In the name of God

Dynamics Course
B. Sc. Level

Prof:
Dr. H. Tourajizadeh
References
 J. L. Meriam, L. G. Kraige, “Engineering Mechanics
Dynamics”, John Wiley & Sons, 1998.
 W. E. Riley, L. D. Sturges, “Engineering Mechanics
Dynamics”, John Wiley & Sons, 1996.
 R. C. Hibbeler, “Dynamics”, Mcmillan Pub., 1978.
 F. Beer, E. R. Johnston, “Vector mechanics for
Engineers”,Vol. 2, “Dynmics”, MacgRAW – Hill,
1990.
 I.H. Shames, “Dynamics”, Prentice-Hall Pub., 1980
 The Course Note
Evaluation methodology
 Final exam
 Mid-term exam
 Quiz
 Homework
 Project
 Class cooperation

Time dependent percentage!!!!!!!

Feedback based of the class
performance
 Subtitles:
 1ntroduction to Dynamics
 Dynamics of particles
Basic concepts
Kinematics of particles
Kinetics of particles
 Kinematics and kinetics of system of particles
 Dynamics of rigid bodies
Plane kinematics of rigid bodies
Plane kinetics of rigid bodies
 Energy method
 Impulse method
 System of particles
 Rigid bodies
Methodologies:
 Newton Euler method
Force-equilibrium based
During whole the time
 Lagrange method
Energy based
Between two specific moments
 Impulse method
Momentum based
For too short procedures
Basic concepts
 Dynamics:
Kinematics study of movement
Kinetics study of forces

 Degrees of freedom (DOF)

Linear Particles Linear movement
plane Linear
spatial Rigid bodies
Rotational
Examples:
 Particles:
2 DOF

 Rigid body

3 DOF
Newton’s Laws
Units
Gravitation

F1=F2
For high height:
Dimensional Analysis
Solving strategy
Example
Homework

?
 Kinematics of Particles

Study of the
motion of the
particles :
1. Position
2. Velocity
3. Acceleration
Choosing the proper coordinate

 Linear motion

 Planar motion Cartesian

Polar
Normal and tangential

 Spatial motion Cartesian

Cylindrical
Spherical
Linear motion
 Velocity:

 Acceleration:
Graphical Interpretation
Conditions
Example
Exercise
Homework
Planar coordinates
Cartesian coordinate
Example
Exercise
Homework
Normal and tangential coordinate
Circular motion
Example
Exercise
Homework
Polar coordinate
Polar coordinate
Example
Exercise
Homework
Spatial Coordinates
Example
Exercise
Homework
Relative motion
Example
Exercise
Homework
 Constraint motion

Final DOF=Initial DOF-NO. OF constraints

Example
Exercise
Homework
Kinetics of particles

Study of the relation between

the force and motion of the
particles :
1. Newton - Euler
2. Energy and Lagrange
3. Impulse and momentum
Second law of Newton
Example
Exercise
Homework
Polar and tangential curvilinear motion
Example
Exercise
Homework
Work and energy
Work and energy
Power
Example
Exercise
Homework
Work and energy principal

If u=0
Work and energy principal
Example
Exercise
Homework
Impulse and momentum

If F=0
Example
Exercise
Homework
Angular impulse and momentum
 Angular impulse - momentum principal

If M=0
Example
Exercise
Homework
Impact F=0? F=0?

F=0
Impact
Example
Exercise
Homework
Relative motion
Newton:

If aB=0

Energy:

Impulse:
Relative motion
Rotational Impulse:
D’Alembert’s principal
Example
Exercise
Homework
Kinetics of system of particles

If F=0 or
M=0
Kinetics of system of particles
Kinetics of system of particles

?
Example
Exercise
Homework
Kinematics of rigid bodies

Study of the
motion of the
rigid bodies :
1. Position
2. Velocity
3. Acceleration
Pattern of their motion
Pure rotation
Example
Exercise
Homework
Absolute motion
Exercise
Homework
Relative motion methodology
Example
Exercise
Homework
Instantaneous center of zero velocity
Example
Exercise
Homework
Relative acceleration
Example
Exercise
Homework
Motion relative to rotating axes
Motion relative to rotating axes
Motion relative to rotating axes
Motion relative to rotating axes
Example
Exercise
Homework
Kinetics of rigid bodies

Study of the relation between

the force and motion of the
Rigid bodies :
1. Newton - Euler
2. Energy and Lagrange
3. Impulse and momentum
Newton – Euler method
Newton – Euler method

If ap=0
Fixed axis rotation
Example
Exercise
Homework
Example
Example
Exercise
Homework
Homework
Work and energy method
Example
Exercise
Homework
Impulse and momentum method

If Vo=0

If F=0

If M=0
Example
Exercise
Homework