Fe Dynamics

Dynamics FE Review
For rectilinear motion - motion in a

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

to mechanical disturbance
Statics
Dynamics
Analysis of body
at rest
Kinematics
Video
2011
Analysis of body
in motion
Kinetics
Geometry of motion
no concern for forces
that caused motion
Find: v(t) and a(t)

Solution:
dv
dt
Where v is the instantaneous velocity, a is

the instantaneous acceleration, and t is
time.
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Given: Position of a car is described by

s 3t 3 t 2 m.
For a particle whose position is

defined by the vector r:
a ds v dv
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Fundamental equations of motion
dr
dt
dv
dt
Example Problem:
Kinematics of Particles
Note: Instead of s, the position could

be defined by x, y, etc.
Relation between
force, mass, and
motion
Figures and problems taken from the textbook Dynamics, 5th

edition, Meriam and Kraige, Wiley.
ds
dt
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ds
:
dt
v 9t 2 2t m/s
dv
:
dt
a 18t 2
m/s 2
4
Example Problem:
So, we start with
Given: Acceleration of a car is given by:
a(t )
dv
dt
Note we wrote the

acceleration as a(t) to
emphasize the fact that
a is a function of t.
Then: dv a( t ) dt
a( t ) 3t 2 5t 1 m/
m/s2
v0
dv a(t ) dt
At t = 0, v0 = 4 m/s
Find: Velocity (v) when t=3 s.
v v0 a( t ) dt
0
This gives us v as a
function of time or v(t)
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v( t ) v0 a(t ) dt
0
First, look for a fundamental equation that

contains both a, t and v.
v( t ) v0 a(t ) dt
0
So for a(t) = 3t2+5t+1

5t 1, v0 = 4 m/s, and t = 3 s
ds
dt
dv
dt
v 4 (3t 2 5t 1) dt
a ds v dv
3t 3 5t 2
t
v 4
2
3
0
v 56.5 m/s
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For uniformly accelerated rectilinear

(UARM) motion (a=constant) the following
equations apply:
If the acceleration is constant, we can

apply the UARM equations in the x and y
directions.
For the x direction
v v0 a (t t0 )
a (t t0 )
s s0 v0 (t t0 )
2
vy vy ayt
vx vx 0 axt
at
x x0 vx 0 t x
2
v v 2a s s0
2
For the y direction

0
y y0 v y t
ayt 2
vx 2 vx 0 2ax x x0 v y 2 v y 0 2a y y y0
2
0
THESE ONLY APPLY IF THE

ACCELERATION IS CONSTANT!!!
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Note: This is for t0 = 0. If t0 = 0

then replace t with t-t0
Projectile Motion using Rectangular Coordinates
Curvilinear Motion Using Rectangular

Coordinates (x-y)
Useful when the position (r) is given in
rectangular coordinates
ax = 0
ay = -g
Fig 2/7 Meriam and Kraige
11
dr
xi y j
dt
For the x direction
vx vx 0
dv
a

xi
yj
dt
x x0 vx 0 t
For the
y direction
v y v y gt
0
y y0 v y t
0
gt 2
2
v y 2 v y 2 g y y0
2
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10
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12
Curvilinear Motion Using NormalTangential (Path) Coordinates (n-t)
Example:
Given: Projectile fired off a cliff as shown
Useful when the path is given, especially

the curvature of the path
et
180 m/s
ymax
30
en
150 m
x at impact
Fig
g 2/9 Meriam and Kraige
g
Find: x at impact and
v vet
ymax
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13
v2
en vet
an
v2
at v
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15
Special Case: Circular motion using n-t

coordinates
= constant = r
Angular position
given
i
b
by
v r
v2
r 2 v
r
at v r
an
note: and
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14
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16
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
et
er
en
For circular
motion:
r 0
r 0
note:
Find: a
Fig P2/144 Meriam and Kraige
2011
a
r r 2 er r 2r e
17
and
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19
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
(assumes m is constant)
F ma
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:
y
F2
For particle A:
F ma
F ma i ma j
F3
F3
F2
F ma
F ma e
r r
ma e
P
F1
Scalar components:
x
F
F
x
y
ma y
Fig 2-13 Meriam and Kraige
21
Normal/Tangential Coordinates (Path)

F2
F1
n n
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23
Units
For particle C:
F ma
F ma e
F ma m r r
F ma m r 2r
2
ma x
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F3
Scalar components:
F1
Force
A
Acceleration
l
ti
Mass
g
mat et
Scalar components:
SI
US
N
m/s
/ 2
kg
9.81 m/s2
lb
2
ft/
ft/sec
slug (32.2 lbm)
32.2 ft/sec2
ma n m
F ma
t
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v2
a = 1 m/s2
F=1N
m=1 kg
mv
22
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a = 1 ft/sec2
F
F = 1 lb
m=1 slug
24
Example Problem: Textbook 3/12
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25
3/1
Given:
Find:
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27
3/12
FAS
v0 = 7 m/s at x0 = 0
k = 0.4, m = 50 kg
Given:
FAS, W = 100 lb
ft/sec
c2 up incline
nc n
a = 5 ft/s
k = 0.25
Find:
t and x when v = 0
26
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Example Problem:Textbook 3/50
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3/50
Given:
FAS, m = 2 kg
vB = 3.5 m/s
= 2.4
24m
Find:
NB and vA such that

NA = 0
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3/54
30
Given:
FAS, W = 0.2 lb
= 30
= 3 rad/sec ccw
r = -4 ft/sec
Find:
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32
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
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35
Work/Energy methods:
These methods will make it MUCH EASIER
to solve some kinetics problems!
Definition of work:
Given:
FAS,, W = 3000 lb
r = 100 ft, v = 35 mi/hr
Find:
aN, FN
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Component of force acting in the direction of

motion times the displacement.
Units: SI Nm = J
US
34
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ftlb
36
Conservative force: Work done by a

conservative force is independent of path.
Consider a particle moving

along the path from A to A
r2
The work only depends on the starting and

ending positions!
When a p
particle moves under the influence
f
of
fa
conservative force:
SCALAR!
U F dr
r1
If we let |dr| = ds
U 1 2 V1 V2
s2
U Ft ds
Sign convention:
Positive if active force (Ft)
is in the direction of motion
and negative if it is in the
opposite direction
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Then:
37
V g mgh
from the datum.
+ if above datum
- if below datum
Ve
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T1 V g 1 Ve1 U 1 2 T2 V g 2 Ve 2
h is measured
Spring:
T1 V g 1 Ve1 U 1 2 T2 V g 2 Ve 2
This is the fundamental equation for

applying the work/energy method.
Energy available due to position
datum
U12
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Potential Energy: (V)

Gravity:
T1 V1 T2 V2
Work done by nonconservative forces:
s1
and
The FE reference handbook gives the equation

in this form:
1 2
kx
2
T1 U 1 W1 2 T2 U 2
Fig 33-6
6 Meriam and Kraige
- Kinetic Energy: (T)

2011
Whenever you have conservative forces doing work -- gravity and

springs -- consider using the work/energy method.
1
mv 2
2
38
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40
10
Example Problem: Textbook Sample 3/17
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Sample 3/17
3/104
Given: FAS, vA = 5 m/s,

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

unstretched length = 24 in,
vA = 0
Find:
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42
vB
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11
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
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Linear Impulse - Linear Momentum

Define:
t2
Fdt Linear Impulse
VECTOR!
t1
m v G Linear Momentum
Then:
Given: FAS, m = 4 kg, vA = 0

unstretched length = 24 in
Find:
vB, x at max deformation
t2
Fdt G
VECTOR!
G 1 G
t1
Linear Impulse = Change of Linear Momentum

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12
Rearranging:
3/179
t2
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
For block: M=50 kg
v1 = 0
Find:
E during impact
t1
t2
G y1 Fy dt G y2
t1
Conservation of
Linear Momentum:
If
If F 0
then G 1 G 2
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50
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13
3/188
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
For plane motion in the

x-y plane:
H o r mv
mvr sin k
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53
Angular Impulse - Angular Momentum
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Define
Angular
Impulse:
Angular Momentum: H0
The moment of the linear momentum
about a point
It can be shown:
55
t2
dt Angular Impulse
dt H O2 H O1 H O
t1
t2
M
t1
Rearranging:
t2
H O1 M o dt H O2
t1
Conservation of
Angular Momentum:
If
0 then H O 1 H O 2

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14
Kinetics of Particles Impact
Impact: Collision between two bodies.

bodies
Direct Central
Impact: Centers
of mass located on
Line
L
ne of Impact
(LOI). Velocities
in direction of
LOI.
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3/277
LOI
LOI
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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'
Coefficient of Restitution (e)
Given: FAS, N1 = 0
N2 = 150 rpm
T = 20 N
Find:
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t
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Relative velocity after

Relative velocity before
v2' v1'
v1 v2
60
15
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
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Types of Plane Motion:

Translation: All points
on the rigid body have
the same velocity and
acceleration.
l
Kinematic concepts
from Chapter 2 apply
Gi
Given:
FAS e = 0
FAS,
0.6
6
Find:
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v1 and v2
62
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16
Rotation Concepts:
d

dt
d

dt
d d
Angular velocity
Angular acceleration
For = constant:
O (t t 0 )
O2 2 O
1
2
O (t t 0 ) (t t 0 ) 2
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5/2
Fixed Axis Rotation:

For any point on the rigid body,
v r
a n r 2 v
a t r
In vector form,
Given: FAS, =10 rad/s
v r r
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Find:
F
a n r 2 r
vA an
and aA
at r
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2011
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17
Relative Motion -Translating Axes (Velocity)
Plane Kinematics of Rigid Bodies Relative Motion Method

G
Generall Plane
Pl
Motion
M ti can be
b considered
id
d
as Translation + Rotation
(Translating
Frame)
Absolute
velocity of A
wrt fixed
frame (X,Y)
vA vB vA B
A/B
(Fixed Frame)
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Relative Motion:
rA rB rA
rA rB rA
rA
rB
rA
If A and B are on the same

rigid body, vA/B = rA/B
y
((Translating
ranslat ng
Frame)
A/B
Absolute
acceleration of
A wrt fixed
f
frame
(X,Y)
or v A v B v A
or a A a B a A
aA aB aA B
Y
(Fixed Frame)
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Relative
R
l
velocity
l
of
f A wrt a
translating frame (x,y)
attached to B.
71
Relative Motion -Translating Axes (Acceleration)
XY Fixed
xy Translating with B
Fig.
g 2-17 Meriam and Kraige
g
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69
Absolute
velocity of origin
of the
translating
frame at B wrt
fixed frame
(X,Y)
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Absolute
acceleration of
origin of the
t
translating
l ti
frame at B wrt
fixed frame
(X,Y)
Relative acceleration of A
wrt a translating frame
(x,y) attached to B. Due to
rotation about B
72
18
Relative Motion Translating Axes.

To summarize:
5/120
vA vB vA B
or
v A v B rA B
y
(Translating
Frame)
or
A/B
v A v B rrel
aA aB aA B
or
Y
(Fixed Frame)
a A a B rA B rA B
Given:
FAS, = 2 rad/s,
= 0, a0=3 m/s2
Find:
aA when = 0, 90,
and 180
or
a A a B rrel rrel
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75
100
60
180
80
80
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19
5/141
Relative Motion - Rotating Axes

This method works best when sliding occurs
relative to two rigid bodies.
Consider the following:
100
180
60
80Y
80
Given:
FAS,
OA = 10 rad/s
CCW
Find:
AB

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5/141
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Relative Motion -Rotating Axes (Velocity)
100
180
60
80Y
v A v B v P B v A/ P
80
Or:
v A v B rrel v rel
Given:
FAS,
OA = 10 rad/s
CCW
Find:
AB
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2011
80
20
5/174
Relative Motion -Rotating Axes (Acceleration)
a A aB aP B a A/ P
Given:
Or:
a A a B rrel rrel 2 v rel a rel

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81
Find:
FAS,
OA = 10 rad/s
CW
= 30
BC , arel
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83
Given:
Find:
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82
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FAS,
OA = 10 rad/s
CW
= 30
BC , arel
84
21
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.
Given:
Find:
FAS,
OA = 10 rad/s
CW
= 30
BC , arel
2011
4. If we know the magnitude of

vA or vb you can solve for .
85
v A rA
v B rB
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87
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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22
5/97
For general Plane Motion:
Video
F ma
M I :
M I
G
Given:
Find:
Or:
FAS,
FAS
OB = 0.8 rad/sec
cw
vA and vC
2011
F ma
M I
Where C refers
to the center of
mass, shown as G
in the figures
89
C
C
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91
Plane Kinetics of Rigid Bodies Newtons Second Law
If we take
moments about an
arbitrary point, P,
then the moment
equation becomes:
All of the concepts of particle kinetics apply

to kinetics of rigid bodies.
M
M
However, we must account for the rotational

effects of the rigid body.
I m a
I mad
Or:
We will use the overbar to indicate a quantity

reverenced to the center of mass, G.
I C PC m a C
Where C refers to the center of mass

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90
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23
6/33
For Fixed Axis Rotation about

point O:
F ma
M I
M I
M I
M I
Given:
Find:
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93
FAS, M = 20 kg,
released from rest
Reaction forces at
pin O
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94
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24
6/77
Kinetic Energy:
Translation:
1
mv 2
2
1
I O 2
2
1
1
mv 2 I 2
2
2
1
I IC 2
2
Fixed Axis Rotation:
Given:
General Plane Motion:
FAS, released from rest,

=40 s=0.3,
=40,
=0 3 k=0.2
=0 2
aG, friction force
Find:
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Plane Kinetics of Rigid Bodies Work/Energy Methods
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Potential Energy: Same as for Particles
Gravity:
h is measured
All of the work/energy concepts of particle kinetics

apply to kinetics of rigid bodies.
from the datum.

+ if above datum
- if below datum
However, we must account for additional rotational

effects .
Recall:
R
ll
T1 V g 1 Ve1 U 1 2 T2 V g 2 Ve 2
Spring:
Or:
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T1 U 1 W1 2 T2 U 2
V g mgh
98
2011
Ve
1 2
kx
2
100
25
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
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103
Angular Momentum:
Angular Impulse:
HG I
t2
dt
t1
Then:
Given:
FAS, W=12 lb
kspring = 3 lb/in
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H G1 M G dt H G2
t1
kO= 10 in,
1=90, 2=0,
1 = 0
2 = 4 rad/s
M
Find:
t2
For Fixed
Axis Rotation
About O:
102
2011
t2
H O I O H O1 M O dt H O2
t1
104
26
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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105
6/173
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Undamped Free Vibration:

Consider what happens when the
spring mounted cart is disturbed
from its equilibrium position a
distance x.
107
From the FBD and

Newtons Second Law:
ma x
O
Or:
kx mx
mx kx 0
Given:
Find:
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FAS
at t=4s
for each
case
106
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108
27
mx kx 0
Lets define the following:
n k m
Then:
Displacement
x x 0
x x0 cos n t
2
n
This equation describes simple harmonic

motion. The acceleration is proportional
to the displacement, but of opposite
sign.
Let
2011
109
A x0
x0
and
Natural Frequency
sin n t
x 0
n k m
Period
n 2
Then the amplitude is
A2 B 2
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111
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
x x0 cos n t
x0
sin n t
Position
Initial
displacement
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Natural
frequency
Time
110
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112
28
8/4
8/17
Given: FAS, x0 = -2 in
v0 = 7 in/sec
Given: Weight = 120 lb

Deflection = 0.9 in
Find: n
Find: Amplitude
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115
Torsional Vibration
0 cos n t
0
sin n t
n
n kt I
kt GJ
I = Mass moment of inertia

G = Shear modulus
J = Polar moment of inertia
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29

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Dynamics FE Review

For rectilinear motion - motion in a

Response of mass (body)

Find: v(t) and a(t)

Where v is the instantaneous velocity, a is

Given: Position of a car is described by

For a particle whose position is

Fundamental equations of motion

Note: Instead of s, the position could

Figures and problems taken from the textbook Dynamics, 5th

So, we start with

Given: Acceleration of a car is given by:

Note we wrote the

First, look for a fundamental equation that

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

For uniformly accelerated rectilinear

If the acceleration is constant, we can

For the y direction

THESE ONLY APPLY IF THE

Note: This is for t0 = 0. If t0 = 0

Projectile Motion using Rectangular Coordinates

Curvilinear Motion Using Rectangular

Fig 2/7 Meriam and Kraige

Fig 2/8 Meriam and Kraige

For the x direction

Curvilinear Motion Using NormalTangential (Path) Coordinates (n-t)

Useful when the path is given, especially

Find: x at impact and

Special Case: Circular motion using n-t

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

FBD: You must be able to draw good free

Rectangular Coordinates (Cartesian)

Polar Coordinates (Radial/Transverse)

Fig 2-13 Meriam and Kraige

Normal/Tangential Coordinates (Path)

Fig 2-9 Meriam and Kraige

Example Problem: Textbook 3/12

Example Problem: Textbook 3/1

Example Problem: Textbook 3/54

Example Problem:Textbook 3/50

NB and vA such that

Example Problem: Textbook 3/56

This method of solution can be very difficult sometimes!

Component of force acting in the direction of

Conservative force: Work done by a

Consider a particle moving

The work only depends on the starting and

This is the fundamental equation for

Energy available due to position

Potential Energy: (V)

Work done by nonconservative forces:

Fig 3-2 Meriam and Kraige

The FE reference handbook gives the equation

- Kinetic Energy: (T)

Whenever you have conservative forces doing work -- gravity and

Example Problem: Textbook Sample 3/17

Example Problem: Textbook 3/104

Given: FAS, vA = 5 m/s,

Given: FAS, mg = 6 lb, k = 2 lb/in,

Example Problem: Textbook 3/144

In some situations, the FORCES are

Linear Impulse - Linear Momentum