Textbook of Dynamics

Kaushal Kumar Singh

Associate Professor
Department of Mathematics
North-Eastern Hill University
Shillong, Meghalaya

New Delhi-110001
2011
TEXTBOOK OF DYNAMICS
Kaushal Kumar Singh

2011 by PHI Learning Private Limited, New Delhi. All rights reserved. No part of
this book may be reproduced in any form, by mimeograph or any other means,
without permission in writing from the publisher.

ISBN-978-81-203-4190-6

The export rights of this book are vested solely with the publisher.

Published by Asoke K. Ghosh, PHI Learning Private Limited, M-97, Connaught Circus,
New Delhi-110001 and Printed by V.K. Batra at Pearl Offset Press Private Limited,
New Delhi-110015.
 Contents

Preface ix

1 KINEMATICS 136
1.1 Introduction 1
1.2 Motion in a Straight Line 1
1.3 Motion in a Plane 2
1.4 Velocity and Acceleration in Cartesian Coordinates 3
EXERCISE 1.1 7
1.5 Radial and Transverse Velocities and Accelerations 8
1.5.1 Radial and Transverse Velocities 8
1.5.2 Radial and Transverse Acceleration 9
EXERCISE 1.2 17
1.6 Angular Velocity and Acceleration 18
1.6.1 Angular Velocity and Angular
Acceleration of Direction of Motion 18
1.6.2 Relation between Angular and Linear Velocities 19
EXERCISE 1.3 21
1.7 Tangential and Normal Velocities and Accelerations 22
1.7.1 Tangential and Normal Velocities 22
1.7.2 Tangential and Normal Accelerations 23
EXERCISE 1.4 30
1.8 Relative Velocity 31
EXERCISE 1.5 35

2 RECTILINEAR MOTION 3794

2.1 Motion in a Straight Line with Uniform Acceleration 37
EXERCISE 2.1 43

iii
iv Contents

2.2 Simple Harmonic Motion (SHM) 44

2.2.1 Nature of Simple Harmonic Motion 46
2.2.2 Alternative Method 48
2.2.3 Geometrical Representation of SHM 49
EXERCISE 2.2 57
2.3 Hookes Law for Elastic Strings 58
2.3.1 Work Done in Stretching an Elastic String 58
2.4 Horizontal Elastic String 59
2.5 Vertical Elastic String 61
EXERCISE 2.3 73
2.6 Motion under a Force of Repulsion from a Fixed Point 75
2.7 Motion under Inverse Square Law 78
2.8 Application of Inverse Square Law to a Particle Falling
towards the Earths Surface 80
EXERCISE 2.4 88
2.9 Motion under Other Laws of Forces 89
EXERCISE 2.5 94

3 UNIPLANAR MOTION OF A PROJECTILE 95141

3.1 Introduction 95
3.2 Definitions 95
3.3 Motion of a Projectile 96
3.4 To Find the Latus Rectum, the Vertex, the Focus,
the Directrix and Axis of the Parabola Traced out
by the Projectile 98
3.5 Some Results on Projectiles 100
EXERCISE 3.1 112
3.6 Projectile to Pass through a Given Point 113
EXERCISE 3.2 123
3.7 Range and Time of Flight up an Inclined Plane 125
3.8 Maximum Range up an Inclined Plane 127
3.9 Directions of Projection for a Given Range up
an Inclined Plane 128
3.10 Condition that the Particle May
Strike the Plane at Right Angles 129
3.11 Range and Time of Flight down an Inclined Plane 129
EXERCISE 3.3 135
3.12 Enveloping Parabola 137
EXERCISE 3.4 141

4 MOTION IN A RESISTING MEDIUM 142175

4.1 Introduction 142
EXERCISE 4.1 146
4.2 Vertical MotionResistance Varying as the Velocity 147
Contents v

4.3 Vertical MotionResistance Varying

as the Square of the Velocity 152
EXERCISE 4.2 163
4.4 Motion of a Projectile in a Resisting Medium,
Resistance Varying as the Velocity 165
4.5 Motion of a Projectile in a Resisting Medium,
Resistance Varying as the Square of the Velocity 168
EXERCISE 4.3 175

5 WORK, ENERGY AND IMPULSE 176207

5.1 Work 176
5.2 Power 180
EXERCISE 5.1 184
5.3 Energy 185
5.4 Conservative and Nonconservative Forces 186
5.5 Principle of Energy (Energy Equation) 186
5.6 Principle of Conservation of Energy 188
EXERCISE 5.2 192
5.7 Impulse of a Force 194
5.8 Impulsive Forces 195
5.9 Conservation of Linear Momentum 195
5.10 Impact of Two Bodies 196
5.11 Motion of a Shot and a Gun 197
EXERCISE 5.3 205

6 IMPACT 208246
6.1 Impact 208
6.2 Elasticity 208
6.3 Laws of Impact 209
6.4 Direct Impact of Two Smooth Spheres 210
6.5 Loss of Kinetic Energy Due to Direct Impact 211
EXERCISE 6.1 217
6.6 Oblique Impact of Two Smooth Spheres 218
6.7 Loss of Kinetic Energy Due to Oblique Impact 220
EXERCISE 6.2 228
6.8 Direct Impact of a Smooth Sphere
on a Fixed Smooth Plane 230
6.9 Oblique Impact of a Smooth Sphere
on a Fixed Smooth Plane 230
EXERCISE 6.3 238
6.10 Impact on an Inclined Plane 240
EXERCISE 6.4 245
vi Contents

7 CIRCULAR AND HARMONIC MOTIONS 247301

7.1 Uniform Circular Motion in a Horizontal Plane 247
7.2 Conical Pendulum 248
EXERCISE 7.1 252
7.3 Motion in a Nearly Circular Path 252
EXERCISE 7.2 257
7.4 Constrained Motion 257
7.5 Motion on a Smooth Curve in a Vertical Plane 257
7.6 Motion on the Inside of a Smooth Vertical Circle 259
EXERCISE 7.3 270
7.7 Motion on the Outside of a Smooth Vertical Circle 271
EXERCISE 7.4 278
7.8 Simple Pendulum 279
7.9 To Find Whether the Clock Will Go Fast or Slow
IF g or l or Both Change Slightly 281
EXERCISE 7.5 286
7.10 Cycloid 287
7.11 Cycloidal Motion 287
7.12 Cycloidal Pendulum 289
EXERCISE 7.6 297
7.13 Motion on a Rough Cycloid 298
EXERCISE 7.7 300

8 CENTRAL FORCES 302334

8.1 Definitions 302
8.2 Differential Equation of a Central Orbit 302
8.3 Some More Definitions 304
EXERCISE 8.1 320
8.4 The Inverse Square Law of Force 321
8.5 Keplers Laws of Planetary Motion 324
8.5.1 Deductions from Keplers Laws 324
8.6 A More Accurate Form of Keplers Third Law 324
EXERCISE 8.2 334

9 MOMENT OF INERTIA 335373

9.1 Definitions 335
9.2 Moment of Inertia in Some Simple Cases 337
9.3 Rouths Rule 346
9.4 Theorem of Parallel Axes 346
9.5 Moment of Inertia of a Body about a Line 348
9.6 Moment of Inertia of a Lamina about a Line in Its Plane 349
EXERCISE 9.1 363
9.7 Momental Ellipsoid 364
9.8 Momental Ellipse 365
Contents vii

9.9 Principal Axes 366

9.10 Equimomental Systems 367
EXERCISE 9.2 372

10 MOTION WHEN MASS VARIES 374383

10.1 Introduction 374
10.2 Equation of Motion 374
EXERCISE 10.1 382

11 MOTION IN THREE DIMENSIONS 384392

11.1 To Find the Accelerations of a Particle in
Terms of Spherical Polar Coordinates 384
11.2 Cylindrical Coordinates 386
EXERCISE 11.1 391
Bibliography 393
Index 395397
 Preface

The aim of the present book is to meet the requirements of B.A., B.Sc. and
B.E. students of different Indian Universities. It covers the syllabi of almost
all Indian Universities for degree classes, including the one prescribed by
UGC. The students are supposed to have a working knowledge of
elementary dynamics, geometry, calculus and differential equations.
The vast teaching experience of the author on the subject has helped
him to understand the difficulties of the students. In this book, special care
has been taken to explain the fundamental principles. An effort has been
made to present the theory in a simple and lucid manner, followed by a
large number of carefully selected solved examples and exercises. The
problems have been selected from standard books on the subject and the
recent examination papers of various universities.
The book has been divided into eleven chapters. The first chapter deals
with kinematics in which the geometrical aspects of the motion of bodies
have been studied. In the second chapter, the rectilinear motion with
uniform and variable accelerations has been studied. The motion of a
projectile in a vertical plane, neglecting the air resistance, has been dealt
with in Chapter 3. In the fourth chapter, the rectilinear motion and the
motion of a projectile in a resisting medium have been discussed. In
Chapters 5 to 8, work, energy and impulse, impact of bodies, circular and
cycloidal motions, and motion of a particle under central forces have been
studied. In Chapter 9, moments of inertia of different bodies have been
discussed. This chapter also contains the study of products of inertia,
momental ellipsoid and principal axes. In Chapter 10, the motion of bodies
when mass varies with time has been studied. In the last chapter, motion
of a particle in three dimensions has been discussed.
In writing this book, I have freely consulted different books for
definitions, principles and examples and therefore I am thankful to the
authors and publishers of those books.

ix
x Preface

I am thankful to late Prof. S.K. Srivastava, Department of

Mathematics, NEHU, Shillong, for his kind inspiration and Mr. A. Ticken
Singh, Ms. A.M. Buhphang and Dr. A.K. Das, Department of Mathematics,
NEHU, Shillong, for their help in typing the manuscript from time to time.
I am also thankful to the Publishers of this book, PHI Learning,
especially its editorial and production team for the careful and speedy
processing of the manuscript. Special thanks are due to Mr. S.K. Singh,
Deputy Regional Sales Manager, PHI Learning, who took initiative for
publication of this book.
Suggestions for corrections and improvement of the book will be
thankfully accepted.

Kaushal Kumar Singh

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