 0 a t t0

v v 0 + a t t0
1 2
v v0 2 a s s0
2

v v0 + 2a s s0
2

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Distance at constant acceleration

s

ds vdt

s0

t0

ds ( v

s0

+ a t t 0 )dt

t0

t0

t0

t0

t0

t0

s s0 v0 dt a t t0 dt
v0 dt a tdt at0 dt
1
s s0 v0 (t t0 ) a t 2 t0 2 at0 t t0
2
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Practical situation
Usually a particle start moving
when the time is set to 0 and the
distance goes from 0

v v 0 + a t t0

v v0 + a t

(1)

v 2 v0 2 + 2a s s0

v 2 v 0 2 + 2a s

(2)

0
0
1
2
2
s s0 v0 (t t0 ) a t t0 at0 t t0
2
0

t0 0 and s0 0

at t and distance s
1
s v0 (t ) a t 2
2

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(3)

Example 6
Two cars A and B move at time t = 0. Car A
accelerate with constant acceleration of 1 m/s 2,
whereas car B moves with constant deceleration
of 2 m/s2. Determine
a) the time t and distance s where car A will
overtake car B.
b) the velocities of these cars during overtaking
taken place.

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From eqn.
1 2
S S o ut at
2
72
1
S A 0 ( )t (1)t 2
3.6
2
144
1
S B 100 (
)t (2)t 2
3. 6
2

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Car A will overtake car B when SA = SB .

1 2
20t t 100 40t t 2
2
t 3.87 sec

or

t 17.21sec

1
S 20(17.21) (1)(17.21) 2
2
492 m
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For velocity, use eqn. v = u + at

72
v A ( ) (1)t 37.21 m / s
3.6
144
vB (
) (2)t 5.58 m / s
3.6

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Example 7
Two cars A and B started to move from a traffic light
at time t=0 and vo = 0. Car A moves with a constant
acceleration, a = 6 m/s2, whereas car B moves with
acceleration, a= 3t3 m/s2 , where t is time in second.
Determine the distance between the two cars when
the car A has reached a velocity of 90 km/h.

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Car A
a cons tan t 6m / s 2
v 2 u 2 2as
2

90

0 2( 6) S
3.6
S A 52.08 m

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The time taken to reach velocity, v = 90 km/h,

v u at
90
0 6(t )
3.6
t 4.17 s

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Car B
a 3t
v

3
t

dv a dt 3t dt
3

3 4
v t
4

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Substitute into equation

S

ds v dt
t

3 4
t dt
4
0
3 5
S t
20

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At time t = 4.17 s

3
5
S B 4.17
20
189.13 m
The dis tan ce difference
S B S A 189.13 52.08
137.05 m
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.Lecture 3.

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