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INTRODUCTION TO DYNAMICS
(a) Mechancis of rigid bodies (b) Mechanics of deformable bodies (c) Mechanics of fluids
Kinematics Kinetics
Dynamics:
It is which of Newtonian Mechanics which deals with the forces and their effects, while
acting upon the bodies in motion. When we talk about the motion of the planets in our solar system,
motion of a space craft, the acceleration of an automobile, the motion of a charged particle in an
electric field, swinging of a pendulum, we are talking about Dynamics.
Kinematics:
It is that branch of Dynamics which deals with the displacement of a particles or rigid body
over time with out reference to the forces that cause or change the motion. It is concerned with the
position, velocity and acceleration of moving bodies as functions of time.
Kinetics:
It is that branch of Dynamics which deals with the motion of a particle or rigid body, with
the reference to the forces and other factor that cause or influence the motion. For the study of
motion Newton’s Second Law is widely used.
so these given relation are integrated to get the general relation of motion x = f(t) .
v t
∫vo
dv = ∫ f (t )dt
0
t
v − v o = ∫ f (t )dt
o
t
v = v o + ∫ f (t )dt .......(i )
o
0⎢ ⎣ 0 ⎥⎦
Thus position is obtained from equation of a = f(t)
# Find the velocity and position of a particles after its 5 sec from Rest, which moves with equation of
a = 6t2-4t.
Solution:
Given equation a = f(t) → a = 6t2 – 4t
xo = 0 , vo = 0 and t = 5.
We know,
5
t t 5 ⎡ 6t 3 4t 2 ⎤
∫ f (t )dt = ∫ f (t )dt = ∫ (6t − 4t )dt = ⎢ −
2
V0 = ⎥ 0
o o 0
⎣ 3 2 ⎦
[
v = 2t 3 − 2t 2 ]
5
0 = 200 m / s
Again,
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -2
t
∫ ⎡⎢⎣v + ∫ f (t )dt ⎤ dt
t
X = xo + o
0 ⎥⎦
0
∫ [0 + 200]dt = ∫
t 5 5
=0+ 200dt = [200t ]0
0 0
= 100 m
Therefore, x = 100m and v = 200m/s after 5 second of motion.
Case-II When the acceleration is a given function of position [ i.e a = f(x) eg. x2+4x]
We know,
a = dv/dt = dv/dx . dx/dt = v.dv/dx
or, vdv = adx
or, vdv = f(x)dx [ ∵ a = f(x)]
Now , Integrating both sides of above equation , taking limit as velocity varies from Vo to v as
position p varies form xo to x.
v
t x ⎡v2 ⎤ x
i.e ∫
vo
vdv = ∫
xo
f ( x)dx ⇒ ⎢ ⎥
⎣2⎦
v0 = ∫ f ( x)dx
xo
v 2 v 02 x
or, − = ∫ f ( x)dx
2 2 x 0
V = dx/dt ⇒ dx = vdt.
Integrating both sides with limits as time varies from 0 to t and position from xo to x .
x t
i.e ∫xo
dx = ∫ vdt ........(1)
o
∴ x = x0 + ∫ ⎡vo2 + 2∫ f ( x)dx ⎤ dt
x t 2
0⎢
⎣ x0 ⎥⎦
Case III : When acceleration is a given function of velocity (i.e a =f(v) eg. a = v2+v)
* Uniform motion means covering equal distance over equal intervals of time. ie velocity = constant.
We have,
V = dx/dt = v [ v = constant velocity of body]
x t
∴ dx = udt ⇒ ∫x0
dx = ∫ vdt
0
[ Integrating both sides under limits as position varies from xo to x and
time 0 to t]
∴ x – xo = vt
x = xo +vt
∴ Change in position (or displacement) is equal to uniform velocity x change in time [ i.e s = vt]
v = v 0 + at ........(1)
Again for position , we have
v = dx/dt …..(2) from 1 and 2.
dx = (vo +at) dt ,
Integrating both sides over the limits
1 2
dx = ∫ (v 0 + dt )at ⇒ x − x0 = v0 t +
x t
∫x0 0 2
at
1 2
x = x0 + v0 t + at
2
dv
Also, a = v xo = Initial position
dx
Or, vdv = adx x = Final position
Integrating both sides under limits v0 = Initial velocity.
v x v = Final velocity
∫v0
vdv = a ∫ dx
x0 0 = Initial time
t = Final time
1 2
2
(v − v02 ) = a(x − x0 )
v 2 = v 02 + 2a( x − x 0 )
xA [ xB/A =xB - xA ]
xB/A
xB
Position co-ordinates of A = xA
Position co-ordinates of B = xB
Relative position co-ordinate of B w.r.t A = xB-xA = xB/A
From Figure:
IH = Constant
H G
JB = Constant
Arc CD = Constant xA D D’
C
Arc EF = Constant xB
AC+DE+FG = Constant
E J F
Now, A
XA = AC +IH = AC + Constant ………. (i)
XB = FG +JB = FG + Constant ………….(ii)
B
Multiplying equation (ii) by 2 and Adding to (ii)
we get,
XA +2xB = AC+2FG+ Constant
= AC + FG+FG +Constant
= AC +FG+DE+D’G+ constant [ Since FG = DE+D’G]
=AC+FG+DE+ Constant [ Since D’G = Constant ]
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* In this case displacement, velocity and acceleration of one body gives the displacement, velocity and
acceleration of other body. This arrangement is called 1-degree freedom .
Solution:
2xA +2xB +xc = Constant ……….(1)
2vA +2vB +vc = 0 …………..(2)
2aA +2aB +ac = 0 ………….(3)
xA
G I N o
M xC
xB
D E F
C
J K L
A
x V a
x= f(t)
Slo e
= dx/dt = a1
a= f(t)
x1 V1 V= f(t) a1
Slo e
= dx/dt = v 1
t t t
t1 t1 t1
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -6
If x-t curve is given, then computing slope at each point of x-t curve corresponding v-t curve can be
generated and computing slope at each point of v-t curve a-t curve can be generated.
Again,
• This means change in position in given by the area under curve v-t and change in velocity is given by
area under the curve a-dt.
a V x
a1 V2 t2 x2
V1 vdt = x2 - x1 x
1
t1
t t t
t1 t2 t1 t2
t1
Tutorial Examples:
r ) 2 ˆ t3 ˆ
1) The motion of a particles is defined by the position vector r = 6ti + 4t j + k where r in meter and t in
4
second. At the instant when t = 3 sec, find the unit position vector, velocity and acceleration.
Solution:
r ) t3 ˆ
We have , r = 6ti + 4t 2 ˆj + k
4
r 27 ˆ
At time t = 3 sec. r = 18iˆ + 36 ˆj + k
4
2
r
r= r = (18)2 + (36)2 + ⎛⎜ 27 ⎞⎟ = 40.81m
⎝ 4 ⎠
Now unit position vector at t = 3 sec.
27 ˆ
r 18iˆ + 36 ˆj + k
r 4
rˆ = r =
r 40.81
(
∴ rˆ = 0.44iˆ + 0.88 ˆj + 0.165kˆ ) Ans
Again,
r ⎡ 2 ⎛ 24 ⎞ ⎤ 2
2
⎣⎢ ⎝ 7 ⎠ ⎦⎥
V = 25.64 m/s
r
r dv d ⎛ ˆ 3 ⎞
Again, acceleration (a ) = = ⎜ 6i + 8tˆj + t 2 k ⎟
dt dt ⎝ 4 ⎠
r 3
a = 8 ˆj + tkˆ
2
r
At t = 3 sec , a = 8 ˆj + 4.5kˆ
[ ]
1
r
Acceleration, (a) = a = 8 2 + (4.5)
2 2 = 9.18 m / s 2 Ans
2) A ball is thrown vertically upward with a velocity of 9.15m/s. After 1s another ball is thrown with the
same velocity. Find the height at which the two ball pass each other?
Solution:
Let the initial velocity of both balls
V01 = v02 = vo = 9.15 m/s
h be the height at which two balls pass each other t1 be the time elapsed by the first ball before passing second
and t2 be the time elapsed by second.
Hence , two balls pass each other at 3.05m above the ground.
3) In the following pulley system, Block 2 has velocity 2m/s upward and its acceleration is 3m/s2 downward
while block 3 has velocity and acceleration 2m/s up ward and 4m/s2 downward respectively. Find the
velocity and acceleration of block 1.
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -8
Solution:
v 2 − v3 − 2 − 2
v1 = − = = −2 m / s
2 2
Therefore, velocity of block 1 (v1) = 2 m/s (↓)
From equation (vi)
− a 2 − a3 + 3 + 4
a1 = = = 3 .5 m / s 2
2 2
Therefore, acceleration of block 1 (a1) = 3.5 m/s2 (↑)
Chapter – 3
Curvilinear Motion of Particles
Y Y Y
∆r
p p ∆t
∆s ∆r≈∆ s
∆r p
r p ∆r p
r s
r r r
O X O
(a) (b) X o X
(c)
Let, at time ‘t’ the position vector of particle be r and at another time (t + ∆t ) the particle takes a new
position p' and its position be r !. Then ∆ r represents the change in directoin as well as magnitude
of the position vector r . (fig. a) The average velocity of the particles at time interval
∆r
∆t = ( in magnitude and direction of ∆ r )
∆t
∆r d r
∴Instantaneous Velocity, v = lim =
∆t →0 ∆t dt
As ∆ r and ∆t becomes shorter, P & P ′ gets closer and v is tangent to the path of the particle. (fig c)
And, As ∆t decreases, length of PP ′ ( ∆ r ) equals to length of arc ∆s (fig b)
PP ′ ∆s ds
∴ν = lim = lim =
∆t → 0 ∆t ∆t →0 ∆t dt
Y V
Change in position ( ∆ r ) can be resolved into two components, α
p
i One parallel to x-axis and ( PP ′′ )
ii Other parallel to y-axis ( P ′′P ′ ) ∆r ∆Y
Y
∴ ∆ r = PP ′′ + P ′′P ′ p
P
∆r PP ′′ P ′′P ′ y
or , lim = lim + lim vy
∆t → 0 ∆t ∆t →0 ∆t ∆t →0 ∆t
v O
x ∆x X
α
v P vx
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -10
O X
∆x ˆ ∆y ˆ
or ,ν = lim i + lim j
∆t →0 ∆t ∆t →0 ∆t
dx ˆ dy ˆ
or ,ν = i+ j
dt dt
or ,ν = v x iˆ + v y ˆj
or ,ν = xiˆ + yˆj
Then, Positive Value of v x → Right Direction
V = v + v [Magnitude of Velocity]
2
x
2
y Positive Value of v y → Upward Direction
vy dx dy
tan α = vx = = x;vy = =y
vx dt dt
v
∴α = tan −1 y
[Direction of Velocity]
vx
Q q
v
∆s vy
ay
∆r ∆v Q β
r v v q
v q ax
Q x
r v
O O X O
(a) X (b) X
(c)
If v and v ′ be the velocities at time ‘t’ 4 (t + ∆t ) i.e. tangents at P and P ′ , then the average
acceleration of the particle over the timer interval is given by
∆v
∆t ( a ) =
∆t
∆v d v
or , a = lim =
∆t →0 ∆t dt
Again, ∆v can be resolved into QQ ′′ & Q ′′Q ′ parallel to x & y-axes respectively. Then,
v = QQ ′′ + Q ′′Q ′
∆v QQ ′′ Q ′′Q ′
or , lim = lim + lim
∆t →0 ∆t ∆t → 0 ∆t ∆t → 0 ∆t
∆v ∆ v
or , a = lim x iˆ + lim ˆj
y
∆t → 0 ∆t ∆t →0 ∆t
dv dv y
or x iˆ + ˆj
dt dt
or , a x iˆ + a y ˆj
or , a = xiˆ + yˆj dv x
ax =
dt
or , a = (a x ) 2 + (a y ) 2 ⇒ acceleration in magnitude
dv y
ay =
dt
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ay
tan β = ⇒ β = tan −1 (a y a x ) ⇒ in direction
ax
O X O X
(a) (b)
p= f(u)= 2u2 +4 u +3
Ζ Ζ
Let, P (u ) be a vector function of scalar variable u. If value of ‘u’ is varied, ‘ P ’ will trace a
curve in space. Considering change of vector P corresponding to the values u 4 ( u + ∆u ) as shown in
figure(a). Then
∆ p = p (u + ∆u ) − p (u )
dp ∆p ⎧⎪ p(u + ∆u ) − p (u ) ⎫⎪
i.e. = lim = lim ⎨ ⎬
du ∆u →0 ∆u ∆u →0 ⎪⎩ ∆u ⎪⎭ - (1)
dp
As ∆u → 0, ∆ p becomes tangent to the curve. Thus is tangent to the curve as shown in
du
figure(b).
Again,
Considering the sum of two vector functions p (u ) & Q(u ) of the same scalar variable u. Then
the derivative of the vector ( P + Q) is given by:
d ∆( P + Q) ⎡ ∆{P) ∆{Q) ⎤ ∆P ∆Q
( P + Q) = lim = lim ⎢ + ⎥ = lim + lim
du ∆u → 0 ∆u ∆u → 0
⎣⎢ ∆u ∆u ⎥⎦ ∆u →0 ∆u ∆u →0 ∆u
d d P dQ
∴ ( P + Q) = + - (2)
du du du
Again, product of scalar function f(u) and pf a vector function P (u ) of the same scalar variable u.
Then, derivative of f P is given by:
df . p
= lim
(f ( )
+ ∆f ) P + ∆P − f P
du ∆u → 0 ∆u
⎡ ∆f ∆P ⎤
= lim ⎢ P+ f ⎥
∆u → 0 ∆u ∆u ⎥⎦
⎣⎢
df P df dP - (3)
∴ = P+ f
du du du
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -12
Similarly, scalar product and vector product of two vector functions P (u ) and Q(u ) may be
obtained as:
d dP dQ
( P.Q) = .Q + P. - (4) [Scalar Product]
du du du
d dP dQ
( P × Q) = ×Q + P× - (5) [Vector Product]
du du du
Again,
P = Px iˆ + Py ˆj + Pz kˆ - (6)
where, Px , Py & Pz are the rectangular scalar components of vector P & iˆ, ˆj , kˆ are the unit vector.
V = v x iˆ + v y ˆj + v z kˆ ∴ V = (v x2 + v y2 + v z2 )
∴ a = ( a x2 + a y2 + a z2 )
a = a x iˆ + a y ˆj + a z kˆ
Y
vy
vx
vz
v
o X
When the motion in each axis can be represented independent with each other then the use of
rectangular components to describe the position, velocity and acceleration of a particle is effective
i.e. motion in each axis can be considered separately.
For e.g. for projectile motion, neglecting air resistance, the components of acceleration are:
a x = 0 and a y = − g
or , v x = 0 and v y = − g ay
or , dv x = 0 and dy = − gdt
On Integrating both sides under the limits, ax
vx vy t
∫v xo
dv x = 0 and ∫v yo
dy = − g ∫ dt
0
V
Vx
O X
uy yo
Problems:
1. A bullet is fired upward at an angle of 30° to the horizontal from point P on a hill and it strkies a
target which is 80m lower than the level of projection as shown in figure. The initial velocity of the
bullet is 100m/s. Calculate:
a. The maximum height to which the bullet will rise above the horizontal.
b. The actual velocity with which it will strike the target
Vo = 100m/s
c. The total time required for the flight of the bullet. A
Solution: nmax
V0 = 100m / s
P
B
V x0 = V0 cos 30 = 86.60m / s
V y0 = V0 sin 30 = 50m / s Hill
80m
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -14
V02 sin 2 30
hmax = = 127.42
a) 2g
∴hmax = 127.42m ( Ans )
b) Let, V1 y = vertical component of velocity at highest point A = 0
V2 y = vertical component of velocity striking target
H = vertical distance between point A and target = 127.42+80 = 207.42m
Then, V22y − V12y = 2 gH [V1 y = 0]
or , ⇒ V2 y = 63.79m / s
V2 x = V1x = V x0 = 86.60m / s [V x0 = cons tan t ]
∴V2 = V22x + V22y = 107.55m / s (Ans) Vo= A
A
V zy
& θ = tan −1 = 36.37° nmax
V xy P
B
80m
1 2
c) h = (V y ) 0 t 2 − gt 2
2
1
or , − 80 = 50 × t 2 − × 9.8 × t 22
2
Total time of flight is the sum of time to
or , 4.905t 2 − 50t 2 − 80 = 0
2
reach B from A & to C from B
Solving , T=t1+t2
xv = t 2 = 11.60 sec ( Ans) 2V sin α V 2 sin α
t1 = 0 & PB=Range= 0
g g
2) The motion of a vibrating particle is defined by the equation x=100sin πt and y=25cos2 πt , where
x & y are expanded in mm & t in sec.
a) Determine the velocity and acceleration when t=15
b) Show that the path of the particle is parabolic.
Solution:
a) We have,
x=100sin πt ⇒ V x = x& = 100π cos πt
a x = &x& = −100π 2 sin πt
Again, y=25cos2 πt ⇒ V y = y& = −50π sin 2πt
a y = &y& = −100π 2 cos 2πt
Then, for t=2sec,
V x = [100π cos π × 1]:V y = [−50π 2 sin π × 1]
V = V = V x2 + V y2
Vy
V = 100π mm / s α = tan −1 ( )=0
Vx
a = a = a x2 + a y2 = 100π 2 mm / s 2
ay
β = tan −1 ( ) = 270°
ax
b) Since, x=100sin πt
x
∴ = sin πt
100
x 2
∴( ) = sin 2 πt − (i )
100
y
or , = 2 cos 2 πt − 1
25
⎛ y ⎞
or , ⎜ + 1⎟ = 2 cos 2 πt
⎝ 25 ⎠
y + 25
∴ = cos 2 πt − (ii )
50
x2 y + 25
+ = sin 2 πt + cos 2 πt = 1
10000 50
or , x + 200 y + 5000 = 10000
2
3) The motion of a particle is given by the relation Vx=2cost & Vy=sint. It is known that initially
both x & y co-ordinates are zero. Determine
a) Total acceleration at the instant of 25
b) Equation of the parabola
a) Here, Vx=2 cost & Vy =sint
dv At t=2sec
Then, ax= x = −2 sin t ax=-2sinz=-1.82
dt
ay=cos2=-0.42
dv y
and, a y = = cos t α = a x2 + a y2 = 1.865m / s 2
dt
ay
∴a = a x iˆ + a y ˆj β = tan −1 = 193°
ax
a = −2 sin t iˆ + cos t ˆj
or , x = 2 sin t
x2
or , = sin 2 t − (i )
4
dy y t
Again, V y = = sin t ⇒ ∫ dy = ∫ sin tdt
dx 0 0
Let A and B be the particles moving is a same plane with rA & rB be their position with respect to
XY axis.
Considering New axes (X'-Y') centered at ‘A’ and parallel to original axes X-Y, the motion of
particle ‘B’ can be defined with respect to motion of particle ‘A’ such that:
From vector triangle OAB
rB = rA + r B / A − (i ) where,
and similarly , • XA,YA & XB & YB are co-ordinates of A & B
w.r.t. XY axes
XB = X A + X B/ A • XB/A, YB/A are co-ordinates of ‘B’ .r.t. X'-Y' axis
- (ii)
YB = YA + Y B / A
Differentiating equ(i) w.r.t. time, we get:
V B = V A + VB − (iii )
In scalar form: r → Equation of motion in both x and y axes
X& B = X& A + X& B / A X → Equation of motion in x - axis
Y&B = Y&B + Y&B / A - (iv) Y → Equation of motion in y - axis
OR
V( B )x = V( A) x + V( B / A) x where,
V( B )y = V( A) y + V( B / A) y X& A , Y&A are X & Y components of VA
X& B , Y&B are X & Y componens of VB
X& B / A Y&B / A are X & Y components of V B / A
Again,
differentiating (iii) with respect to time, we get:
aB = (aBx )2 + (a By )2
aB = a A + a B / A − (v )
a By
In scalar, β = tan −1
a Bx
p’ p
r r
p
x o x
o (b)
(a)
dr
Therefore, eˆt = is the unit vector along the tangetn to path.
ds
Let, ρ be the radius of curvature of the path at the point P and eˆt & eˆt ' be the tangent unit vectors at
P and P'. Ɛt be the change in unit vector while the particle moves from P to P'.
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -18
y ex
y a =at et + an en
p’
e’ et
r
e’x a t =dVet
o ex
en p dt
p
x o
(b)
(a) x
o (c)
Now, from fig,
∆s = PP' = ρ∆θ
∆eˆt = eˆt ' − eˆt ≡ ∆θ eˆt = ∆θ eˆn [As ∆s → 0 ê t = eˆn → 1 in magnitude]
∆eˆt ⎡ deˆ ⎤
∴ eˆn = lim ⇒ ⎢eˆn = t ⎥ − (ii )
∆s →0 ∆θ dθ ⎦
⎣
Similarly,
⎡ dθ 1 deˆt ⎤
⎢ ds ρ= and = eˆn ⎥ − (iii)
⎣ dθ ⎦
Also,
ds ∆s ρ∆θ dθ
V = = lim = lim =ρ
dt ∆t → 0 ∆t ∆ t → 0 ∆t dt
⎡ dθ ⎤
⎢⎣∴ V = ρ dt = ρθ ⎥⎦ − (iv)
d r d r ds
V = = . = eˆt v = veˆt
dt ds dt
[
∴ V = Veˆt − (v )]
And,
dv d dv deˆ dv deˆ dθ ds
a= = (Veˆt ) = eˆt + v t = eˆt + v t . .
dt dt dt dt dt dθ ds dt
1
or , a = V&eˆt + V (eˆn )( )
ρ
⎡ V2 ⎤
or , ⎢a = V&eˆt + eˆn − (vi)
⎣ ρ ⎥⎦
r
x x
(a) (b)
As the particle moves from P to P '. The unit vectors er , & eθ change to eˆ' r & eˆ'θ by
a=
dv d
dt dt
= (
r&eˆr + rθ&eθ )
= &r&eˆr + r&eˆ&r + r&θ&eˆθ + rθ&&eˆθ + rθ&eˆ&θ
[
= &r&eˆr + r&θ&eˆθ + r&ϑ&eˆθ + rθ&&eˆθ − rθ& 2 eˆr ∴e&r = eˆθ θ& & eˆ&θ = −eˆrθ& ]
[ ( ) (
∴ a = &r& − rθ& 2 eˆr + rθ&& + 2r&θ& eˆθ ) ]
− (v )
which can be represented as,
a = a r eˆr + aθ eˆθ
where,
a r = Radial component of acceleration = &r& − rθ& 2 ( )
and, aθ = Transverse component of acceleration = rθ&& + 2r&θ& ( )
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -20
In case of a particle moving along a circular path with its centre at the origin O, we have
r=constant
or, r& = 0 & &r& = 0
Then,
v = rθ& eˆθ − (vi)
a = − rθ& 2 eˆ + rθ&&eˆ
r θ − (vii)
Problems:
1) The motion of a particle is defined by the position vector, r = 3t 2 iˆ + 4t 3 ˆj + 5t 4 kˆ, where r is in m
and t is in sec. At instant when t=4 sec, find the normal and tangential component of acceleration and
the radius of curvature.
Solution, we have
r = 3t 2 iˆ + 4t 3 ˆj + 5t 4 kˆ
dr
∴V = = 6tiˆ + 12t 2 ˆj + 20t 3 kˆ
dt
dv
&a= = 6iˆ + 24tˆj + 60t 2 kˆ
dt
Again,
( )
1
V = V = 36t 2 + 144t 4 + 400t 6 2 − (i )
[ )]
1
a = a = 36 + (24t ) + 60t
2
( 2 2 2
− (ii )
Now,
At t = 4sec
V=1294.54m/s [putting t=4 in equ-(i)]
a=964.81m/s2 [putting t=4 in equ-(ii)]
Again,
Tangential component of acceleration,
( )
1
dv d
at = = 36t 2 + 144t 4 + 400t 6 2
dt dt
1
= .
1
(
× 72t + 576t 3 + 2400t 5 )
( )
1
2
36t 2 + 144t 4 + 400t 6 2
At time t=4 sec, at=963.56m/s2 (Ans)
Now,
a n = a 2 − at2 = (964.81)2 − (963.56)2
∴a n = 49.1m / s 2 ( Ans)
Again,
V 2 (1294.54)
2
ρ= = = 34131.03m ( Ans )
an 49.1
2. A car is traveling on a curved section of the road of radius 915m at the speed of 50km/hr. Brakes
are suddenly applied causing the car to slow down to the 32 km/hr after 6 sec. Calculate the
acceleration of the car immediately after the brake have been applied.
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Solution: Given,
ρ = 915m
V0 = 50km/hr = 13.88 m/sec
V1 = 32km/hr = 8.88 m/sec
At the instant when the brake is applied,
V 2 (13.88)
2
an = = = 0.210m / s 2
ρ 915
V − V0
at = 1 = −0.833m / s 2
∆t
a = a n eˆn + at eˆt
a = 0.210eˆn − 0.833eˆt
a= a = (0.21)2 + (− 0.83)2 = 0.856m / s 2 ( Ans )
an ⎛ 0.21 ⎞
β = tan −1 = tan −1 ⎜ − ⎟ = 14.2° ( Ans )
at ⎝ 0.83 ⎠
3. The plane curvilinear motion of the particle is defined in polar co-ordinates by r=t3/4+3t and
θ =0.5t2 where r is in m, θ is in radian and t is in second. At the instant when t=4 sec, determine the
magnitude of velocity, acceleration and radius of curvature of the path.
Solution: We have,
t3 3t 2
r= + 3t ⇒ r& = + 3 ⇒ &r& = 3t / 2
4 4
Again, θ = 0.5t 2 ⇒ θ& = t ⇒ θ&& = 1
Now, we have
⎛ 3t 2 ⎞ ⎛ t3 ⎞
v = r&eˆr + rθ&eˆθ = ⎜⎜ + 3 ⎟⎟eˆr + ⎜⎜ + 3t ⎟⎟teˆθ − (i )
⎝ 4 ⎠ ⎝4 ⎠
Again, at t = 4 sec
v = 15eˆr + 112eˆθ
∴v = v = (15)2 + (112)2 = 133m / s 2 ( Ans)
Again,
( )
a = &r& − rθ& 2 eˆr + (rθ&& + 2r&θ&)eˆθ
⎧ 3t ⎛ t 3 ⎞ ⎫ ⎧⎛ t 3 ⎞ ⎛ 3t 2 ⎞⎫
= ⎨ − ⎜⎜ + 3t ⎟⎟t 2 ⎬eˆr + ⎨⎜⎜ + 3t ⎟⎟ × 1 + 2⎜⎜ + 3 ⎟⎟t ⎬eˆθ
⎩2 ⎝ 4 ⎠ ⎭ ⎩⎝ 4 ⎠ ⎝ 4 ⎠⎭
At t = 4 sec,
a = −442eˆ + 148eˆ
r θ
1
a = a = ⎡(− 442 )2 + (148)2 ⎤ 2 = 466.12m / s 2 ( Ans )
⎢⎣ ⎥⎦
Again, from equ(i) [for ρ ]
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -22
1
⎡ 2 2 2⎤
⎢⎛⎜ 3t ⎞ ⎛ t4 ⎞ ⎥2
v= v =⎢ ⎟
+3 + ⎜ + 3t 2 ⎟
⎜ 4 ⎟ ⎜ 4 ⎟ ⎥
⎢⎣⎝ ⎠ ⎝ ⎠ ⎥
⎦
1
dv d ⎡ t 6 33t 4 27t 2 ⎤2
Qa = = ⎢ + + + 9⎥
t dt dt ⎢ 16 16 2 ⎥⎦
⎣
1 1 ⎛ 3t 5 33t 3 ⎞
Qa = × ×⎜ + + 27t ⎟
2 1 ⎜ 8 4 ⎟
⎝ ⎠
⎛ t 6 33t 4 27t 2 ⎞2
⎜ + + + 9⎟
⎜ 16 16 2 ⎟
⎝ ⎠
At t = 4 sec,
at = 16.055m / s 2
[ ] = [(466.12) ]
1 1
Q a n = a − (at ) − (16.005)
2 2 2 2 2 2
∴ a n = 465.84m / s 2
∴ρ =
v2
=
(113) = 27.41m
2
a n 465.84
Hence, Radius of curvature = 27.41m (Ans)
F1 a2
F2
If F1 , F2 , F3 , etc be the resultant forces of different magnitude and direction acting on the particle.
Each time the particle moves in the direction of the force acting on it and if a1 , a 2 , a3 , etc be the
magnitude of the accelerations produced by the resultant forces. Then,
F1 ∝ a1 , F2 ∝ a 2 , F3 ∝ a3 ........ etc
F1 F2 F3
= = = .......... = constant = mass of particle (m)
a1 a2 a3
So, when a particle of mass ‘m’ is acted upon by a force F and acceleation a, they must satisfy the
relation,
F = ma − (i ) [ where direction of F & a are same]
i.e. (
Fxiˆ + Fy ˆj + Fz kˆ = m axiˆ + a y ˆj + az kˆ )
which is Newton’s Second Law.
When a particle is subjected simultaneously to several forces equation(i) is modified as:
∑ F = ma ∑( x y z ) (
i.e. F iˆ + F ˆj + F kˆ = m a iˆ + a ˆj + a kˆ x y z )
where, ∑ F = sum of resultant of all forces acting.
∑ F ,∑ F , ∑ F , a , a , a are x, y and z component of the forces and acceleration acting on
x y z x y z
I1-2
mV1
mV1
When several forces act on a particle, the impulse produced by each of the forces should be
considered.
i.e. mv1 + ∑ I 1 − 2 = mv 2 − (iv)
where, ∑I 1− 2
=∫
t2
t1
(∑ F )dt = ∫ (F + F
t2
t1
1 2 ) t2 t2
+ F3 ..... dt = ∫ F1 dt + ∫ F2 dt + .....
t1 t1
F1 m m F1
m
(ma)rev
SI Units:
SI stands for System de’ International. SI units are the world-wide standards for the measuring
system. SI units are fundamental or derived.
SI units are the absolute system of units and results are independent upon the location of
measurement.
US Customary Units:
This system is not absolute system of unit. They are gravitational system of units.
Base Units
length = foot(ft)
force = pound (lb)
time = second (s)
(i) and (ii) gives the equation of motion of particle under the force F
or, ∑F x = m&x&, ∑ Fy = m&y&, ∑F z = m&z&
Integrating these equation as done in 3.3, the equation of motion can be obtained.
Again, the equation(i) may be expressed as
∑ F − ma = 0
i.e., if we add vector − ma to the resultant force in opposite direction, the system comes under the
equilibrium state. This force ( − ma ) opposite to the resultant force is called Inertial Force or Inertia
Vector. This equilibrium state of a particle under the given forces and the inertia vector is said to be
dynamic equilibrium.
X
o
H& 0 = m (xv y − yv x )
d
dt
Thus, the rate of change of angular momentum of the particle about any point to any instant is equal
()
to the moment of force F acting on that particle about the same point.
F1
∑ F = ma − (i ), where ∑ F = F1 + F2 + F3
For Rectilinear motion, motion is only along the single co- F3 ordinate,
F2 m
i.e. ax=a & ay=0 ma
∑F x = ma x
- (ii) m
∑F y =0
These are the equation of motion for the particle moving in the straight line.
i. Rectangular components
From Newton’s second law,
∑F x = ma x ; ∑F y = ma y Fy
For Projectile motion, neglecting air resistance
∑ Fx = 0 ⇒ ∑ Fx = ma x = 0 ⇒ a x = 0
∑F y = ma y = − w = −mg
Fx = 0
mg
or , a y = − = −g
m
∴a x = 0
(i)
a y = −g
W
These are the equations of motion.
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -28
ii. Tangential and Normal components:
From Newton’s 2nd law, FT
dv
∑ Ft = mat = m dt Fn
at = dV
dt
v2
∑ n
an = V2
F = m a = m
ρ
n m
∑F = ∑F +∑F t x
∑ F = ∑ F + ∑ Fθr
m
These are the equations of motion.
Note:
In case of Dynamic Equilibrium all the components of forces are balanced by Inertial Vector or
Inertia force. So, for dynamic equilibrium condition, the equation of motion becomes
∑ F = ma = 0
r x
- (i)
∑ F = ma = 0
y y
∑ F = ma = 0
t t
- (ii)
∑ F = ma = 0
n n
∑ F = ma = 0
r r
- (iii)
∑ Fθ = maθ = 0
i.6 Motion due to Central Force-Conservation of Angular Momentum
When the force F acting on a particle P is directed towards or away from the fixed point O, the
particle is said to be moving under a central force. The fixed point ‘O’ is called the center of force.
As shown in the figure, particle P moves along the curve path.
O = origin of co-ordinates
Now,
Fr = Radial component of force F
Fθ = Transverse component of force F
For central motion Fθ = 0
Q Fθ = rθ&& + 2r&θ& = 0
or ,
r
(
1 2 &&
)
r θ + 2rr&θ& = 0
or ,
d 2&
dt
( ) ( )
r θ = 0 ⇒ d r 2θ& = 0
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -30
For a body of mass ‘m’ located on or near the surface of earth, force exerted by the earth
on a body equals to the weight of the body i.e. F = mg and d = R (radius of the earth).
GMm
F = mg =
R2
GM
Qg = 2 − (ii )
R
where, g is the acceleration due to gravity with its standard value 9.81 m/s2 at the sea level.
Since, earth is not perfectly spherical so the value of R is different and hence g varies according
to the variation of altitude and latitude.
i.8 Application in space mechanics:
Earth satellite and space vehicles are subjected only to the gravitational pull of the earth after
crossing the atmosphere. The gravitation force acts as a central force on them and hence their
motions can be predicted as follows:
From central force motion,
r 2θ& = h − (i )
or ,
1 d 2&
r dt
( )
r θ =0
On integrating,
r 2θ& = cons tan t = h − (iii )
dθ h
∴θ& = = 2
dt r
Again,
dr dr dθ h dr d ⎛1⎞
r& = = . = 2. = −h ⎜ ⎟ − (iv)
dt dθ dt r dθ dθ ⎝r⎠
dr& dr& dθ h dr& h d ⎡ d ⎛ 1 ⎞⎤
∴&r& = = . = 2 = 2. ⎢− h dθ ⎜ r ⎟⎥
dt dθ dt r d θ r dθ ⎣ ⎝ ⎠⎦
h2 d 2 ⎛ 1 ⎞
∴&r& = − ⎜ ⎟ − (v )
r 2 dθ 2 ⎝ r ⎠
Putting values of θ& & &r&in equ (i ) we get
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -32
Now,
1
choosing θ0 = 0 and U = [i.e. inital line is axis of symmetry]
r
we, get:
1 GM
= 2 + c cos θ − (v )
r h
Again, we have the equation of conic section,
l
r=
l + e cos θ
1 1 e
∴ = + cos θ − (vi )
r l l
Comparing equn (v) & (vi), we get:
e
c = ⇒ e = cl
l
Again,
1 GM h2
= 2 ⇒l =
l h GM
ch 2
∴e = which is eccentricity of the conic section. e>1
GM e>1
e<1
So, three cases may arise:
e<1
a) If e>1 (i.e. conic is a hyperbola) satellite
ch 2 GM
i.e. >1 or , c > 2 earth
GM h
b) If e=1 (i.e. conic is a parabola)
trajectory of motion
ch 2 GM
i.e. =1 or , c = 2
GM h
c) If e<1 (i.e. conic is an ellipse)
ch 2 GM
i.e. <1 or , c <
GM h2
Special Cases:
• When e=c=0 the length of radius vector is constant and the conic section reduces to circle.
• At the last stage of launching satellite into orbit, it has the velocity parallel to the surface of the
earth and the satellite begins its free flight at the vertex ‘A’.
Let, r0 , v0 be the radius vector and velocity at the beginning of free flight. Here, velocity reduces to
transverse components only.
∴v = v = r θ&
0 θ 0 0
Again, θ& = ω
h = r 2θ& = r02θ&0 − (vii ) h = r02ω 0 = r0 v0 ωr = v
⎡ 1 GM ⎤
Then from equn(v) ⎢ = 2 + c cos θ ⎥
⎣r h ⎦
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Among the elliptical orbit, if c=0 then the ellipse reduces to circle.
i.e. putting c=0 in equn(viii), we get
1 GM GM
= 2 2 ⇒ vcirc =
r0 r0 v0 r0
gR 2
vcirc = − ( xii )
r0
Perigee and Apogee
The closest point of the orbit from the earth is called perigee and the farthest point of orbit from
the earth is called apogee.
(ii) For Vcirc<Vo<Vesc, A=perigee and A'=Apogee
(iii) For Vo<Vcirc, A=apogee and A"=perigee
(iv) For Vo<<Vcirc, the vehicle doesn’t go to orbit.
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -34
Vo=Vese
Vo=Vcir<Vese
Vo=Vcir
Vo<Vcir
A’ A” A
Time Period (or Periodic time) of Space Vehicle Vo<<Vese
It is the time required for the satellite to complete
its orbit and is denoted by τ .
Areainsideorbit(i.e.Areaof ellipse)
τ=
AreaVelocity
a B
πab
τ= Vo
h2 b
2πab
− ( xiii )
A”
or ,τ = A’ O’ O
h
r1 + r0 V1
where, a = semi-major axis of ellipse = B
2
b = semi-minor axis of ellipse = r0 r1 V1 A”
h = r0 v0
Tutorials:
1) A satellite is launched in a direction parallel to the surface of the earth with a velocity of 37000
km/hr from an altitude of 500 km. Determine the altitude attained by it when it covers the angular
distance equal to 135°. Also calculate the periodic time of the satellite. Take radius of earth, R=6370
km.
Soln:- Here,
Launching velocity (vo) = 37000 km/hr = 10277 m/s 500km
Radius of earth (R) = 6370 km = 6.37 × 106 m V0
Altitude of launching (h) = 500 km = 5 × r’
5
10 m A’ A
Then, ro = 6.37 × 106 + 5 × 105 = 6.87 × 106 m
h = rovo = 6.87 × 106 × 10277 = 7.06 × 1010
r1 ro
GM = gR2 = 9.81 × (6.37 × 106)2 = 3.98 × 1014 m3/s2
GM 3.98 × 1014
∴ = = 7.98 × 10 −8
h 2
(
7.06 × 10 10 2
)
1 GM
We know, = 2 + c cos θ − (i )
r h
At point ‘A’ θ=0 and r=ro=6.87×106
1
Q = 7.98 × 10 −8 + c
6.87 × 10 6
∴ c = 6.576 × 10 −8
Again, at θ=135°
1
= 7.98 × 10 −8 + 6.576 × 10 −8 cos135° ⇒ r ' = 30029.44km
r
2. The two blocks shown in the figure start from rest. The horizontal plane and the pulleys are
frictionless, and the pulley is assumed to be of negligible mass. Determine the acceleration of each
block and the tension in each cord. A T1
n
Sol : Let, tension in the cord ACD be T1 & cord BC be T2. From
700kg
figure, if block ‘A’ moves through distance SA then block ‘B’ moves
through SA/2. c
S V a T2
QS B = A ⇒ VB = A ⇒ a B = A − (i ) D
2 2 2
nd
Using Newton’s 2 law for Block ‘A’, Block ‘B’ and Pulley ‘C’
Block ‘A’:
∑F
WA
x = mAaA 400kg
WB − T2 = 300a B T2
300kg
300 × 9.81 − T2 = 300a A / 2
∴ T2 − 2T1 = 0 − (iii )
Pulleys WB mBaB
Since mass of pulley is considered zero, we have:
∑F y = mc ac = 0
T2 − 2T1 = 0 − (iv )
Putting values of T1 & T2 in equn (iv), we get:
2943-1500A-2×100aA=0
Qa A = 8.41m / s 2
aA
∴a B = = 4205m / s 2
2
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -36
QT1 = 100a A = 841 N
T2 = 2T1 = 1682 N
3. The bob of a 3 m pendulum describes an arc of a circle, in a vertical plane. If the tension is twice
of the weight of the bob for the position when it is displaced through an angle of 30° from its mean
position, then find the velocity and acceleration of the bob.
Soln:
Applying Newton’s Second Law,
∑F t = mat
or , mg sin 30° = mat
∴at = g sin 30° = 4.9 m / s 2
Again,
∑F x = ma x
2mg − mg cos 30 = ma x
Qa x = 2 g − g cos 30° = 11.12m / s 2
[ ]
1
∴ a = at2 + a r2 2 = 12.15m / s 2
an
β = tan −1 = 36.22°
at
⎡ v2 ⎤
Velocity of Bob (v ) = ρa x a
⎢ x =
⎣ ρ ⎥⎦
Qv = 3 × 11.12
v = 5.78 / sec perp. to the chord
4. The motion of a 500 gm Block ‘B’ in a horizontal plane is defined by the relation r=2(1+cos2πt)
and θ=2πt, where r is expressed in meters, t in seconds and θ in radians. Determine the radial and
transverse component of the force exerted on the block when t=0 & t=0.75 sec.
Soln:
Here, m = 500 gm = 0.5 kg
r = 2(1+cos2πt) - (i)
θ = 2πt - (ii)
Differentiating with respect to time, we get
r& = -4π sin2πt θ& = 2π
&r& = −8π cos 2πt θ&& = 0
Now,
∑ F = ma = m(&r& − rθ& )
r r
2
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -38
Chapter – 5
Kinetics of Particle : Energy and Momentum Method
A ds
y2
∴ du1− 2 = − ∫ wdy
y1
U 1− 2 = − w( y 2 − y1 ) A1
w Y2
∴U 1−2 = − w∆y
U1-2 is -ve when work is done on the body Y1
Y
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -40
1 2 1 2
or , U 1− 2 = mv 2 − mv1
2 2
1 2 1 2
or , U 1− 2 = mv 2 − mv1
2 2
or ,U 1− 2 = T2 = T1 − (i )
where, T2 and T1 is final and initial K.E. of the particle.
Hence, the work of the force F is equal to the change of K.E. of the particle. This is also called as
principle of work and energy.
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -42
When, (Ve)1 and (Ve)2 is the PE due to elastic force, then potential energy at any elongation of spring
x
1
Ve = kx 2 − (ii )
2
During the elongation the potential energy of the spring increases.
The work of the force is independent of the path followed and is equal to minus charge of
potential energy.
i.e. U 1− 2 = −(V2 − V1 ) − (iii )
The force which satisfy the equation is called as the conservation force. The gravity force and the
elastic force are examples of conservative force.
F=
d
dt
mv ( )
− (ii )
This equation states, “Force F acting on the particle is equal to the rate of change of momentum
(mv) of the particle.
Multiplying equation (i) by dt and integrating on both sides, we get:
Fx dt = m ∫ dv x = (mv x )2 − (mv x )1
t2 v2
∫t1 v1
t1
Similarly,
(mv ) + ∫
y 1
t2
t1
Fy dt = (mv y )
2
− (iv )
In vector form,
⎡v1 = v x + v y ⎤
⎢ 1 1
⎥
− (v )
t2
mv1 + ∫ F dt = mv 2 ⎢v 2 = v x + v y ⎥
t1 ⎢ 2 2
⎥
⎢F = F + F ⎥
⎣ x y
⎦
where,
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -44
t2
∫t1
F dt = Impulse of force = I mp (1− 2 )
2. Impact
A collision between two bodies, which occurs in very short interval of time and during which
the two bodies exert relatively large forces on each other is called an Impact.
The common normal to the surfaces in contact during the impact is called the line of impact or
line of action.
Types of Impact:
• If the mass centers of the two colliding bodies are located on this line of impact, the impact is
central impact otherwise eccentric impact.
• If the velocities of the two particles are directed along the line of impact, it is said to be direct
impact. If either or both particle moves along the line other than the line of impact, the impact is
Line of contact
said to be an oblique impact.
B B
A A
VA CA VB CA
Line of CB
CB impact VA
VB
Considering that only impulsive forces are acting, the total momentum of the system is conserved.
i.e. m A v A + m B v B = m A v A' + m B v B' − (i )
In scalar form,
m A v A + m B v B = m A v A' + m B v B' − (ii )
+ve value is for +ve axis and –ve value is for –ve axis.
where, ∫ pdt and ∫ Rdt are the impulses during the period of deformation and restitution respectively.
Then the co-efficient of restitution is defined as:
e=
∫ Rdt − (v )
∫ Pdt
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -46
Value of e depends upon
• Materials of particles
• Impact velocity
• Shape & size of colliding bodies
Generally, 0<e<1
For perfectly elastic collision, e = 1
For perfectly plastic collision, e = 0
From equ(iii),∫ Pdt = m v − m u A A A
Qe =
∫ Rdt = m u − m v = u − v
A A
'
A
'
A
∫ Pdt m v − m u v − u
A A A A
u−v '
∴e = A
vA − u
Similarly for particle B,
v B' − u
e= − (vii )
u − vB
Adding respectively the numerators and denominators of equn (vi) and (vii), we get:
u − v 'A + v B' − u v B' − v A'
e= =
v A − u + u − vB v A − vB
∴v B' − v A' − e(v A − v B ) − (viii )
i.e. Relative velocity after impact = e × Relative velocity before impact
m1 m1 V1
1
1
V1
Line of contact
X
2
m2
1
m2
V2
V2
Here, line of impact is along y-axis and line of contact is along x-axis. Then the following
phenomena occur.
(a) x-component of the momentum of the particle 1st is conserved
i.e. m1v1x = m1v1' x ⇒ v1 x = v1' x − (i )
(b) x-component of the momentum of 2nd particle is conserved
i.e. m2 v 2 x = m2 v 2' x ⇒ v 2 x = v 2' x − (ii )
From (a) and (b) [v1 x − v 2 x ] = v1' x − v 2' x[ ]
(c) From (a) and (b), the total momentum of the particles in x-direction is also conserved
i.e. m1v1x + m2 v 2 x = m1v1' x + m2 v 2' x − (iii )
(d) y-component of total momentum of the particle is conserved.
i.e. − m1v1 y + m2 v 2 y = m1v1' y − m2 v 2' y − (iv )
(e) y-component of relative velocity after impact is obtained by multiplying y-component of relative
velocity before impact by co-efficient of restitution.
(− v '
2y − v1' y ) = e(− v1 y − v2 y )
i.e.
∴(v '
2y + v1' y ) = e(v1 y + v2 y ) − (v )
The above five equation are applied for the analysis of the problems related to oblique impact.
Remember:
(a) Along the line of contact, momentum of each particle is conserved.
(b) Along the line of impact, the total momentum of particles is conserved.
Tutorials:
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -48
(a) A 10 kg collar slides without friction along a vertical rod. The spring attached to the collar has an
undeformed length of 100 mm and a constant of 500 N/m. If the collar is released from rest in
position 1, determine its velocity after it has moved 150mm to position2.
Solution: 200mm
Datum
1
Given, K = 500 N/m
Undeformed length of spring = 100mm = 0.1m
We have from conservation of energy, KE + PE at 1 = 150mm KE +
PE at 2 2
i.e. T1 + V1 = T2 + V2 −(i )
T1 = 0 [V1 = 0] x1 = elongation of spring at 1
1 2 x1 = 0.2 − 0.1 = 0.12
V1 = Ve1 + V g1 = kx1
2 v g1 = 0 at datum
1
∴V1 = × 500 × (0.1)
2
2
V1 = 2.5 Nm
Again,
1 At point 2, the total length of spring is
Y2 = × 10 × v 22 = 5v 22
2 (0.2)2 + (0.15)2 = 0.25
v 2 = v e2 + v g 2 ∴ x 2 = 0.25 − 0.1 = 0.15
1
= kx 22 + wy
2
1
= × 500 × (0.15) + 10 × 9.81(− 0.15)
2
2
v 2 = −9.09 Nm
Putting all the values in equ(1), we get
0 + 2.5 = 5v 22 − 9.09 ⇒ v 2 = 1.52m / s
2) A particle having mass 0.5 kg is released from rest and strikes. The stationary particle of mass 0.4
kg as shown in the figure. Assume the impact is direct and elastic. If the horizontal surface has a
dynamic co-efficient of friction µ = 0.3 , locate the final position of each mass from the origin of the
axis.
Solution:
Applying conservation of energy at Pt. A & B
Lost of energy = work done against friction V
o
KE at A (TA1) = 0 [vA=0] M1
PE at A (VA1) = mghA = 0.5×9.81×(0.25-0.25sin30°) 0.5kg
M2
1 1 B
KE at B (TB1) = mv B21 = × 0.25v B21 = 0.25v B21
2 2
PE at B (VB1) = 0 [B is datum]
Now, from conservation of energy,
2
∆V1 = 0 [h = 0]
∴work done due to friction for mass m1 = ∆T + ∆V = −0.00748 J
For M2:
1
∆T2 = 0 − × 0.4 × (1.733) = −0.60065 J
2
2
∆V2 = 0
∴ ∆T + ∆V = −0.60065 J
Now,
Work done due to friction = − µmg × distance travelled
work done due to friction
∴ distance travelled (x) = -
µmg
For mass 1,
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -50
− (− 0.00748)
x1 = = 0.00508m
0.3 × 0.5 × 9.81
x1 = 0.00508m
− (− 0.6065)
x2 =
0.3 × 0.4 × 9.81
x 2 = 0.510m
3. The magnitude and direction of the velocities of two identical frictionless balls before they strike
each other as shown. Assuming e=0.90 determine the magnitude and direction of the velocity of each
ball after the impact.
Solution:
line of contact
V Ax = V A cos 30° = 7.8m / s
V Ay = V A sin 30° = 4.5m / s A B
V Ay = V Ay' = 4.5m / s
And , VBy = VBy' = 10.6m / s
For motion along the line of impact,
m AV Ax + m BVBx = m AV Ax' + m BVBx' [m A = m B ]
⇒ V Ax + VBx = V '
Ax +V '
Bx
V A' = (V ) + (V )
' 2
Ax
' 2
Ay = 7m / s
V B' = (V ) + (V )
' 2
Ax
' 2
Ay = 12.8m / s
x x
o
o
z
z
If P1 be a particle in a system of particles Pj, Pk, etc and Fi be the resultant of external forces on ith
particle and Fij , Fik be the internal forces on ith particle from jth and kth particle. Then,
The sum total of forces on ith particle sum of external and internal forces acting the particle.
Now, from Newton’s 2nd law, the resultant of forces acting on the ith particle is equal to miai.
When all the particles are considered simultaneously the internal forces cancel out and the only
external forces acts on the system. Hence, for the whole system
Q ∑ (Fx )ext = ∑ max
∑ (F )
y ext = ∑ ma y - (iii)
∑ (F ) = ∑ mat
o
z ext o
f jk
f ij
6.1 Newton’s Law and System of Particles: Fi
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -52
For all n particles the equation (i) can be written as:
n
d 2 ri n n n
∑ mi 2 = ∑ Fi + ∑∑ Fij − (ii )
i =1 dt i =1 i =1 j =1
i≠ j
For considering all particles the summation of internal forces is zero. Hence, equ(ii) modifies as :
n
d 2 ri ⎡ n ⎤
F = ∑ mi ⎢Q∑ Fi = F ⎥
i =1 dt 2 ⎣ i =1 ⎦
d2 n
or , F = ∑m r i i − (iii )
dt 2 i =1
If, rc be position vector of mass centre of system of particles and M is the total mass of particles,
then from principle of first moment of inertia (moment due to entire mass = sum of moments due to
individual mass),
M rc = ∑ M i ri − (iv )
From (iii) and (iv), we get
F=
d2
dt 2
M rc ( )
d 2 rc
⇒F = M − (v )
dt 2
6.2 Linear and Angular Momentum for a system of particles
(1) Linear Momentum for a system of particles:
For a system of particles, applying Newton’s 2nd law to any jth particle, we have:
n dv j
F = ∑M j − (i )
j =1 dt
Multiplying (i) by dt and integrating from t1 to t2, we get:
⎡n ⎤ ⎡ n ⎤
F dt = I ext = ⎢∑ M j V j ⎥ − ⎢∑ M jV j ⎥ − (ii )
t2
∫t1
⎣ j =1 ⎦ t2 ⎣ j =1 ⎦ t1
This shows, “The impulse of the total external force on the system of particles during a time interval
equals to the sum of the changes of the linear momentum vector of the particles during the same time
interval.”
From the concept of mass center,
n
M rc = ∑ M j r j − (iii )
j =1
Thus, the total external impulse of a system particles is equal to the change in linear momentum of
the particles, moving with the mass center velocity.
( ) d ⎡ n ⎤
n n n
∑ ri × Fi + ∑∑ ri × Fij =
i =1 i =1 j =1
⎢ ∑
dt ⎣ i =1
ri × Fi = µ& o ⎥
⎦
j ≠1
Since, internal force vanishes for all particles, the moment also become zero for all particles. Hence,
n
µ& o = ∑ ri × Fi = M o ⇒ [M o = µ& o ] − (ii )
i =1
ri = rc + ρ ci − (iv )
Now, the angular momentum for aggregate particle about ‘O’ is then,
[Q p = linear momentum]
n
Η o = ∑ ri × pi i
i =1
Carrying out the cross-product and extracting rc from the summation we get:
[ ]
n
Η o = ∑ rc × mi r c + rc × mi ρ& ci + ρ ci × mi r&c + ρ ci × mi ρ& ci
i =1
( ) ( ) ( )× r& + ∑ (ρ )
n n n n
= rc × ∑ mi r&c + rc × ∑ mi ρ& ci + ∑ mi ρ ci c ci × mi ρ& ci
i =1 i =1 i =1 i =1
We know that the sum of the first moment of mass about the centroid is zero i.e.
∑m ρ i ci = 0 and hence ∑ mi ρ& ci = 0, Then
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -54
( ) [∑ m = M ]
n
µ o = rc × M r&c + ∑ ρ ci × mi ρ& ci i
i =1
[µ = r × M r& + µ ]
o c c c − (v ) [Qµ = ρ c cu × mi ρ& ci ]
where, µ c be the sum of the angular momentum about the center of mass .Similarly for any point
‘A’, we get:
[
∴ µ A = rAC × M r&AC + µ c ] − (vi )
∑ (F ) z ext = ∑ (ma z )
If mass center of the system of particles is considered with co-ordinates G (x , y , z ), Then we have:
(∑ m)x = ∑ (mx )
(∑ m)y = ∑ (my ) i.e. component of moment due to entire mass
(ii)
= component of sum of the moment due to
(∑ m)z = ∑ (mz ) individual mass
Differentiating equ(ii) twice with respect to time, we get:
(∑ m)&x& = ∑ (m&x&) (∑ m )a x = ∑ (ma x )
(∑ m)&y& = ∑ (m&y&) ⇒ (∑ m )a = ∑ (ma )
y y - (iii)
(∑ m)&z& = ∑ (m&z&) (∑ m )a = ∑ (ma )
z z
where, a x , a y & a z are the components of acceleration a of G (i.e. center of mass) of the system,
From equ(i) & equ(iii), we have:
∑ (F ) x ext = (∑ m )a x
∑ (F ) y ext = (∑ m )a y - (iv)
∑ (F ) z ext = (∑ m )a z
which defines the motion of center of mass of system. It shows that the center of a system of
particles move as if the entire mass of the system and all the external forces were concentrated at that
point G.
1 n
[Q (a + b)(. a + b) = a ]
n
1 n
∴KE = ∑ mi vc + ∑ mi v c .ρ ci + ∑ mi ρ& ci2
2
& 2
+ 2a.b + b 2
2 i =1 i =1 2 i =1
But,
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -56
n
∑m i =M and ∑ m ρ&
i =1
i ci =0
So, we get,
1 1 n
KE = Mvc2 + ∑ mi ρ& ci2
2 2 i =1
Hence, KE of the system of particles = KE of the total mass moving with the mass center velocity +
sum of the KE of individual particles having velocity relative to the center of mass.
t1
(F )dt = ∑ (mv)
ext 2 ( )
= ∑ mv 1
t1
ext
t2
t1
(M )
o ext dt
t1
(M o )ext dt = (H o )2 − (ii )
Comparing these two equn it shows that sum of momenta (linear momentum or angular momentum)
of particles at time t1 and the impulse of the external forces are equipollent (Not actually equivalent
for particles but equivalent for rigid body).
When there is no external forces,
(System momenta)1 = (System momenta)2
B B
B
S mivi S mi vi
F t
A
A A
( m)VA
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -58
In this system it continuously gains particles flowing in and looses an equal no. of particles
flowing out, so this type of variable system of particles is reduced to auxiliary constant system of
particles, which remains constant for a short time ∆t
If ∆m amount of mass enters the system ‘s’, at time ∆t . Then,
The momentum of the particles entering the system = (∆m )v A
The momentum of the particles leaving the system = (∆m )v B
And, the impulses of the forces exerted on s = ∑ F .dt and ∑m v
i i (momentum for each particles)
cancels from both sides.
Hence, we may conclude that,
The system formed by the momentum (∆m )v A of the particles entering the system ‘s in the time
∆t and impulses of the forces exerted on ‘s’ during that time is equipollent to momentum of
(∆m )v B of the particles leaving ‘s’ in the same time ∆t .
i.e. (∆m )v A + ∑ F ∆t = (∆m )v B − (i )
Dividing both sides by ∆t and taking limit, we get
∑ F = lim
∆m
∆t → 0∆t
(
vR − v A )
∴∑ F =
dm
dt
( )
v B − v A − (ii )
This equation gives the resultant of the forces exerted by the vane on the stream. This principle is
applicable to the following mass as:
(a) Fluid diverted by a vane/ hydro-turbines/ properties
(b) Fluid flowing through a pipe
(c) Jet engine
(d) Fan
dv dm
or , ∑ F = m dt −
dt
u
dm dv
or , ∑F +
dt
u=m
dt
⎡ dm ⎤
∴ ⎢F + u = ma ⎥ − (ii )
⎣ dt ⎦
dm
In the above equn u is the thrust which tends to slow down the motion of ‘s’. This is in case of
dt
gaining mass. If system ‘s’ looses mass (as propulsion of rocket) the thrust generated would increase
the motion of ‘s’.
Tutorials:
(1) Two particles shown in fig oscillate on the smooth plane in the r-direction.
(a) Write the differential equation of motion for each mass.
(b) Find equation of motion for the center of mass
(c) Write the expression for KE & PE of the system of particles.
m1g m2g
X1 X2
K 2 (X2-X1)
K1X1 F2 F2 F2 K1 K2
F2
R1 R2
(a) Differential equation of motion for mass m1:
∑F x = m1 &x&1
⇒ − k1 x1 + k 2 ( x 2 − x1 ) = m1 &x&1
Differential equation of motion for mass m2:
∑F x = m2 &x&2
⇒ F2 − k 2 ( x 2 − x1 ) = m2 &x&2
(b) Equation of motion for the center of mass
Here the resultant internal forces due to K2 cancles out so effect is due to external forces only.
If xc is the c.m. of the entire system then
∑ F = (∑ m)&x&
x c [&x&c = acceleration of c.m.]
⇒ F2 − k1 x1 = (m1 + m2 )&x&c ,
Taking m1+m2 = M = Total mass
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -60
F2 − k1 x1 = M&x&c
(c) K.E./P.E. of the system of particles:
1 1
KE (T) = m1 x&12 + m2 x& 22
2 2
PE (V ) = V g + Ve = O + Ve [V g = 0, being at datum ]
1 1
k1 x12 + k 2 (x 2 − x1 )
2
∴ =
2 2
1 1
∴ (V ) = k1 x12 + k 2 ( x 2 − x1 )
2
2 2
(2) A nozzle discharges a stream of water of cross-sectional area A=100 mm2 with a speed of
v=50m/s, and the stream is deflected by a fixed vane as shown in the figure. The density of water is
103 kg/m3. Determine the resultant force F exerted on the stream by the fixed vane.
Solution:
We’ve from the principle of Impulse-Momentum for particles
Here, 60
VA = VB = 50 m/s 50m/s
Area, A = 100 mm2
dm
mass flow-rate = = ρAV = 5 kg / s
dt
Now, Cancelling ∑ m v from both sides, we have
i i
dm
(1 − cos 60°)
s F t
⇒ Fx =
dt Fx t A
s
A
∴ Fx = 125 mivi ( m)vA
(3) A system consists of three particles A, B and C as shown in the figure and have velocity,
( ) ( ) ( )
V A = 5iˆ − 8kˆ m / s, VB = 4iˆ + V y ˆj + V z kˆ m / s and Vc = 6iˆ + 3 ˆj − 2kˆ m / s respectively. If the masses
of these particles are mA = 3 kg, mB = 1 kg and mc = 2 kg respectively and the resultant angular
momentum µ o of the system about origin ‘O’ is parallel to the z-axis, determine the value of µ o .
3m
VA X
A
5m
B
Z VB
µo = ri × ∑ mi vi
= rA × mA v A + rB × mB vB + rc × mc vc
( ) ( ) ( ) ( ) ( ) (
= 3 ˆj + 5kˆ × 3 5iˆ − 8kˆ + 4iˆ + 5kˆ × 1 4iˆ + Vy ˆj + Vz kˆ + 4iˆ + 3kˆ × 2 6iˆ + 3 ˆj − 2kˆ )
= − (5Vy + 84)iˆ + (111 − 4Vz ) ˆj + (4Vy − 57 )kˆ
µx = 0 & µy = 0
∴ − (5V y + 84) = 0 − (ii )
(111 − 4V z ) = 0 − (iii )
Solving these two equations, we get:
V y = −16.8 & V z = 27.75
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -62
Chapter – 7
Kinematics of Rigid Bodies
7.1 Introduction:
Particle:
• It is a material body which is so small that its dimension can be treated as negligible in
comparison to other dimensions involved.
Rigid bodies:
• It is combination of two or more particles, which are connected in such a way that they do not
change their relative positions due to application of external forces.
• The various points or particles in rigid bodies may have different motions but their motion are
so related such that their relative position remains unchanged.
• In reality all the rigid bodies deform in application of external forces but in negligible amount.
7.2 Translation:
A motion is said to be translation if any straight line drawn on the body obeys the same
direction. If all the particles move parallely along straight line, it is said to be rectilinear translation
and if the path are curved, the motion is said to be curvilinear translation.
A A’
A A’
B’ B B’
B
If ∆ rA and ∆ rB be the displacement vectors of the particle A & B during ∆t , then for translation
∆ rA ∆ rB
= ⇒ v A = v B − (i )
∆t ∆t
Similarly,
∆v A ∆v B
= ⇒ a A = aB − (ii )
∆t ∆t
Thus, for any body in translation, all the points have the same velocity and acceleration at any given
instant.
For curvilinear translation, there is change in direction and magnitude of velocity and acceleration at
every instant. For rectilinear translation velocity and acceleration follow same direction during entire
motion.
7.2 Rotation:
A motion is said to be rotation when the particles in the rigid bodies (slab) moves in concentric
circles, with common fixed center ‘O’.
If the particle in the slab moves ‘dθ’ at time dt, then the angular velocity is given by:
dθ
o ω= −(i )
dt
And, the angular acceleration is given by:
dω d 2θ
α= = 2 − (ii )
dt dt
dθ
From (i) dt =
ω
dω dω
∴α = =ω
dθ dθ
ω
dω
∴α = ω − (iii )
dθ
Anti-clockwise direction is taken +ve and clockwise direction is taken –ve.
(1) For Uniform Rotation:
α = 0, ω is constant, and θ = θ 0 + ωt......
(2) For Uniformly Acceleration Rotation:
ω = ω o + αt
αt 2
α = cons tan t θ = θ o + ωo t + From the equation of linear motion
2
ω = ω o + 2α (θ − θ o )
2 2
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -64
B1
B’ 2
B1 B’ 2 B2
B2
A2 A2
A1
A1 A2
7.4 Absolute and Relative velocity in plane motion
Absolute motion means motion with respect to fixed axes and relative motion means motion of
one with respect to other axes in motion.
For any plane motion of rigid body, when replaced by sum of translation and rotation about A,
then absolute velocity of particle B is given by:
VB = V A + VB A − (i )
where, VA = absolute velocity of A is translation of slab with A
VB/A = relative velocity ‘B’ with respect to ‘A’ i.e. rotation of slab measured with respect to
‘A’
VA VA
VA
A x’ VB/A
A A
r
B VB B
B VB/A VB VB = VA +VB/A
VB
Plane motion translation with A Rotation of B about A
A VA VA
plane motion
in stantarems of rotation
Methods to locate instantaneous center of rotation
(a) If direction of velocity of particles ‘A’ & ‘B’ are known but are not parallel, then ‘c’ is the
intersection of perpendicular drawn on V A & VB
B
C
C
VB W
B
VB V A
A
A
VA C
(b) If magnitude and direction of velocity of particles ‘A’ & ‘B’ W
are known and are perpendicular to line AB, then ‘c’ is located
as B VB
(c) If magnitude V A = VB , then ‘c’ would be at infinite and the body would translate.
Note:
• Instantaneous center of rotation may be located either on the slab or outside.
• If ‘c’ is located on the slab then Vc = and VB = VB C .
• The point ‘c’ is different at different time interval ∆t
• Acceleration of various particle on the slab cannot be determined by this method. Hence, it is
used to compute only the velocity of particles at any instant of time.
u w
Y B ’
Y x’
Y
u B
A
x
O
r
Calculation:
Consider the motion of particle P, which moves along a path on a slab ‘s’. The slab rotates
along a fixed point O. Motion of P is given by r & θ with respect to fixed axis (XOY axis) and by r
& θ, with respect to axis attached to slab ‘s’ and rotating with it. It is required to determine the
absolute motion of ‘P’ and relative motion of ‘P’ with respect to ‘S’.
We know from radial and transverse component of velocity
(V ) = r&
p r & (V ) = rθ& = r θ& + θ&
p θ ( o 1 )
− (i ) [θ = θ + θ ] o 1
o o
X
∴ r& = 0 & θ&1 = 0 X
Case-II:
When slab is fixed and P is allowed to move, then
Vp = Vp s θ o = cons tan t ∴θ&o = 0
Then from equation (i)
(V )
p s r = r& & (V )
p s θ = rθ&1 − (iii )
a p = a p ' + a p / s + ac ,
The coriolis acceleration a c is thus a vector perpendicular to the relative velocity V p / s and of
If the body rotates with angular velocity ' ω ' about the point
‘A’, then B
V B = ω × rB / A − (ii ) [V B/ A = ω × rB A ] rB/A
x’
A
Further, we have
aB = a A + a B / A rA
( )
x
or , a B = a A + α × r B / A + ω × ω × r B / A − (iii ) o
[Q a ] = dtd (V
B/ A B/ A )= d
dt
(
ω × rB/ A )
d d
= ω × rB/ A + ω × rB/ A
dt dt
= α × r B/ A + ω × r B/ A
∴aB/ A = r × r B/ A + ω × ω ×ω × r B/ A ( )
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -68
where α is the angular acceleration of the body at instant considered. The equ (ii) and (iii) show that
the most general motion of a rigid body is equivalent to the sum of a translation (in which all
particles of the body have the same velocity and acceleration) and of a motion in which particle ‘A’
is assumed to be fixed.
i.e. The motion of any particle ‘B’ with respect to ‘A’ would be characterized by the same vectors
ω & α . Thus ω & α are independent of the choice of reference point but the moving frame should
remain parallel to the fixed frame of reference.
Tutorials:
1. The end ‘B’ of the rod AB as shown in the figure moves with constant velocity, VB = 0.9 m/s ( → )
Determine: Y
(a) Angular velocity and angular acceleration of the
rod A
[ ] ⎡4 3 ⎤
Again, a B = &x& = −5 (cos θ )θ& 2 + (sin θ )θ&& = −5⎢ × (0.3) + × θ&&⎥ = .0
2
⎣5 5 ⎦
∴θ&& = −0.12
∴ α = θ&& = 0.12rad / sec
(b) We have
[
Y A = 5 sin θ ⇒ Y&A = 5(cos θ )θ& & a A = Y&&A = 5 (cos θ )θ&& − (sin θ )θ& 2 ]
⎡⎛ 3 ⎞ ⎛4⎞ ⎤
or , a A = 5⎢⎜ − ⎟ × (− 0.3) + ⎜ ⎟ × (− 0.12 )⎥ = −0.75
2
⎣⎝ 5 ⎠ ⎝5⎠ ⎦
4
or , V A = Y A = 5 × × −0.13 = −1.2m / s
5
∴V A = 1.2m / s & a A = 0.75 m / s 2
(2) In the engine system shown, the crank AB has a constant clockwise angular velocity of 2000rpm.
For the crank position indicated, determine:
(a) the angular velocity of the connecting rod BD
(b) the velocity of position P.
Solution:
Here, the crank AB rotates about point A,
Downloaded from www.jayaram.com.np/ -69
Downloaded from www.jayaram.com.np
2πN 2 × π × 2000
ω AB = 2000rpm = rad / sec = = 209.4rad / sec
60 60
VB = ( AB ) × ω AB = 209.4 × 75 = 15.68m / s
Using sine law,
sin 90° sin B sin 40° sin B
= ⇒ = ⇒ B = 13.94°
BD AB 3 8
0
Now, for the motion of connection rod BD, which is a plane 40
P
A D
motion:
the velocity VD is horizontal and VB is as obtained above. Resolving motion of BD into a translation
with B and rotation about B, we get:
B B WBD
B
50
50
VB VB
VD/B
D
D
VD
VB
Plane motion = Translation + Rotation
50 VD/B
Now, we have VB
VD = VB + V D / B
Again, using sine law,
VD V VB 15.68
= D/B = = − (i )
sin 53.9° sin 50° sin 76.1° sin 76.1
Solving the equation separately, we have,
V D / B = 12.37m / s
V D = V p = 13.05m / s
Again,
VD / B 12.37
V D / B = ω BD × BD ⇒ ω BD = = = 61.9rad / s
BD 0 .2
∴ ω BD = 61.9rad / s
(3) A double gear rolls on the stationary lower rack. The velocity of its center ‘A’ is 1.2 m/s directed
to the right. Determine:
R
(a) the angular velocity of the gear
B
(b) the velocities of the upper rack ‘R’ and of point ‘D’ of gear.
Solution: D VA = 12mm/s
(a) Angular velocity of the gear:
Distance moved by the center of gear for each C
revolution = 2πr1 R2 =100mm
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -70
xA θ
= [x A = 2πr1 ⇒ θ = 2π ]
Then, 2πr1 2π
∴ x A = r1θ − (i )
Differentiating,
x& A = V A = r1ω
or , 1.2 = 0.15ω
∴ ω = 8rad / sec
B V B/A V D/A
VA
VD VB
D A VA A
A VA
VA
C VA
V C/A VC
∴VD = 1.69 m / s
1.2
φ = tan −1
1.2
∴ φ = 45°
8.1 Considering a rigid body acted upon by several external forces, F1 , F2 , F3 , etc. Let, the rigid
body be made of a large number of particles of mass ∆mig = (i = 1,2.....n ) and G be the mass center of
the rigid body whose motion can be considered with respect to xyz axis.
Then, from Newton’s 2nd law:
∑ F = ma - (i)
where, m = Total mass of the body
a = Acceleration of the CG ‘G’
∑M G = H& G − (ii )
motion. The angular momentum H G of the slab about its mass center G may be computed as:
n
H G = ∑ ⎛⎜ ri' × ∆mi vi' ⎞⎟ − (i )
i =1 ⎝ ⎠
where, ri' and ∆mi vi' be the position vector and linear momentum of Pi about the ‘G’ with respect to
x'y' frame.
Again,
vi' = ω × ri'
( )
n
∴ H G = ∑ ri' × ω × ri ∆mi
i =1
n
= ω ∑ ri'2 ∆mi
i =1
⎡ n ⎤
HG = I ω − (ii ) ⎢∑ ri'2 ∆mi = I ; motion about G perpendicualr to slab⎥
⎣ i =1 ⎦
Differentiating equ(ii) with respect to time, we get:
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -72
H& G = I ω& = I α − (iii )
∴ H& G = I α
Thus the rate of change of the angular momentum of the slab is equal to I α and in perpendicular to
the direction of the slab.
Again, we have:
∑ (∆m)a x = ∑ (∆m )a x
(ii)
∑ (∆m)a y = ∑ (∆m )a y
where, a x and a y are components of a at ‘G’.
The total acceleration a of any given particle ‘P’ of the slab is equal to
()
Total acceleration a = Linear acceleration of ‘G’ (a ) + Angular acceleration of P w.r.t. x'y' a'
∴ a = a + a'
∴a = a + a n' eˆn + at' eˆt − (iv )
Thus, effective force is also resolved into two parts:
∑F eff
= ∑ ∆ma = ∑ ∆ma + ∑ ∆ma n eˆn + ∑ ∆mat eˆt
i.e. effective force = force due to translation about G + Force due to rotation about G
∑M G = Iα
Note:
For translation, effective force reduces to m a . For rotation, effective force reduces to I α and for
the plane motion effective force is the sum of the both.
In such cases, the definite relationship exists between mass center, acceleration a and angular
acceleration α between the several bodies, under constrained motion.
Solution for such motion is obtained in two steps:
(i) ( )
Kinetic Analysis a , α , I , M of the problem
(ii) Use of D’Alembert’s Principle or Dynamic Equilibrium Method to solve the unknown
quantity.
When a mechanism consists of several moving parts, each moving part is considered separately
and the problem is solved.
Here,
x = rθ − (i )
Differentiating w.r.t time, we get
&x& = a = rα − (ii )
If the mass center ‘G’ does not coincide with its geometric center ‘O’ , the relation (ii) does not hold
true.
Then, the relation becomes
a o = rα − (iii ), where a o = acceleration of the geometric center
Then,
( ) ( )
a = aG = ao + a G / O = a o + a G / O t + a G / O G
where,
a o = rα , (aG / O )t = (OG )α and (aG / O )n = (OG )ω 2
Tutorials:
1. A cord is wrapped around a homogenous disk of radius r = 0.5 m and mass = 15 kg. If the cord is
pulled upwards with a force T of magnitude 180N, determine
(a) Acceleration of center of disc
(b) Acceleration of the cord
Solution:
From (b) and (c), system of external forces = system of effective forces
∑ F = ∑ (F )
x x eff ⇒ 0 = ma x ⇒ a x = 0
∑ F = ∑ (F )
y y eff ⇒ T − ω = ma y
T −ω
ay =
m
180 − 15 × 9.81
ay = = 2.19ms − 2
15
∴a y = 2.19ms − 2
Q a = a G = 2.19ms − 2
Again,
Moment of external forces = Moment of effective turns
i.e. ∑M G = ∑ (M G )eff
⎛1 ⎞
− Tr = I α = ⎜ mr 2 ⎟α
⎝2 ⎠
− 2T − 2 × 180
∴α = = = −48.0 rad / s 2
mr 15 × 0.5
∴α = 48 rad / s 2
Acceleration of Cord
( ) = a + (a )
a cord = a A t G A/G t
= aG + α . AG
= 2.19 + 48 × 0.5
∴ a cord = 26.2 ms − 2
Tutorials 2 contd .....
Resolving a into two components:
a x = a cos 60° = 1.339α
a y = a sin 60° = −0.520α
Now, equating system of external forces to a system of equivalent forces, we get
Now,
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -76
1 2 25
I =
ml = (1.2)2 = 3kgm 2
2 12
∴I α = 3α
w = mg = 25 × 9.81 = 245 N
ma x = 25 × 1.339α = 33.5α
ma y = −(25)(0.52)α = −13α
Now, we have:
∑M E = ∑ (M E )eff ⇒ w × 0.52 = ma x × 1.339 + ma y × 0.52 + I α
or , 245 × 0.52 = (33.5α )(1.339 ) + (13α ) × 0.52 + 3α
or , α = 2.33 rad / s
Again,
∑ (F ) = ∑ ( F )
x x eff
∑ F = ∑ (F )
y y eff
where, F is magnitude of force F and θ is the angle between the force and the direction of motion.
If F and F' are two forces turning a couple, then moment of couple is:
M = F .r
Under the application of external forces (F & F'), the displacement of points A & B to A'B", the
motion may be divided into two parts:
(a) Point A & B undergo equal displacement dr1 to point A' & B'.
(b) Point A' remains fixed and B' moves to B" with the displacement dr2 equal to rdθ.
During the first part of motion, work due to force F = Work due to F' and cancels out due to
opposite in sign.
During the second part of motion, work done is given by:
du = F .dr2 = Frdθ
∴ du = Mdθ [Q M = rdθ ]
θ2
∴ Total work done is U 1− 2 = ∫ Mdθ
θ1
2 2 2
1
∴KE = I oω 2
2
[
Q ∑ r 2 ∆m = M.O.I. of the body about the axis of rotation = I o ]
This formula is valid for any axis of rotation.
T=
1
2
( 1
) 1
mr 2 + I ω 2 = m(r ω ) + I ω 2
2
2
2
1 1
or , T = mv 2 + I ω 2 − (ii ) [Q r ω = v = velocity of G ]
2 2
So, the total KE of rigid body in plane motion is the sum of KE of body due to Translation about CG
⎛1 2⎞ ⎛1 2⎞
⎜ mv ⎟ and KE of body due Rotation about CG ⎜ I ω ⎟ .
⎝2 ⎠ ⎝2 ⎠
9.4 Conservative and Non-Conservative System:
A system is said to be conservative if the work done by the system is independent of the path
followed but depends upon the initial and final position of it. Examples are KE, PE, gravity, etc.
In the non-conservative system, work done depends upon the path followed by the system.
Examples are friction, elastic, etc.
2 2 2 2 ⎝ 12 ⎠
1 ⎛ mL2 ⎞ 2
T2 = ⎜ ⎟⎟ω
2 ⎜⎝ 3 ⎠
Applying Principle of Conservation of Energy, we get:
T1 + V1 = T2 + V2
1 ⎛ mL2 ⎞ 2 1
0+0 = ⎜ ⎟⎟ω − mgL sin θ
2 ⎜⎝ 3 ⎠ 2
1
⎛ 3g ⎞2
∴ω = ⎜ sin θ ⎟
⎝ L ⎠
Note: D’Alembert’s Principle should be used to find the reactions at the sliders.
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -80
n
L = ∑ ∆mi vi = sum of momentum of all particles
IF i =1
or, L = mv
n
And, H G = ∑ ri' × ∆mi vi = sum of moment of momentum of all particles
i =1
or, H G = I ω
Then,
Then, we have :
⎝1 ⎠y ⎝1 ⎠x
where, x & y are perpendicular distances of impulse from x and y axis
At the end of period of restitution, V A' and VB' be the velocities of A and B as shown, Assuming
the bodies are frictionless. Then, component of restitution is given by:
or , e =
(V ) − (V ) = Relative velocity along the line of action after collision
'
B n
'
A n
Let v and u be the velocities of mass center at the beginning and at the end of the period of
deformation. ω and ω1 be the angular velocities at the same instant.
Then along the line of impact the component of momentum and impulse becomes:
mv n − ∫ Pdt = mu n − (iii ) ⇒ ∫ Pdt = mv − mu n n
And,
I ω − r ∫ Pdt = I ω1 − (iv ) ⇒ ∫ Pdt = Iω − Iω 1
e=
(
u n + rω1 − v n' + rω ' ) − (ix )
v n + rω − (u n + rω1 )
(u A )n − (v A' )n
e= − (x )
(v A )n − (u A )n
Similarly for 2nd body,
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -82
e=
(v ) − (u )
'
B n B n
− ( xi )
(u B )n − (v B )n
Adding the numerator and denominator of (x) and (xi) respectively, we get:
(u A )n − (v 'A )n + (v B' )n − (u B )n
e=
(v A ) n − (u A )n + (u B )n − (v B )n
e=
(v ) − (v )
'
B n
'
A n
− ( xii )
(v A )n − (v B )n
Relative velocity of colliding body along the line of impact after collision
∴e =
Relative velocity of colliding body along the line of impact before collision
Tutorials:
1. Gear A has a mass of 10 kg and a radius of gyration of 200mm, while gear B has a mass of 3 kg
and a radius of gyration of 80mm. The system is at rest when a couple M of magnitude 6 Nm is
applied to gear B. Neglecting friction, determine:
(a) The number of revolutions executed by gear B before its angular velocity reaches 600 r/min.
(b) The tangential force which gear B exerts on gear A.
Solution:
(a) Considering the peripheral speed of gears be equal, we have
rA w A = rB wB
rB 100
∴ w A = wB = wB = 0.4wB
rA 250
⎡ πdN ⎤
We have, wB = 600r / min = 62.8rad / s ⎢ w =
⎣ 60 ⎥⎦
w A = 0.4 wB = 25.1rad / s
I A = m A k A2 = 10 × (0.2) = 0.4kgm 2
2
I B = m B k B2 = 3 × (0.08) = 0.0192kgm 2
2
2 2
∴ T2 = 163.9 J
Let θB be the angular displacement of gear B,
Then,
Work U 1− 2 = Mθ B = 6 × θ B = 6θ B J
By the principle of work and energy:
2 2
Work:
We have,
Angular Arc covered by both gears is same i.e. s = rAθ A = rBθ B [s = rθ ]
Then, work done by gear A during the motion,
U 1− 2 = F (θ A rA ) = F (θ B rB ) = F (27.3)(0.1) = F (2.73)
Principle of Work-Energy: Applying for Gear ‘A’
T1 + U 1− 2 = T2
0 + F × 2.73 = 126 J
F = 46.2 N
2. A 2 kg sphere moving horizontally to the right with an initial velocity of 5 m/s strikes the lower
end of an 8 kg rigid rod AB. The rod is suspended from a hinge at A and is initially at rest. Knowing
that the co-efficient of restitution between the rod and sphere is 0.80, determine the angular velocity
of the rod and the velocity of the sphere immediately after the impact.
Solution:
We have from Impulse-Momentum Theorem,
(System Momentum)1 + (System External Impulse)1-2 = (System Momentum)2
Let, VR and VR' be the initial and final velocity of Rod ‘CG’, ω and ω ' be the angular velocities of
the rod and Vs and Vs' be the velocities of sphere.
Now,
Taking moment about A,
m sVs × 1.2 = m sVs' × 1.2 + m R v R' × 0.6 + I ω ' − (i )
Here,
V R' = r ω ' = 0.6ω '
1 1
ml 2 = × 8 × (1.2 ) = 0.96kgm 2
2
I =
12 12
Substituting these values in equ(i) ,
2 × 5 × 1.2 = 2 × Vs' × 1.2 + 8 × 0.6 × ω '×0.6 + 0.96 × ω '
∴ 2.4Vs' + 3.84ω ' = 12 − (ii )
Now, we have coefficient of restitution, ε = 0.8
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -84
Relative velocity after collision
or , ε =
Relative velocity before collision
VR' − Vs'
or , ε = [Vs = 5m / s, VR = 0, ε = 0.8]
Vs − VR
or , VR' − Vs' = 0.8 × 5
or , VR' − Vs' = 4 − (iii )
When the rod rotates about A, then
V R' = 0.6ω ' − (iv )
From (iii) and (iv),
1.2ω '−v s' = 4 − (v )
Solving (ii) and (v), we get:
ω ' = 3.21 rad / s
Vc' = 0.143m / s
3. A 20 gm bullet ‘B’ is fired with a horizontal velocity of 450 m/s into the side of a 10 kg square
panel suspended from a hinge at ‘A’. Knowing that the panel is initially at rest, determine:
(a) The angular velocity of the panel immediately after the bullet becomes embedded.
(b) The impulsive reaction at ‘A’ assuming that the bullet becomes embedded in 0.0006 sec.
Solution:
Applying Impulse-Momentum Equation:
(System Momentum)1 + (System External Impulse)1-2 = (System Momentum)2
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -86
Chapter – 10
Mechanical Vibrations
10.1.1 Introduction
• A mechanical vibration is the motion of a particle or a body which oscillates about a position of
equilibrium. When a system is displaced from a position of stable equilibrium, it tends to return
to its initial position under the action of restoring force or elastic force.
• The time interval required for the system to complete a full cycle of motion is called period of
vibration (τ ) .
• The number of cycles per unit time is called frequency(f).
• The maximum displacement from mean position is called as amplitude of the vibration (A).
Types of Vibrations:
Free Vibration : Vibration only due to restoring force like elastic force.
Forced Vibration : Vibration due to external periodic force.
Undamped Vibration : Effect of friction may be neglected
Damped Vibration : Effect of friction is considered ; the vibration slowly decreases and comes to
halt.
-Xm
o
Xm
x
+Xm t
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -88
x = xm sin ( pt + φ )
∴v = x& = xm P cos( pt + φ )
a = &x& = − xm P 2 sin ( pt + φ )
2π
Period ,τ = and
P
P
Frequency of Vibration, f = 1 e =
2π
Again,
Maximum Velocity (v m ) = x m P
Maximum Acceleration (a m ) = x m P 2
Let us consider a square plate of ‘2b’ sides, which is suspended from the mid-points ‘O’ on one of its
sides.
If the plate is tilted such that ‘OG’ makes angle ‘θ’ then we have,
ω ' = θ& & α = θ&&
mat = mbθ&& [Qa t = rα = bθ&& & a n = rω ' 2 = bθ& 2 ]
ma = mbθ& 2
x
which is the equation of simple harmonic motion comparing with equ(i), we get:
12
⎛ 3g ⎞
P=⎜ ⎟
⎝ 5b ⎠
2π 5b
Then, τ = = 2π − (vi )
P 3g
Comparing this equation with that of pendulum,
l
τ p = 2π
g
5b
we get effective length, l = , This shows that the square plate will oscillate as a pendulum with
3
5b
effective length with ‘O’ as its center.
3
Consider a body of mass ‘m’ suspended from a spring and subjected to period force P of
magnitude = Pm snωt undergoing damped vibration.
At any displacement x from equilibrium position, then the equation of motion will be given by:
+↓ ∑ F = ma
or , Pm sin ωt + w − k (δ st + x) = ma = m&x&
or , Pm sin ωt − w − kδ st − kx = m&x&
or , m&x& + kx = Pm sin ωt − (i ) [Qkδ st = w]
This is homogenous differential equation.
Its general solution = Particular solution + Complementary Solution
Particular solution of (i) can be obtained by trail method of
x = x m sin ωt − (ii )
&x& = − x mω 2 sin ωt − (iii )
Putting values of (ii) & (iii) in (i), we get:
− mw 2 x m sin ωt + kx m sin ωt = Pm sin ωt
Solving,
Pm
Amplitude ( X m ) =
k − mw 2
∴X m =
Pm k
1− w p
− (iv ) [Putting k / m = P 2
]
, P is circular frequency
Tutorial
1. A 50 kg block moves between vertical guides as shown. The block is pulled 40 mm down from its
equilibrium position and released. Determine the period of vibration, the maximum velocity and
maximum acceleration of the block.
Solution:
P P
Here, δ = δ 1 + δ 2 = +
k1 k 2
For equivalent single spring with ‘k’
P P P
δ= = +
k k1 k 2
1 1 1
∴ = +
k k1 k 2
k1 + k 2 4 + 6 10
∴k = = =
k1 .k 2 4 × 6 24
k
∴P =
m
Now,
2π
Time Period (τ ) = =
P
v m = x m P = 0.04 x
a m = x m P 2 = 0.04 x
2. A cylinder of mass ‘m’ and radius ‘r’ is suspended from a looped cord. One end of the cord is
attached directly to a rigid support, while the other end is attached to a spring of constant ‘k’.
Determine the period and frequency of vibration of the cylinder.
Solution:
Taking positive sense as clockwise and measuring the displacement from the equilibrium position:
Here,
x = rθ ∴ δ = 2 x = 2 rθ
α = θ&& ∴ a = rα = rθ&& (↓ ) − (i )
Applying D’Alembert’s principle
Taking Moments
∑m ext about ' A' = ∑ meff about ' A'
mgr − T2 (2r ) = ma r + I α − (2)
For the unstretched condition, the tension in each cord is
Downloaded from www.jayaram.com.np/ -91
Downloaded from www.jayaram.com.np
1 1
To = ω = mg
2 2
When the cylinder is rotated by ‘θ’ the tension T2 becomes
T2 = To + kδ = mgr + k .2rθ
∴T2 = mgr + 2krθ − (3)
From (1) and (3), putting in (2), we get:
⎡1 ⎤
( ) 1
mgr − ⎢ mg + k (2rθ )⎥ (2r ) = m rθ&& r + mr 2θ&&
⎡
⎢⎣ I =
1 2⎤
mr ⎥
⎣2 ⎦ 2 2 ⎦
Solving, we get:
8k
θ&& + θ =0
3m
The motion is S.H.M. where,
8k
P2 =
3m
8k
∴P =
3m
2π 3m
τ= ∴τ = 2π
P 8k
P 1 8k
f = ∴f =
2π 2π 3m
-By Er. Biraj Singh Thapa (Lecturer, Eastern College of Engineering, Biratnagar)/ -92