CHAPTER 1

INTRODUCTION TO DYNAMICS

CHAPTER OUTLINE
1/1 History and Modern Applications
1/2 Basic Concepts
1/3 Newton’s Laws
1/4 Units
1/5 Gravitation
1/6 Dimensions
1/7 Solving Problems in Dynamics
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Article 1/1 History and Modern Applications
• Dynamics is the branch of mechanics which deals with the motion of bodies under
the action of forces, and usually follows after statics
• Dynamics has two distinct parts:
• Kinematics – deals with the study of motion without reference to the forces which cause
motion.
• Kinetics – relates the action of forces on bodies to their resulting motions.
• Dynamics is a relatively recent subject compared to statics.
• An understanding of dynamics is essential in numerous fields, including…
• Robotics
• Automatic Control Systems
• Design of Rockets and Missiles
• Spacecraft and Transportation Vehicles
• Machinery of all types, e.g., Turbines, Pumps, Reciprocating Engines, Machine Tools, etc.
Article 1/2 Basic Concepts (1 of 2)
• Space – the geometric region occupied by a body.
• Inertial Reference Frame – a set of rectangular axes assumed to have
no translation or rotation in space. It is also referred to as an
astronomical frame of reference and is the basic frame of reference for
the laws of Newtonian mechanics.
• Time – a measure of the succession of events (considered absolute in
Newtonian mechanics)
• Mass – a measure of the inertia or resistance to change in motion of a
body. It is also a measure of the quantity of matter in a body.
Article 1/2 – Basic Concepts (2 of 2)
• Force – the vector action of one body on another.
• Particle – a body of negligible dimensions.
• Rigid Body – a body whose changes in shape are negligible compared
with the overall dimensions of the body or with the changes in
position of the body as a whole.
• Vector – a quantity with a magnitude and a direction, e.g., force,
velocity, acceleration, torque, etc.
• Scalar – a quantity with only a magnitude, e.g., time, volume, density,
energy, mass, etc.
Article 1/3 Newton’s Laws
• Law I
A particle remains at rest or continues to move with uniform velocity (in a
straight line with a constant speed) if there is no unbalanced force acting on it.

• Law II
The acceleration of a particle is proportional to the vector sum of forces acting
on it and is in the direction of this vector sum.

• Law III
The forces of action and reaction between interacting bodies are equal in
magnitude, opposite in direction, and collinear (they lie on the same line).
Article 1/3 – Comments about Newton’s Laws
• The laws have been verified by countless physical measurements.
• The first two laws hold for absolute or inertial reference frames.
• The second law forms the basis for most analysis in dynamics and
takes the common form of F = ma for a particle, where…
• F = the resultant force which acts on the particle.
• m = the mass of the particle.
• a = the acceleration of the particle.
• The first law is a consequence of the second law and is the primary
subject of study in statics.
• The third law is the principle of action and reaction from statics.
Article 1/4 Units
• Fundamental Quantities of Mechanics and their Units
Article 1/4 – SI Units
• The SI system is absolute because the standard for the base unit of
mass, the kilogram, is independent of the gravitational attraction of the
earth.

• Base Units
• kilogram (kg)
• meter (m)
• second (s)

• Derived Unit: Newton (N)

• Force Unit
• N = kg·m/s2
Article 1/4 – U.S. Customary Units
• The U.S. customary system is gravitational because the standard for
the base unit of force, the pound, requires the presence of the
gravitational field of the earth.

• Base Units
• pound (lb)
• foot (ft)
• second (sec)

• Derived Unit: slug (slug)

• Mass Unit
• slug = lb-sec2/ft
Article 1/5 Law of Gravitation
• Mathematical Expression

F = the mutual force of attraction between two particles

G = a universal constant known as the constant of gravitation
m1, m2 = the masses of the two particles
r = the distance between the centers of the particles

• Constant of Gravitation, G
• SI Units: G = 6.673(10-11) m3/(kg·s2)
• U.S. Units: G = 3.439(10-8) ft4/(lb-sec4)
Article 1/5 – Effect of Altitude
• Acceleration of Gravity at Altitude h
h

• g0 = absolute acceleration of gravity at sea level (9.825 m/s2 or 32.23 ft/sec2)

• h = altitude above the surface of the earth
• R = the radius of the earth (6371 km or 3959 mi.)
• This equation can be used to determine the acceleration of gravity at altitude
above other celestial bodies, e.g., the moon, Jupiter, the Sun, etc.
Article 1/5 – Effect of a Rotating Earth
• 1980 International Gravity Formula
• g = 9.780 327(1 + 0.005 279 sin2 γ + 0.000 023 sin4 γ + …)
• γ = the latitude
• g is expressed in m/s2

• Nonrotating Earth Variation

• Add 3.382(10-2) cos2 γ m/s2 to previous
• Removes the Effect of Rotation

• Plot of the Equations

Article 1/5 – Standard Value of g
• Relative to a Rotating Earth at Sea Level and at a Latitude of 45°
• SI Units: g = 9.806 65 m/s2

• U.S. Units: g = 32.1740 ft/sec2

• Values for Most Problems in Mechanics

• SI Units: g = 9.81 m/s2

• U.S. Units: g = 32.2 ft/sec2

Article 1/5 – Apparent Weight
• Apparent Weight, W = mg

• SI Problems
• Mass m is always in kilograms (kg) and is almost always provided in the book.
• Acceleration of gravity g = 9.81 m/s2 (unless stated otherwise).
• Weight W is in newtons (N).
• Kilogram (kg) is not a force!

• U.S. Problems
• Mass m is always in slugs (slugs) and is almost never provided in the book.
• Acceleration of gravity g = 32.2 ft/sec2 (unless stated otherwise).
• Weight W is in pounds (lb) and is usually what you are provided.
• Pound (lb) is not a mass!
Article 1/6 Dimensions
• Dimension
• A quantity that can be expressed in a number of different units, e.g., length
could be expressed in mm, m, ft, miles, etc.

• Principle of Dimensional Homogeneity

• All physical relations must be dimensionally homogeneous within an
equation.

• Useful for checking the dimensional correctness of a derived physical relation.

• This is a necessary condition for correctness, but not a sufficient condition.

Article 1/7 Solving Problems in Dynamics (1 of 4)
• Dual Thought Process in Dynamics
• Think about the physical situation and the corresponding mathematical
description.

• Make Appropriate Assumptions and Approximations

• Use Graphics
1. Representing a problem geometrically helps us with its physical interpretation.
This is especially true for two-dimensional problems in kinematics.
2. Graphical solutions can often be obtained more readily than with a direct
mathematical solution.
3. Charts and graphs are valuable aids for representing results.
Article 1/7 – Solving Problems in Dynamics (2 of 4)
• Formulating Problems and Obtaining Solutions
1. Formulate the problem
a) State the given data.
b) State the desired result.
c) State your assumptions and approximations.
2. Develop the solution
a) Draw any diagrams and include coordinates which are appropriate for the problem at hand.
b) State the governing principles to be applied to your solution.
c) Make your calculations.
d) Ensure that your calculations are consistent with the accuracy justified by the data.
e) Be sure that you have used consistent units throughout your calculations.
f) Ensure that your answers are reasonable in terms of magnitudes, directions, common
sense, etc.
g) Draw conclusions.
Article 1/7 – Solving Problems in Dynamics (3 of 4)
• The Free-Body Diagram
• Isolation of a Body from all other Interacting Bodies
• Developed Fully in Statics
• Single Most Important Step in Kinetics Problems

• Numerical Values versus Symbols

• Symbolic Solutions Advantages
• Helps to focus attention on the connection between the physical situation and its related
mathematical description.
• Can be used repeatedly for obtaining answers to the same type or problem but having
different units or numerical values.
• Enables dimensional checks at every step to ensure dimensional homogeneity.
Article 1/7 – Solving Problems in Dynamics (4 of 4)
• Solution Methods
1. Obtain mathematical solutions by hand, using either algebraic symbols or
numerical values. We can solve most problems this way.

2. Obtain graphical solutions for certain problems.

3. Solve problems by computer. This is useful when a large number of equations

must be solved, when a parameter variation must be studied, or when an
intractable equation must be solved.
Article 1/8 – Sample Problem 1/1 (1 of 5)
• Problem Statement
A space-shuttle payload module weighs 100 lb when resting on the surface of the earth at a latitude of 45°
north. (a) Determine the mass of the module in both slugs and kilograms, and its surface-level weight in
newtons. (b) Now suppose the module is taken to an altitude of 200 miles above the surface of the earth
and released there with no velocity relative to the center of the earth. Determine its weight under these
conditions in both pounds and newtons. (c) Finally, suppose the module is fixed inside the cargo bay of a
space shuttle. The shuttle is in a circular orbit at an altitude of 200 miles above the surface of the earth.
Determine the weight of the module in both pounds and newtons under these conditions. For the surface-
level value of the acceleration of gravity relative to a rotating earth, use g = 32.1740 ft/sec2 (9.80665 m/s2).
For the absolute value relative to a nonrotating earth, use g = 32.234 ft/sec2 (9.825 m/s2). Round off all
answers using the rules of this textbook.
Article 1/8 – Sample Problem 1/1 (2 of 5)
• (a) Mass of the Module

• Unit Conversion, Table D/5

Article 1/8 – Sample Problem 1/1 (3 of 5)
• (a) Alternative Approach for kg
Article 1/8 – Sample Problem 1/1 (4 of 5)
• (b) Weight of the Module at 200 miles
Article 1/8 – Sample Problem 1/1 (5 of 5)
• (c) Weight of the Module in Motion at
200 Miles
The weight or gravitational force of attraction does not
depend on the motion of the object, so the answers for
part (c) are the same as those for part (b).