Week 1

MATH 142
K. Arunakirinathar
August 1, 2007
K. Arunakirinathar : MATH 142, 1

General introduction to the course
I Grading

I Grading
I Exams

I Grading
I Exams
I Objectives

I Grading
I Exams
I Objectives
I Expectations

Information
I Professors: Dr. K. Arunakirinathar (Aruna)

I Dr. M. Govender (Magen)
I Dr. S. Moopanar (Selvan)

Information

I Office: 304 Desmond Clarence Building

Information

I Office Hrs: Mon.9.00 12.00hrs or by appointment
I Phone: (031) 260 3830
I Email: aruna@ukzn.ac.za

Information

I Office Hrs: Mon.9.00 12.00hrs or by appointment
I Phone: (031) 260 3830
I Email: aruna@ukzn.ac.za
I http://ols.ukzn.ac.za

Grading
1
Quizzes 3 × 20%
Test 1 −−−
Test 2 −−−
Test 3 −−−
Final Exam 80%

General Policy
Attendance
Attendance and class participation are required. Quizzes that are
given when you are not in class can not be made up.

General Policy
Attendance
Attendance and class participation are required. Quizzes that are
given when you are not in class can not be made up.
In-class Quizzes and Tests

In-class Quizzes will be given periodically to assess understanding
of the basic material covered in the course. Test will be given in a
fixed date to provide adequate time to demonstrate understanding
of the course topics.

Learning Objectives
1. To introduce and define the subject of Dynamics

Learning Objectives

2. To introduce Newton’s laws, and to understand the
significance of these laws

Learning Objectives

3. To introduce work, power and Energy

Learning Objectives

4. To introduce the motion of rigid bodies

Learning Objectives

4. To introduce the motion of rigid bodies

Definitions:
Dynamics: the study of bodies in motion and the forces that
create the motion.

Definitions:
create the motion.
Kinematics: the study of motion of a body (i.e., position, velocity
and acceleration).

Definitions:
create the motion.
and acceleration).
Kinetics: a study of the relationship between the motion and
forces acting on a body The study is based on the
Newton’s Laws.

Definitions:
create the motion.
and acceleration).
Newton’s Laws.
particle: a body of infinitely small size such that the spatial
distribution of the body is immaterial.

Definitions:
create the motion.
and acceleration).
Newton’s Laws.
distribution of the body is immaterial. A body of
finite size can be treated as a particle if it purely
translates without rotating (i.e., any rotational
energy is negligibly small).

Definitions:
create the motion.
and acceleration).
Newton’s Laws.
distribution of the body is immaterial. A body of
finite size can be treated as a particle if it purely
translates without rotating (i.e., any rotational
energy is negligibly small).
Momentum : Linear Momentum or quantity of motion is defined
as the product of mass and its velocity. That is,
p = m ṙ or = m v.
Definitions
Force exerted on a body has two effects:

I The external effect, which is tendency to change the motion
of the body or to develop resisting forces in the body

Definitions

I The internal effect, which is the tendency to deform the
body.

Definitions

I The internal effect, which is the tendency to deform the
body.

Definitions
A force is a vector quantity that, when applied to
some rigid body, has a tendency to produce
translation (movement in a straight line) or
translation and rotation of body. When problems are
given, a force may also be referred to as a load or
weight.

Definitions
A force is a vector quantity that, when applied to
some rigid body, has a tendency to produce
translation (movement in a straight line) or
translation and rotation of body. When problems are
given, a force may also be referred to as a load or
weight.
Characteristics of force are the magnitude,
direction(orientation) and point of application.

Definitions
Scalar Quantity has magnitude only (not direction)

and can be indicated by a point on a scale. Examples
are temperature, mass, time and dollars.

Definitions
Scalar Quantity has magnitude only (not direction)

and can be indicated by a point on a scale. Examples
are temperature, mass, time and dollars.
Vector Quantities have magnitude and direction.
Examples are wind velocity, distance between to
points on a map and forces.

Types of Forces(Loads)
1. Point loads -
concentrated
forces exerted at
point or location

1. Point loads -
concentrated
forces exerted at
point or location
2. Distributed loads -
a force applied
along a length or
over an area. The
distribution can be
uniform or
non-uniform.

1. Point loads -
concentrated
forces exerted at
point or location
2. Distributed loads -
a force applied
along a length or
over an area. The
distribution can be
uniform or
non-uniform.

Newton’s Laws
Newton’s First Law: In the absence of external forces, a particle

originally at rest or moving with a constant velocity
will remain at rest or continue to move with a
constant velocity along a straight line.

Newton’s Laws
Newton’s First Law: In the absence of external forces, a particle

originally at rest or moving with a constant velocity
will remain at rest or continue to move with a
constant velocity along a straight line.
– assumed that frame of reference (known as inertial

frame of reference or Newtonian frame of reference)
is fixed

Newton’s Laws
Newton’s Second Law: If an external force acts on a particle, the
particle will be accelerated in the direction of the
force, and the rate of change of the particle’s
momentum will be directly proportional to the
applied force.

Newton’s Laws
applied force.
d
– F∝ dt (m ṙ)

Newton’s Laws
applied force.
d
– F ∝ dt (m ṙ)
d
– F = k dt (m ṙ) ; k is positive constant,

Newton’s Laws
applied force.
d
– F ∝ dt (m ṙ)
d
– F = k {ṁ ṙ + m r̈}

Newton’s Laws
applied force.
d
– F ∝ dt (m ṙ)
d
– F = k {ṁ ṙ + m r̈}
– F = k m r̈.
– The unit system chosen is such that k = 1.

Newton’s Laws
applied force.
d
– F ∝ dt (m ṙ)
d
– F = k {ṁ ṙ + m r̈}
– F = k m r̈.
– The unit system chosen is such that k = 1.
– So, one unit of force (the Newton, N) produces unit
acceleration (1 ms−2 ) when acting on unit mass (1
kg).

Newton’s Laws
Newton’s Third Law: The forces of action and reaction between
bodies in contact have the same magnitude, same
line of action, and opposite sense.

Newton’s Laws
Newton’s Fourth Law or Law of universal gravitational attraction

Two particle of mass M and m are mutually
attracted with equal and opposite forces F and −F .
The magnitude of the force is proportional to the
product of their gravitational masses and inversely
proportional to the square of the distance between
them.

Newton’s Laws

them.

Newton’s Laws

them.
– Having selected a system of units, we write

F = G RM2 m ; where R is the distance between them

Newton’s Laws

them.
– Having selected a system of units, we write

F = G RM2 m ; where R is the distance between them
– G = 6.673 × 10−11 m3 s −2 kg −1 =
3.44 × 10−8 ft 4 s −2 lb −1

concept of Mass
arises in two of the laws:
– Second Law ; inertial mass is considered to be a
measure of a particle resistance to acceleration,

concept of Mass
– Fourth Law; gravitational mass is defined as the
property of the particle that influences its
gravitational attraction.

concept of Mass
– Newton assumed that these two concepts of mass
were equivalent.

concept of Mass
– Newton assumed that these two concepts of mass
were equivalent.
– Based on this assumption, an object in free fall will
accelerate at g .

Units in Mechanics
Mechanics problems are generally stated in terms of consistent
units. This means that the four units(length, time, mass and force)
must be selected in such a way that they are dimensionally
consistent with Newtons second law. The desired units for length
and time are established based upon the preference of the
engineer. If the units for mass are specified, then the units of force
must be derived from Newtons second law.

Units in Mechanics
Mechanics problems are generally stated in terms of consistent
units. This means that the four units(length, time, mass and force)
must be selected in such a way that they are dimensionally
consistent with Newtons second law. The desired units for length
and time are established based upon the preference of the
engineer. If the units for mass are specified, then the units of force
must be derived from Newtons second law.
Dimensions British System Metric (SI units) Dimension

Length foot (ft) meter (m) L
Mass pound (lb) kilogram (kg) M
Time second (s) second (s) T
Force Poundal (lb-ft s −2 ) Newton ( kg-ms −2 ) MLT−2

Example Problems
1. Two spherical bodies have masses of 60 kg and 80 kg,
respectively. Determine the gravitational force of attraction
between the spheres if the distance between centers is 600
mm.
2. Using the fact that 1 in. = 25.4 mm, convert a speed of 75
mph to units of meters/sec.
3. How many barrels of oil are contained in 100 kL of oil? One
barrel is equal to 42 gal.
4. In the equation
1
y = y0 + v t + at 2 ,
2
y and y0 are distance, v is velocity, a is an acceleration, and t
is time. Is the equation dimensionally homogeneous?

5. The elongation of a bar of uniform cross section
subjected to an axial force is given by the equation
PL
δ=
AE
What are dimensions of E if δ and L are lengths, P is
a force and A is an area.

Equivalent Metric-English Measures
UNIT ENGLISH to METRIC METRIC to ENGLISH

Length 1 mile = 1.61 kilometers 1 kilometer = .62 mile
1 yard = 0.914 meter 1 meter = 1.09 yard
1 foot = 0.305 meter 1 meter = 3.28 feet
1 inch = 2.54 centimeters 1 centimeter = 0.394 in
Volume 1 gallon = 3.79 liters 1 liter = 0.264 gallon
1 quart = 0.946 liter 1 liter = 1.06 quarts
Weight 1 pound = 0.454 kilogram 1 kilogram = 2.2 pounds
1 ounce = 28.35 grams 1 gram = 0.0353 ounce

Lecture Goals
I Normal and Tangential Coordinates

I Rectilinear Equations of Motion

Equations of Motion for a particle
Newtons Second Law of motion may be written in the vector form:
X
F = ma

X
F = ma
The vectors can be broken into components similar to equilibrium

in rectangular coordinates:
X
(Fx i + Fy j + Fz k) = m(ax i + ay j + az k)

X
F = ma
The vectors can be broken into components similar to equilibrium

in rectangular coordinates:
X
(Fx i + Fy j + Fz k) = m(ax i + ay j + az k)
The scalar forms of this equation:

X
Fx = max = mẍ
X
Fy = may = mÿ
X
Fz = maz = mz̈

In terms of normal and tangential coordinates for planar motion as
follows:

follows:
X dv
Ft = mat = m
dt
X v2
Fn = man = m
ρ

follows:
X dv
Ft = mat = m
dt
X v2
Fn = man = m
ρ

Solution strategy
I Draw the Free-Body Diagram.

Solution strategy

I Write the equations of motion Solve for the velocities and
accelerations need or obtain the equations for the components.

Solution strategy

I Write the equations of motion Solve for the velocities and
accelerations need or obtain the equations for the components.
I Solve for the forces

Definitions
Ideal strings, cords, ropes: If a string, cord or rope is ideal then

Definitions

(i) it has negligible mass,

Definitions

(ii) it is perfectly flexible

Definitions

(iii) it is inextensible

Definitions

(iii) it is inextensible
Smooth surfaces: A smooth surfaces is one that can produce
reaction forces only at right angles to itself, on the
object which are in touch with it.

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MATH 142

K. Arunakirinathar : MATH 142, 1

K. Arunakirinathar : MATH 142, 2

K. Arunakirinathar : MATH 142, 2

K. Arunakirinathar : MATH 142, 2

K. Arunakirinathar : MATH 142, 2

I Professors: Dr. K. Arunakirinathar (Aruna)

K. Arunakirinathar : MATH 142, 3

I Professors: Dr. K. Arunakirinathar (Aruna)

K. Arunakirinathar : MATH 142, 3

I Professors: Dr. K. Arunakirinathar (Aruna)

K. Arunakirinathar : MATH 142, 3

I Professors: Dr. K. Arunakirinathar (Aruna)

K. Arunakirinathar : MATH 142, 3

K. Arunakirinathar : MATH 142, 4

K. Arunakirinathar : MATH 142, 5

In-class Quizzes and Tests

K. Arunakirinathar : MATH 142, 5

1. To introduce and define the subject of Dynamics

K. Arunakirinathar : MATH 142, 6

1. To introduce and define the subject of Dynamics

K. Arunakirinathar : MATH 142, 6

1. To introduce and define the subject of Dynamics

K. Arunakirinathar : MATH 142, 6

1. To introduce and define the subject of Dynamics

K. Arunakirinathar : MATH 142, 6

1. To introduce and define the subject of Dynamics

K. Arunakirinathar : MATH 142, 6

K. Arunakirinathar : MATH 142, 7

K. Arunakirinathar : MATH 142, 7

K. Arunakirinathar : MATH 142, 7

K. Arunakirinathar : MATH 142, 7

K. Arunakirinathar : MATH 142, 7

Force exerted on a body has two effects:

K. Arunakirinathar : MATH 142, 8

Force exerted on a body has two effects:

K. Arunakirinathar : MATH 142, 8

Force exerted on a body has two effects:

K. Arunakirinathar : MATH 142, 8

K. Arunakirinathar : MATH 142, 9

K. Arunakirinathar : MATH 142, 9

Scalar Quantity has magnitude only (not direction)

K. Arunakirinathar : MATH 142, 10

Scalar Quantity has magnitude only (not direction)

K. Arunakirinathar : MATH 142, 10

K. Arunakirinathar : MATH 142, 11

K. Arunakirinathar : MATH 142, 11

K. Arunakirinathar : MATH 142, 11

Newton’s First Law: In the absence of external forces, a particle

K. Arunakirinathar : MATH 142, 12

Newton’s First Law: In the absence of external forces, a particle

– assumed that frame of reference (known as inertial

K. Arunakirinathar : MATH 142, 12

K. Arunakirinathar : MATH 142, 13

K. Arunakirinathar : MATH 142, 13

K. Arunakirinathar : MATH 142, 13

K. Arunakirinathar : MATH 142, 13

K. Arunakirinathar : MATH 142, 13

K. Arunakirinathar : MATH 142, 13

K. Arunakirinathar : MATH 142, 14

Newton’s Fourth Law or Law of universal gravitational attraction

K. Arunakirinathar : MATH 142, 15

Newton’s Fourth Law or Law of universal gravitational attraction