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Introduction
Dynamics

APPLIED MECHANICS

branchofmechanics, dealswiththemotionofbodies.
Thestudyofdynamicsinengineeringusuallyfollows
thestudyofstatics, concernedwiththeequilibriumof
bodiesatrestormovingwithconstantvelocity.

FundamentalsofDynamics
by
Dr.T.Sivakumar

Kinematics
geometricaspectsofmotion
Kinetics
analysisoftheforcescausingthemotion.

Level1
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Briefhistory

Newton (16421727),

Historically,dynamicsisarelativelyrecentsubject
comparedwithstatics.

guidedbyGalileoswork,wasabletomake

Thebeginningofarationalunderstandingofdynamicsis
creditedto

hence,toplacedynamicsonasoundbasis.

anaccurateformulationofthelawsofmotion and,

Galileo (15641642),
whomadecarefulobservationsconcerningbodiesinfree
fall,motiononaninclinedplane,andmotionofthe
pendulum.Hewaslargelyresponsibleforbringinga
scientificapproachtotheinvestigationofphysical
problems.

Newtonsfamousworkwaspublishedinthefirsteditionofhis
Principia which is generally recognized as
Principia,whichisgenerallyrecognizedas

oneofthegreatestofallrecordedcontributionsto
knowledge.
Inadditiontostatingthelawsgoverningthemotionofaparticle,
Newtonwasthefirsttocorrectlyformulatethelawofuniversal
gravitation.

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FollowingNewtonstime,important
contributionstomechanicsweremadeby

Theseprinciplesarebasictothe

Euler,DAlembert,

analysisanddesignofmovingstructures

Lagrange,Laplace,Poinsot,

fixedstructuressubjecttoshockloads

Coriolis,Einstein,andothers.

robotic devices
roboticdevices
automaticcontrolsystems
rockets,missiles,andspacecraft
groundandairtransportationvehicles

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Rectilinearmotion

Kinematicsofaparticle

Aparticlemovingalongastraightlineissaidtobeinrectilinear
motion.

Aparticle hasamassbutnegligiblesize and

shape.
Inmostproblemsindynamics,oneisinterestedin
bodiesoffinitesize,suchasaircraft,projectiles,
orvehicles.
Suchobjectsmaybeconsideredasparticles,
providedmotionofthebodyischaracterizedby
motionofitsmasscentreandanyrotationofthe
bodyisneglected.

t + t

ConsiderthepositionP occupiedbytheparticleattimet andthe

correspondingcoordinatex asshown.ConsideralsothepositionP
occupiedbytheparticleafteranincrementoftimet.

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Theaveragevelocity oftheparticleoverthetimeintervalt is
defined as: Average velocity =
x
t

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Similarly,ifv istheincrementofvelocityoverthetime
intervalt,Then,theinstantaneousacceleration
a=

Theinstantaneousvelocity v oftheparticleattheinstantt is
obtainedfromtheaveragevelocitybychoosingshorterandshorter
timeintervalst
time
intervals t and
anddisplacementsx
displacements x ::Instantaneousvelocityv
Instantaneous velocity v =

dv
v dv d 2 x
=
=
=v
t 0 t
dt
dt
dx
lim

Curvilinearmotion
Theparticleissaidtobeincurvilinearmotionwhenitmoves
alongacurveotherthanastraightline.

x
t 0 t
lim

Therefore,bydefinition,tothederivativeofxwithrespectto
t,v=
dx

dt
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2DMotionofaparticleusingPlanPolarCoordinates

v = r&
r

v r = r&
P

O
Velocitycomponents
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2DMotionofaparticleusingPlanPolarCoordinates

a = r&&+ 2& r&

Coriolis
component

a r = &r& r & 2
P

Centripetal
comp.of
acceleration

O
Accelerationcomponents
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er e

2DMotionofaparticleusingPlanPolarCoordinates

er

e
Corioliscomponentof
acceleration

er

2 & r&

er

O
Centripetalcomp.of
acceleration

r& 2
Unitvectors

e
er (radial),(transverse)
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de
der
= e
= er
d
d
i .e . e& r = &e e& = &e r
Velocity;

d
v = (re r ) = r&e r + re& r
dt
(r& )e r + r& e

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Acceleration;

dv
d
r&e r + r &e
=
dt
dt

) (

)
)

= r&& r & 2 e r + r && + 2&r& e

( )

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wall

100 m
1

Example1
ThesearchlightshowninFigure1 castsaspot
oflightalongthefaceofawallthatislocated
100mfromthesearchlight.
r

Determinethemagnitudeofthevelocityand
Determine
the magnitude of the velocity and
accelerationatwhichthespotappearstotravel
acrossthewallattheinstant=450.The
searchlightisrotatingataconstantrateof=
4rad/s.

searchlight

& = 4rad / s
Figure2

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Example2

v=200mm/s

ThemotionofcuttingtoolB iscontrolledbythe
robotarmOAB asshowninthefigure.Atthe
instantshown,thearmrotatesanticlockwiseat
g
p
uniformangularspeed=15rev/minandthe
lengthofportionAB decreasesattheuniform
rateof200mm/s.IfthelengthofOB atthis
instantis500mm,determinethevelocityand
accelerationofB.

=15rev/min
O

500mm
600

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KinematicsofRigidBodies,
InstantaneousCentreofRotationand
2DLinkMechanisms

KineticsofaParticle
m=massofaparticleF =sumoftheforcesactingonthe
particle,
NewtonssecondlawofmotionF=ma
a=acceleration
linearmomentum=L=mv,
ma= L& (rateofchangeofmomentum)F =

B
B

L&
A

AngularmomentumofaparticlerelativetoO
=HO =momentofmomentumaboutO.

H o = r mv = r L

thesumofmomentsofforcesaboutO
=MO = H&
O

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Translation+Rotation
(general2Dmotion)

v B = v A + rB / A
a B = a A + && rB / A 2 rB / A
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InstantaneousCentreofRotation

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Findingvelocityofathirdpoint,C

VB

B
VA

VB

VA=(AI).

VC

VC=(CI).

VA

VB=(BI).

C
A

I
I
Inst.Centreofrotation

Inst.Centreofrotation

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Example3
Ahelicopterflieshorizontallyforward
at82km/hrwhileitsrotorspinsat
150rev/minclockwisewhenviewed
fromabove.Assumingthebladesrotate
i h i t l l
inahorizontalplane,locatetheir
l t th i
instantaneouscentre.

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Crankpin
Crankarm

Crankshaft
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SliderCrankMechanism (usedinanIC engine)

Connectingrod
Cylinder

Gudgeonpin

Piston

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