ASEN5022: Dynamics of Aerospace Structures

Lecture 1: Introduction - Inertial Reference Frame

What we will learn in this course:

1. Kinematics which are essential for the description of motions of masses.

2. Ability to derive the equations of motion for complex dynamical systems.

3. Understanding of vibration phenomena for structural elements.

4. Ability to model complex vibration problems by reduced number of equations.

5. Applications of dynamical principles for engineering design applications.

Above All, Become Excellent Dynamists!

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What we will study today:

• Transition from statics to dynamics (a prelude to d’Alembert’s principle)

• Inertial reference frames (Galileo’s relativity)

• Physical interpretation of inertia forces

• Of course, Newton’s Laws

• Centripetal vs. centrifugal forces

• Equation of motion under different coordinate systems

• And, shake off some of your undergraduate notions of dynamics - - Ask when you are in doubt or confused!

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Dynamics according to

Galilei Galileo (Two New Sciences, 1636):

A subject of never-ending interest.

Isaac Newton (The Principia, 1687):

We offer this work as the mathematical principles of philosophy; for all the difficulty of philosophy
seems to consist in this – from phenomena of motions to investigate the forces of nature, and then from
these forces to demonstrate the other phenomena; and to this end the general propositions in the first
and second book are directed.

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Transition from Statics to Dynamics
 
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 Statics Dynamics 
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 

 
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
 Force equilibrium 
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 
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 
for a free body:

 
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
 


 

f ij − mi ai = 0§ (1.1)
P P
 j f ij = 0 j 

 

 



 Moment equilibrium 
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
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 
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 

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
 around point ”P”: 




 

§
 
MP j − rP j × (mj aj ) =
P P
MP j = 0 0 


j
§
Observation: A critical aspect of dynamics is the need to compute the acceleration vector for every mass
in the system.

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Landau’s Uniqueness Theorem∗

If all the position vectors {x1 , x2 , ..., xn } and the velocity vectors {ẋ1 , ẋ2 , ..., ẋn } for n particles are
given at some instant, the accelerations {ẍ1 , ẍ2 , ..., ẍn } at that instant are uniquely defined.

The relations between the accelerations, velocities and position vectors are called the equations of
motion.

∗
L. D. Landau and E. M. Lifshits, Mechanics (3rd ed.), Pergamon Press, 1959.

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Reference Frame and Position Vector

Consider two frames, K and K0 , where V is constant in both magnitude and direction, and in which the
properties of space and time are the same.

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 Example of Two Inertial Frames

Frame K'

r
Frame K
r'

Vt

O'
O
r = Vt + r'
Fig. 1. Reference Frame

Reference Frame and Position Vector-Cont’d

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The kinematic relations between frames K and K0 are:
r = Vt + r0
ṙ = V + ṙ0 ⇒ v = V + v0
(1.2)
r̈ = r̈0 ⇒ a = a0

Conclusion: The acceleration vectors are the same in all inertial frames!

Hence, Galileo’s relativity principle holds.

In all inertial frames, the laws of mechanics are the same, which is referred to Galileo’s relativity principle, one of the
most important principles of mechanics.

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Newton’s Eight Definitions

DEFINITION I: The quantity of matter[mass] is the measure of the same, arising from its density and
bulk conjointly.

DEFINITION II: The quantity of motion[linear momentum] is the measure of the same, arising from the
velocity and quantity of matter conjointly.

DEFINITION III: The vis insita, or the innate force of matter[inertia force], is a power of resisting, by
which every body, as much as in it lies, continues in its present state, whether it be rest, or of moving
uniformly forwards in a right[straight] line.

DEFINITION IV: An impressed force is an action exerted upon a body, in order to change its state,
either of rest, or of uniform motion in a right line.

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Newton’s Eight Definitions - cont’d

DEFINITION V: A centripetal force is that by which bodies are drawn or impelled, or any way tend,
towards a point as to a centre.

DEFINITION VI: An absolute centripetal force is the measure of the same, proportional to the efficacy
of the cause that propagates it from the centre, through the spaces round about.

DEFINITION VII: The accelerative quantity of a centripetal force is the measure of the same, proportional
to the velocity which it generates in a given time.

DEFINITION VIII: The motive[motion-causing] quantity of a centripetal force is the measure of the same,
proportional to the motion which it generates in a given time.

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Newton’s Three Laws

Law I: Every body continues in its state of rest, or of uniform motion in a right line, unless it is compelled to
change that state by forces impressed upon it.

Law II: The change of motion is proportional to the motive force impressed; and is made in the direction of the
right line in which the force is impressed.

Law III: To every action there is always opposed an equal reaction; or, the mutual actions of two bodies upon
each other are always equal, and directed to contrary parts.

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Test of Galileo’s Relativity Principle

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Fig. 2. Example of a Spring Mass System
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Test of Galileo’s Relativity Principle - cont’d

Position vector in frame K : X=h−d+x

Position vector in frame K0 : X 0 = x0
{ Relation between the two frames : x0 = x − d } (1.3)
Equation of motion in frame K : −mg − k(x − d) − mẍ = 0
Equation of motion in frame K0 : −mg − kx0 − mẍ0 = 0

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Test of Galileo’s Relativity Principle - cont’d

EOM in frame K : mẍ + kx = (−mg + kd)(static eq.!) = 0

(1.4)
EOM in frame K0 : mẍ0 + kx0 = −mg

Remark 1: The mass-point based coordinate system (frame K) must include the dead weight mg in the
equations of motion.

Remark 2: The ground based coordinate system (frame K0 ) does not require to account for the static
equilibrium.

Remark 3: When the ground itself moves, i.e., buildings subjected earthquakes and automobile riding on
wavy roads, one has to modify h to X = xg + h − d + x where xg is the motion of the ground. A similar
modification must be made for X0 .

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Test of Galileo’s Relativity Principle - cont’d

What happens to the mass point-based coordinate system when the ground moves?

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Fig. 3. Centripetal vs. Centrifugal Forces

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Fig. 4. Source: I. B. Cohen, ”Newton’s Discovery of Gravity,” Scientific American, March 1981.

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