Dynamics

Chapter 3 Engineering Mechanics
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Chapter 3
DYNAMICS

Dynamics can be divided into two main branches
(a) Kinematics
(b) Kinetics
In kinematics, motion of particles or rigid bodies is studied without considering the forces that
produce or change this motion.
In kinetics, motion of particles or rigid bodies is studied with the unbalanced force system that
produces or changes this motion.

Kinematics of Rectilinear Motion
Motion with constant acceleration

Where u=initial velocity, v=final velocity, s=distance of travel, t=time and a=acceleration
Example 1
Velocity of a particle is defined as V=Kx
3
-x
2
6x, where V is in m/s and x is in m compute
the acceleration when x=2 and k=1
Solution
Given,
V= Kx
3
-x
2
+6x
6,
6) (
6)
= (12
3
-2
2
+62) (312
2
-22+6)
= (8-4+12)(12-4+16)
=1614=224m/s
2


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Example 2
The brakes of a train reduce its speed from 60 to 20 km/h while it runs 200 m. Assuming that
there exists constant retarding force, find
(a) How much further the train will run before coming to rest, and
(b) How long will it take.
Solution
6/, /

v
as
400 6
a =

(a) For the train to come to rest ,
v
as
6

=225 m
Further distance moved = 225 -200 =25 m
(b) v u at
0 =20 8000 t

Motion of Bodies Projected vertically upwards
When a body is projected vertically upwards, it is under the effect of the downward acceleration
due to gravity, i.e., it moves with retardation. Its velocity, therefore, gradually decreases until it
becomes zero the body is then for an instant at rest and immediately begins to fall with a
velocity which increases numerically but is negative. Thus, we get

gs

The following important results can be deduced from these equations:


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Time to reach the highest point,

Maximum height reached,

Time for returning to the starting point time of flight =

Example 3
A particle is dropped from the top of tower 200 m high and another particle is projected at the
same time vertically upwards from the foot of the tower so as to meet the first particle at a
height of 50 m. find the velocity of projection of the second particle.
Solution
Let the particle meet after seconds. The first particle falls from rest a distance = 200 -50 =
160m.
Hence 150
()
If is the required velocity1 of the second particle, then

()
Adding Equation (a) and (b), we get
200 =

6 /

Example 4
Two balls are projected simultaneously with the same velocity from the top of a tower, one
vertically upwards and the other vertically downwards. If they reach the ground in times t
and
t
respectively, show that
is the time which each will take to reach the ground if simply let
drop from top of the tower.
Solution
Let h = height of the tower
u = velocity of projection
Taking downward direction positive, for the first ball, we have
, ,
gives


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()
For the second ball,
, ,
()
Eliminating from equation (a) and (b), we get

If is the time to reach the ground when initial velocity is zero, we get

Example 5
The speed of a train increases at a constant rate from zero to and then remains constant for
an interval and finally decreases to zero at a constant rate If d be the total distance described,
prove that the total time occupied is
)
Solution
Let t
, t
and t
be the times for acceleration, constant speed and deceleration, then

Total distance travelled
=

Or t

Now total time

And t

2 t


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t
)

Example 6
Two stopping points of an electric tram car are 450m apart. The maximum speed of the car is
20km/h and it covers the distance between the stops in 100seconds. If both acceleration and
retardation are uniform and the latter is twice as great as the former, find the value of each of
them and also calculated how far the car runs at the maximum speed.
Solution
Let t
, t
, t
be the times for acceleration, uniform velocity and deceleration. Then

Maximum speed of car = 20 km/h

m/s
450 =

= (
) (
6
Also
=2t

2t
6
t
6
and t
6
t
6 s, t
6 s, t
s
Distance covered during constant speed
=
6

Example 7
A person going Eastwards with a velocity of 4 km/h finds that the wind appears to blow directly
from the North. He doubles his speed and the wind seems to come from the North-east. In what
direction and with what velocity is the wind blowing?


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Solution
Let the actual velocity of wind be km/h along OA making an angle with OE, as shown in
figure.

(a) When the velocity of the man along OE is 4 km/h the velocity of wind is along ON.
Therefore, the relative velocity of wind will be along OS. Therefore, the relative velocity of
wind will be along OS. The resultant of 4Km/h and the relative velocity of wind is .
Resolving along OE, we get
4 =
(b) When the velocity of man is 8km/h the relative velocity of wind is along OB, whose
resultant is again .
Resolving perpendicular to OB, we get
cos(
) cos
(cos sin)

(cos sin)

6 6 /
tan
u =

Example 8
The driver of a car travelling at 72 km/h observe the traffic light 300m ahead of him turning red.
The traffic light is timed to remain red for 20s before it turns green. If the driver wishes to pass
the light without stopping to wait for it to turn green, determine (a) the required uniform
deceleration of the car and (b) the speed with which the driver crosses the traffic light.

S
W
B
C
A
E
N.E
N
O

(

/


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Solution

6 6
/
,
Now

300 = 20 20 +

Also /
=
6/

Example 9
Two trains A and B of length 400 m each are moving on two parallel tracks with uniform speed
72km/h in the same direction, with A ahead of B. The driver of B decides to overtake A and
acceleration by 1ms
If after 50 s, the guard of B just brushes past the driver of A, what was the
original distance between them?
Solution
Relative velocity of B w.r.t A = 0
Let d orginaldistance between the trains in m.

Distance covered by B in 50 s = 400 + d +400 =800 +d
Using
()

Example 10
A stone projected vertically upwards from a point A passes a point B after 3 seconds. If it returns
to A after a further interval of 4 seconds, find (i) the height of B above A (ii) the velocity with
which the stone passes the point midway between A and B.

Train B Train A
400 m 400 m


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Solution
Let projection
maximum height reached
Time taken from A to C and back to a A

= 3 +4 =7 s

Or

Time taken from A to B = 3

= 34.3 3 -

or AB = 58.8 m
AD =
()
6 6 6

Kinematics of Curvilinear motion
Motion of projectile
Maximum height (h) =

Time required to reach maximum height (t) =

time of flight =

Range (R) =

for maximum range, = 45
0
A


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Acceleration Analysis

Background Material: Rate of Change of Vector

A vector quantity has magnitude and direction and hence, the vector can change in time in two
ways-In magnitude or direction. Therefore, when we take the time-derivative of a vector ie
lim
()()
, the numerator is change in vector from time t to t + t can have two

components.
Rate due to change in Magnitude: This is got by differentiation of the scalar magnitude
||
n (n
||
is the unit vector in the direction of velocity vector)
Ex: For vector ,

Rate due to change in Direction: This is more involved, but it can be shown that a fixed
vector V rotating in a rate has a rate of change due to direction change as

So, in general we have that for a generic vector changing in magnitude and rotating at rate , we
have
||

Acceleration Analysis
Given in the figure, is a fixed ground Coordinate System (CS) inside of which a rotating CS with
origin at O rotates at , has angular acceleration of , translates at V0 & accelerates at A0. Inside
this rotating CS O, is a point P which translates at OVP & accelerates at OAP locally.

OVP =Velocity of Point P as viewed from Origin of Rotating Cord. Sys. O
OAP =Acceleration of Point P as viewed from Origin of Rotating Cord. Sys. O
VO =Velocity of Origin of Rotating CS O w.r.t Fixed Ground CS with origin at G
AO =Acceleration of Origin of Rotating CS O w.r.t Fixed Ground CS with origin at G
Figure : Diagram for Acceleration Analysis


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O =Angular Velocity of Rotating CS O w.r.t Fixed Ground CS with origin at G
O =Angular Acceleration of Rotating CS O w.r.t Fixed Ground CS with origin at G
OP =Position vector of a point in w.r.t Rotating CS with origin at O
GP =Position vector of a point in w.r.t Ground CS with origin at G
GO =Position vector of Origin O of Rotating CS w.r.t Ground CS with origin at G
We are interested in acceleration of point P as seen from ground because as coordinate system O
is accelerating and rotating system, it is a non-inertial coordinate system and hence Newtons
laws are not applicable for vectors in that frame. Hence, we need to write P in terms of ground
coordinate system if we are to apply the same for subsequent force/torque analysis.
So, we start by writing down the position of point P as seen from ground coordinate system.
GP = GO + OP

Now, differentiating w.r.t time, we get

But we know that
(velocity of point P as viewed from O) &
(velocity of point
P as viewed from ground). Now,
is a vector which has change in magnitude (motion in the

frame O with a local velocity of OVP, acceleration OAP) & also has change in direction (rotates at
& ). So, we can write as follows.

We now have the velocity of point P w.r.t ground G. To get acceleration, further differentiate
both the sides.

We now have the velocity of point P w.r.t ground G. To get acceleration, further differentiate
both the sides.

Now, we know that
is a rotating vector in the CS at O and hence has magnitude change(
)
and direction change(rotates , )
)
Simplifying the above expression gives as follows
)
So, we see that we have five terms in total here on the Right Hand Side which is why we call this
above formula as the five point acceleration formula.


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- (
): This is the acceleration of the origin O of rotating CS w.r.t ground CS at G.

- Term 2(
): This is the acceleration of the point P local to/when viewed from within the
rotating CS at O.
- Term 3(
) This component is the Coriolis acceleration component produced due

to velocity inside a rotating frame.
- Term 4 (
): This is the Tangential acceleration component which acts in the

instantaneous tangential direction of motion of point P.
- Term 5( ( rop)) This is the Radial/Centripetal acceleration component and acts
radially inward towards the point of center of rotation.
Thus, all the five terms of motion are clearly derived from this highly generic method. Newton's
law can now be applied to the LHS term which is got by adding up the five acceleration
components in the RHS.
Acceleration Analysis in Cylindrical or Path or Curvilinear Coordinates
In case of cylindrical coordinates, we have the coordinate directions as shown below. Clearly, for
a motion from time , The direction of CS itself changes in
&
direction whereas

remains constant. We proceed with derivation in the same manner as above.

( )

Now, as shown in figure, when the CS rotates by in a time dt, we see that
()
()
()

Now, note that in the limiting case, as , the direction of
() approaches tangential
direction in
. Also, as far as magnitude is concerned,

Trajectory of the particle P
()
()
( )

d
()
O
(Projecting
Outward)
( )
( )
P
()
()
()
( )

Rate of change

Rate of change

Rotation of CS from t to t+td
Figure: Diagram for Acceleration Analysis


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|
()
(|
| )

Similarly, from the diagram above, using the same logic, we can prove that

However, as
does not change direction in time

Using the above results, we proceed to get as follows.

Again differentiating, we get

This is the final formulae for velocity and acceleration of a moving particle in cylindrical
coordinates.
Examples 11
Acceleration of a point moving in a rotating frame. Consider the rotating tube shown in figure. It
is given that the arm OAB rotates with counterclockwise angular acceleration /
and
at the instant shown the angular speed /. Also, at the same instant, the particle P is
falling down with speed
/
/ and acceleration
/
/
w.r.t. tube. Find the

absolute acceleration of the particle at the given instant. Take in the figure.
Solution
Fixing a ground coordinate system on ground and a rotating coordinate system with origin at O
and moving along with the frame OAB, we see that for point P, position vector
, But clearly,
&
are all fixed vectors from geometry which does not change in
magnitude (length) with time. So, only change is change in direction. But
changes in length
because point P has a local velocity when viewed from B & also it changes it direction like the
other two vectors.

Figure: Problem 1 Figure
,
=
2

f
t
=
2

f
t
ft
B
O
P
A
2
/


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So,
)
/
. Same way, on further differentiating, we
get acceleration
) ( (
)
/
)
/

/
.
Now, we have to represent all vectors in same CS. Here, we can write
,
/
&
/
=- Substitute these values
and upon simplifying, we get the answer as
/ &
66 /

Example 12
A particle moves along the spiral as shown in figure, and defined by the equation r= 12t and
o=2nt. Determine the velocity and the acceleration of the particle when t=0 < t=0.3 see

Solution
Given,
R= 12t and u = 2nt

We know, for r-u System,

= 12+12t 2t
=12(1+2tt) m/s
Acceleration
a= ar+a
u

[
] *
+
= o -(12t2t)
2
+ 0+ 2122t
a=48t-576t
2
t
2
m/s
2

V= 12(1+2tt)m/s
a=48t-576t
2
t
2
m/s
2
0
O
Y
X


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Example 13
Find the maximum horizontal range of a cricket ball projected with a velocity of 15m/s. If the
ball has a range of 20m, find the least angle of projection and the least time taken.

Solution
Horizontal range =

For maximum horizontal range,
m
Now

Sin

or 66

Least angle of projection = 6

Least time of projection
=

The value of the maximum range
r
( )
()

Example 14
A particle is projected from a point on an inclined plane with a velocity of 30m/s. The angle of
projection and the angle of plane are
and
to the horizontal respectively. Find the range

and time of flight of the particle.
Solution
Range on an inclined plane

*sin( ) )
Here
For the range to be maximum

Or 2 5

Thus, this corresponds to maximum range on the given inclined plane. Maximum range,
r
( )


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=
()
)

=
66
Time of flight, T =
()

=

Example 15
A projectile is launched as shown in the figure. (i) Compute the velocity of the projectile if R =
250m (ii) Find the flight time of the projectile
Solution
(i) R =
Sin ] sin]
Given, -
R = 250m (range of the projectile)
G = 9.81 m/s
2
(Acceleration due to
gravity)
Angle of the projectile = 60
0

Angle of inclination,
0

U = velocity of projectile = ?

sin( 6 ) sin]
u m/s
(ii) Flight time, -
T =

()

=
()

= 10.09sec.
u = 42.89m/s
T = 10.09sec

60
0

30
0

R
A
u
B


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Example 16
A rope, to which a weight is attached, passes around a pulley 50cm in diameter. The angular
acceleration of the pulley is 18 rad/s
. If the pulley is initially at rest, find(a) the time required

for the weight to attain a velocity of 15m/s, (b) the number of revolutions through which the
pulley rotates during that period and (c) the total acceleration of a point on the rim of the pulley
0.5 second after it was at rest.
Solution
(a)
6 /

t
60= 0+18t

(b)
()

Number of revolutions
=

(c) Tangential acceleration
r cm /s

Normal acceleration

After 0.5 s, we have

rad/s

cm/s

Total acceleration,

= ()
()
cm/s

Example 17
A ball is thrown from the top of a tower 60m high with velocity of ms
at an elevation of
above the horizontal distance from the foot of the tower to the point where it hits the
ground. (g = 10 ms
)


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Solution
Refer the figure
sin

6 sin

or
6
or t

6 6
Hence, R = cos cos
6
= 20
6 = 79.67 m

Example 18
A shell is required to be projected so as just to pass over the wall of a fort horizontally. If the wall
is 20m high and 60 m distant from the gun, find the angle and the velocity of projection.
Solution
The shell grazes the wall horizontally. Therefore, the height of the wall is the maximum height
attained.

/
A B
O
R
60 m


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With reference to figure

()
Also
6
or R = 120m
Now

120 =

()
Dividing (1) by (2)
tan

Or tan
) 6

From (1), 20 =

6 /

Kinetics of Rectilinear Motion
Frames of Reference

Figure: Diagram for Acceleration/Force Analysis
,


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=Velocity of Point P as viewed from Origin of Rotating Cord. Sys. O
=Acceleration of Point P as viewed from Origin of Rotating Cord. Sys. O
=Velocity of Origin of Rotating CS O w.r.t Fixed Ground CS with origin at G
=Acceleration of Origin of Rotating CS O w.r.t Fixed Ground CS with origin at G
=Angular Velocity of Rotating CS O w.r.t Fixed Ground CS with origin at G
=Angular Acceleration of Rotating CS O w.r.t Fixed Ground CS with origin at G

OP =Position vector of a point in w.r.t Rotating CS with origin at O
GP =Position vector of a point in w.r.t Ground CS with origin at G
GO =Position vector of Origin O of Rotating CS w.r.t Ground CS with origin at G
As seen in acceleration analysis, the acceleration experienced by a point P moving in a rotating
and accelerating coordinate system, as seen from the global frame of reference G, is given by(5-
term acceleration formula)
)
Now, we know that Newton's law is F = ma or Force F required to make an object of mass m
move at acceleration a is ma.Therefore, standing in the frame G, we see acceleration
given by
previous formula & therefore, if we multiply both sides of the equation by mass of particle P, i.e.,
m, we get force as follows.
))
However, from the rotating frame of reference O, if we write the Newton's law, we see that it

because an observer in O frame only sees the)AP acceleration for the point P.
However, there can be only one force required to move the object from any frame. So, which one
is correct value,
or FG? Clearly, the observer in frame O is applying a lesser force as per

Newton's law but that's because he is neglecting many acceleration components including
Coriolis acceleration components & hence, FO is wrong. So, the conclusion is observer in frame O
cannot employ Newton's law to estimate force whereas observer in frame G can. Frames where
Newton's law can be applied (G) are called Inertial Frames of Reference & those frames where
Newton's law cannot be applied(O) are called Non-Inertial Frames of Reference. Simply put, any
frame accelerating or rotating w.r.t a stationary frame is a Non-Inertial Frame and any frame
stationary or moving at a constant velocity w.r.t a stationary frame is a Inertial Frame. Clearly,
between an Newton's Law equations for Inertial & Non-inertial frames, the difference comes in 4
terms. These 4terms are 4 forces not in strict physical sense as such forces don't physically exist
but come up in the equations. Hence, these terms are called Fictitious Forces or Phantom Forces.
They are as follows.
1. Inertial Force: The term
&(
), caused by translational & rotational acceleration

of frame of reference O are fictitious forces.


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2. Coriolis force: The term (
)caused by velocity of particle P inside the

accelerating frame O is a fictitious force. A major physical manifestations of this force
include cyclones/hurricanes.
3. Centripetal Force: The term ( (
))due to rotation of the frame O is a fictitious

force.

Further, we see that
) (
) ( (
))
So,
from the above equation, we can conclude that, if we indeed want to write force balance
equation in frame O, we should take into consideration, the fictitious forces & draw them in
opposite direction in the Free Body Diagram (FBD).
Finally, if we also consider the term
as a fictitious inertial force and draw it in opposite

direction, this is equivalent to writing an equation
) (
) ( (
))

Which is the form which is the equation for equilibrium/statics. Thus, we see that
considering each fictitious force in opposite direction of motion in the FBD, we can convert a
dynamics problem to statics problem. This famous principle is called the D'Alembert's Principle.
D Alemberts Principle
It was pointed out first of all by DAlembert that on the line of equation of static equilibrium,
equation of dynamic equilibrium can also be established by introducing inertia force in the
direction opposite to acceleration in addition to the real forces acting on the system.
According to Newtons second law of motion,
F = ma where

Or

Now
is the inertia force Example represents the D Alemberts principle, which may be
stated as follows:
When different forces act on a system such that it is in motion in a particular direction, the
algebraic sum of all the forces acting on the system in the direction of the motion, including the
inertia force taken in opposite direction to motion is zero. Thus in general
Where , , or
F
ma
ma

Where indicates the sum of all forces acting on the body in the direction of motion.


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Example 19
An elevator weighs 25 kN and is moving vertically downwards with a constant acceleration.
Write the equation for the elevator cable tension. Starting from rest it travels a distance in this
time. Neglect all other resistance to motion. What are the limits of cable tension?
Solution
Here W = 25kN
For downwards motion of elevator, using DAlemberts principle, we get
T = W

T = W (
)
Now , ,

35 = 0 +

T = 2(
) 6 kN
Maximum tension
T = 25 =(
) 6

Example 20
A collar P is free to slide along the smooth shaft Q mounted in the vertical frame as shown in
the figure below Determine the horizontal accretion a of the frame necessary for maintain the
collar in a fixed position on the shaft.

P
Q

a


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Solution: FBD of the Collar P

Consider mass is m
Acceleration of P & Q same,

N cos -mg = 0 1
&

ma-Nsin = 0 2
From eq 1 & 2 we, can write

a= gtan

Example 21
A load W is used to raised by a rope from rest to rest through a height h and the greatest tension
which the rope can safely wear is
W. Show that the least time in which the ascent can be made is
()

Solution
The time required will be least if the motion is first with maximum possible acceleration and
then with maximum possible retardation. The maximum possible acceleration is obtained when
the tension in the rope, is , and maximum retardation is when this tension is zero.
For the first part when the load is going up, we have by DAlemberts principle
T W -

( )
For the second part

a =-g
Let t
time for accelration

ma
N
mg
a x
y


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t
time for retardation

v maximum velocity
Then acceleration =
( )
Retardation =

Total distance moved
=
)
Now t
()
,
()

Or
()
)

()

nh
( )

Example 22
A system of weights connected by spring, passing over pulleys A & B is shown in Fig below. Find
the acceleration of the three weights assuming weightless springs and ideal conditions for
pulleys.

Solution
Pulley A has two weights 150N and 60 + 40 = 100N acting on it. Let T1 be the tension in the
string for the downward motion of N weight using D Alemberts principle, we have
T1 150 + 150/g =0
T1 100 -10 a1 /g = 0
Solving these, a1= 1.962

N
N
6N


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For pulley B, let T2 be the tension in the rope and a2 be the acceleration of the 60N downwards.
Again using D Alembert Principle, we get
T2- 60 + 60a2/g =0
T2- 40 - 40a2/g=0
Solving, a2=1.962 m/s
2

Hence the acceleration of 150N and 60 N weights is 1.962 m/s
2
downward and the acceleration
of 40 N weight is also 1.962 m/s
2
upwards.

Example 23
Two blocks A and B are connected to each other by a spring and a string. The string passes over
a frictionless pulley as shown in Figure below. Block B slides along the vertical side of a
stationary block C and the block A slides along the vertical side of C, both with same uniform
speed. The coefficient of friction between the surfaces of the block is 0.2. Force constant of the
spring is 1960N/m
2
. If the mass of block A is 2 Kg, calculate the mass of block B and the energy
stored in the spring.
Solution
Free body diagram is shown below

R= mB g
T=F= R = mB g -------------------(1)
For Block A =T- mAg -------------------(2)
From (1) & (2)
mAg = mB g
mB = 10 kg
T= mAg=19.6N
Extension of spring = T/k = 19.6/1960= 1/100 m
Energy stored in the spring = kx
2
= 0.098 J
B
A
A
B
T
R

F
C

T


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Example 24
Two weights 800 N and 200 N are connected by a thread and move along a rough horizontal
plane under the action of a 400N applied to the first weight of 800N as shown in Figure below.
The coefficient of the friction between the sliding surfaces of the weights and the plane is 0.3.
Determine the acceleration of the weights and the tension in the threads D Alemberts principle
Solution
Using D Alemberts principle, we have
400 - W2 a /g- R2 T =0
T - W1 a/g R1 =0
Solving, a = 0.981 m/s
2
and T = 80N
Kinetics of Curvilinear Motion
Central force motion
Centrifugal force =

Where r = radius of the path
= angular velocity
v = linear speed
g = acceleration due to gravity
Moment of momentum (angular momentum)of the whole body I
Where I = mk
, k being the radius of gyration.

Moment of Inertia
We know that Newtons laws of motion define the equations that govern motion of bodies in
macro scale. As far as translation is concerned,
First Law: At its crux defines Inertia or the resistance offered by body to change in
state(rest or motion). For translation, inertia is same as mass of body & is the resistance
offered to change of translation state of the body.
Second Law: This defines the relation between inertia and force required to induce an
momentum change in the body as
()
Third Law: This proposes the action and reaction pairs of Forces.

Now, if we extend this to rotation, the concept analogous to these are generated as follows.
First Law: At its crux defines Moment of Inertia or the resistance offered by body to
change in state(rest or motion). For rotation, moment of inertia is the resistance offered to
change of rotation state of the body.
Second Law: This defines the relation between moment of inertia and the torque required
to induce a change in angular momentum in the body as
( )


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Third Law: This proposes the action and reaction pairs of Torques.
The moment of the inertia force on a particle around an axis multiplies the mass of the particle
by the square of its distance to the axis and forms a parameter called the moment of inertia
(denoted by I). The moment of inertia of an object is defined by the distribution of mass around
an axis. It depends not only on the total mass of the object but also on the square of the
perpendicular distance from the axis to each element of mass. This means the moment of inertia
increases rapidly as masses are distributed more distant from the axis. For example, consider two
wheels that have the same mass, one that is the size of a bicycle wheel and one that is half the size.
The larger wheel has four times the moment of inertia even though it is only twice the diameter.

For system of particles, moments of inertia of individual particles sum to define the
moment of inertia of a body rotating about an axis ie

For rigid bodies moving in a plane, such as a compound pendulum, the moment of inertia is
a scalar got by integrating over the body mass ie I r
dm r
dV

For rigid bodies moving in three dimensions, such as a spinning top, the moment of inertia
becomes a matrix, also called a tensor with 9 components (6 independent components).
For easiness, moment of inertia is written in lumped form as
where k is called
radius of gyration.
Theorems for computing Moment of Inertia for compound bodies
The main theorems which will help in computing Moment of Inertias are as follows.
Superposition: The moment of inertia of the body is additive. That is, if a body can be
decomposed (either physically or conceptually) into several constituent parts, then the
moment of inertia of the whole body about a given axis is equal to the sum of moments of
inertia of each part around the same axis ie

Perpendicular Axis: If Ix, Iy, Iz are moments of inertia around three perpendicular axis
passing through the bodies center of mass, then each of them cannot be greater than the
sum of two others: For example
. Here the equality holds only if the body is

flat/planar body (negligible z values ie z 0)). When body is planar,
) (
) ( )
, thereby proving the above identity.

Parallel Axis: If the objects moment of inertia around a certain axis passing through the
center of mass is known (ICM), then the parallel axis theorem or Huygens Steiner theorem
provides a convenient formula to compute the moment of inertia of the same body around
Figure 1: Computation of Moment of Inertia


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a different axis (Id), which is parallel to the original and located at a distance d from it. The
formula is only suitable when the initial and final axis are parallel & is given by Id = ICM +
Md2

Examples 25
1. Given 2 masses - m@2r & 2m@r from axis of rotation, to find the moment of inertia, we
see that this is a particle system and hence have Inet = \ Ij = 2m(r)
2
+ m(2r)
2
= 6mr
2
.
2. Given a disk of radius R & mass M, we can divide the continuum into discrete rigid bodies
and take integral as follows. I = L,r
2
dm = f
7r
n fR nr
2
(rd6dr^L) = MR
2
. However, note
that in case of a loop/hoop it has same mass and radius,

The Moment of Inertia / = MR
2
because in that case the whole of the mass is distributed at
a larger distance from the rotation/central axis.

3. For a given right circular cone with radius R, mass M and height H about the vertical axis,
we have as follows. We divide the cone into stacked discs of diminishing radius as shown
and do a summation of individual Is for getting the total moment of inertia of the
compound body.
( ) On

Simplifying, we get

Further, for any axis passing through the apex of cone, parallel to base (3
rd
figure in above
diagram), we proceed as follows. Here, a common mistake people make is to employ the
perpendicular axis theorem but the point to be noted is that it can be used only for planar
bodies. So, we again break up the bodies into smaller bodies and do integration as follows.
We see that the moment of inertia about an axis parallel to base but passing through the
elemental disc shown is given by
(obtained by applying perpendicular axis

Figure: Computation of Moment of Inertia for a cone
Figure: Computation of Moment of Inertia for a disc


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theorem for the disc which is a planar body). Now, applying the perpendicular axis
theorem for getting the moment of inertia about the axis parallel to base passing through
the apex, we get IdApex = Id + dm(H - h). Finally, integrating this, we get as follows.
(
( ))
( )
) which on solving
gives
)
Similarly we can find the moment of inertias for any given shape. I for some common
shapes are given below.
No. Shape I
1 Rod of length L and mass in (Axis of rotation at the end of the rod)

2 Rod of length L and mass m (Axis of rotation at the center of the rod)

3 Sphere (hollow) of radius r and mass m

4 Ball (solid) of radius r and mass m

5 Thin rectangular plate of height h and of width w and mass m
)
6 Ellipsoid (solid) of semi-axis a, b, and c with axis of rotation a and
mass m
)

Example 26
The drum shown in Fig. (a) has a radius of gyration of 30 cm and weighs 1.8 kN. It is supported
by means of small hubs which rest in bearings. A weight of 1 kN is attached to one end of a rope,
the other end being wrapped around the drum. Neglecting friction in the bearings, determine the
acceleration of the weight, the angular acceleration of the drum, and the tension in the rope.
Solution
Moment of inertia of drum,
()

The free body diagram is shown in Fig. (b) Let T be the tension in the rope Using D Alemberts
principle, we have for the 1kN weight,
T
37.5 cm

(a)
1kN
1kN
T
(b)
1.8kN W=1.8kN
37.5 cm
R
T a


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()
1000 T-
(a)
And for the drum
)
6 (b)
Now a = r = 0.375 .. (c)
Substituting Eq. (c) in (a), we get
1000 T

6
Substituting in Eq. (b), we get
0.375 (1000 38.226 )- 16.5
375 14.335 - 16.5 = 0
6 /

6 6 /

6 6

Example 27
Two weights
and
of 8 kN and 5 kN are attached at the ends of a flexible cable. The cable

passes over a pulley of 100 cm diameter. The weight of the pulley is 600 N with a radius of
gyration of 50 cm about its axis of rotation. Find the torque which must be applied to the pulley
to arise the 8 kN weight with an acceleration of 1.5 /
. Neglect friction in the pulley bearing.

Solution
Let T
and T
be the tensions in the cable on the weights W
and W
sides respectively and
be
the torque applied to the pulley to accelerate the 8000 N weight with 1.5 /
as shown in Fig.
Using D Alemberts principle, we have for
,
T
(a)
and for
(b)
For the pulley, we have


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Or M
(c )
Also a = r (d)
From Eq. (d), we get
/
( )
6
()

a
5kN
a
8kN
W
2

W
1

50 cm
600N


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Example 28
A step pulley and mass system is shown in the figure along side. Consider pulley is mass less &
frictionless, string is non extendable

Find the m2>m1 and m2 moving downward

Solution
F.B.D is,

From the F.B.D, we can write,..
S1-m1a1-m1g
&
S2-m2a2-m2g 2
m
1
g
S
1

a
1

m
1
a
1

m
2
g
S
2

a
1

m
2
a
2

m
1

m
2

r
1

r
2


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For the rotation of O of the step pulley, we can write

x1=r10
x2 = r20

we can write,

Considering equilibrium at that instant
S1r1=S2r2
From eg 2,3,4, we can write

From eq 1 & 5 we can write
)
(

Kinetic of system with variable mass
From newtons 2
nd
Law of motion,
()
Where m = mass of the system
v = Velocity of the system
F = Force
Consider
mR= mass of rocket
0
n
2

n
1


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mf= mass of the fuel
vR = Velocity of rocket
vf = Velocity of the fuel

Now vr=v
And vf= -(u-v) u=Velocity of burn fuel with respect to rocket

) m0 = Initial mass of the system

(
)
(
)

Friction
Friction is the "evil" of all motion and always resist relative motion between two bodies. Friction
is actually a force that appears whenever two things rub against each other. Although two
objects might look smooth, microscopically, they're very rough and jagged, as this picture shows:

Figure: Microscopic Source of Friction
1
Mass
2
1
2
u
Rocket
Fuel
(u-v)


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As they slide against each other, their contact is anything but smooth. They both kind of grind
and drag against each other. This is where friction comes from.
But friction is not all bad. In fact, it has a lot to do with life as we know it here on Earth. Without
it, we wouldn't be able to walk, sit in a chair, climb stairs, or use a mouse to surf the web.
Everything would just keep slipping and falling all over the place. When we walk, we try to push
Earth backward, but friction opposes this relative motion by a forward reaction on the body
which pushes us forward making us walk. Another important example of friction is rolling.
Friction is usually distinguished as being either static friction (the frictional force opposing
placing a body at rest into motion) and kinetic friction (the frictional force tending to slow a
body in motion). In general, static friction is greater than kinetic friction.
The force due to kinetic friction is generally proportional to the applied force. However, there is
no strong consistent theory for friction and so, based on experimental observations, an empirical
result is developed whereby a coefficient of friction is defined as the ratio of frictional force to
the normal force on the body.
We'll carry out a thought experiment. Take a mass (say 1Kg) and start applying a force on it
horizontally. Plot the frictional force and force applied against each other as shown below.

Figure: Friction thought Experiment

- Apply force of say 0.1N. The body does not move. So, body is in equilibrium

Same continues till some critical
. Note that in this whole region till
, the frictional force is same as applied force and hence a
line is traced as shown

in figure.

- Apply force F
till the body just start moving. Then in this limiting case
= F
. Now,
in this limiting case, let us denote frictional force f
N where N=normal reaction=mg

in this case. So, maximum frictional force is in this limiting static condition & is f
N.

- Further increasing F, we see that body now moves with some acceleration. So, by
Newton's Law, we have F f
ma. But, now on, we see that
remains
constant. Let us denote f
N. Note that there is a kink in plot which shows that

(f
Dynamic Friction Force) (f
Static Friction force)

f
a
F
F F

m m

f =friction force
F= Applied Force
/


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Hence, we conclude that static friction force is not constant but dynamic friction force is always
constant.
The study of friction is called tribology.

Rolling Friction
Rolling is direct consequence of friction. However, the mechanism differs slightly. As shown
below, the microscopic surface irregularities act like microscopic gear tooth which mesh with
each other, there by the contact force appear as friction forces as shown below. So, clearly, when
we take the free body diagram, we see that (also in pure rolling, ,
) . frictional force induces rolling in Force/Torque free motion. But again, the difference in
mechanism can easily also help conclude that magnitude of rolling friction is only 1 or 2 orders
lesser than sliding friction & just as in sliding case, we have frictional force due to rolling
Coefficient of rolling friction. Example: A truck in neutral rolling down the

incline has friction force pointing up the incline/backwards.

Figure: Rolling Friction Mechanism in Force/Torque Free Case

However, in case of forced/torque motion the case changes, as shown below. Here, when the
body is generating a Torque for motion, this causes the microscopic tooth to push back at
ground just like walking. Consequently, by Newton's third law, ground pushes back with a
reactive frictional force as shown above which causes friction.

Figure: Rolling Friction Mechanism in Forced/Non-zero Torque Case
Example: A truck moving up an incline in gear has friction force direction forward/up the incline

T

C

O T

,

C

O

At point of contact, surface irregularities act
like Gear teeth meshing each other


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Impulse and Momentum
From Newtons second law of motion

Or

For a finite period of time, integrating, we get

If
is constant, above equation may be integrated, giving

Where indicates vector difference of two momentum terms.
If the forces
are variable, they must be given as a function of time and should be similarly
integrated. Forces that cannot be expressed mathematically as a function of time may be plotted
on a force-time curve, in which the area under the curve is equal to the left side of the equation.
Linear impulse of a force is defined as Ft and linear momentum is defined as mv. Thus, it may be
expressed as follows:
Ft = mv mvo
The resultant impulse of the external forces acting upon a body is equal to the change of
momentum of the body. Both impulse and momentum are vector quantities. The units of impulse
and momentum are Ns.
Conservation of Linear Momentum
If the sum of the external forces acting on any system of mutually attracting and impinging
bodies resolved in any direction is always zero, the total momentum of the system in that
direction remains constant during the motion.
Suppose a system consists of only two bodies that are in contact for a period of time t. Let there
be no external forces acting on this system According to Newtons third law of motion, if one
body exerts a force on a second body, the second body exerts an equal and opposite force on the
first since only a pair of equal and opposite forces act on the system, the resultant impulse acting
on the system must be zero. It follows, then, that the net change of momentum must also to be
zero.
Let the two bodies have masses
and
with velocities
and
respectively, before coming

into contact with each other, and velocities
and
at the end of the period of contact. Then

according to the conservation of linear momentum, we have


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Example 29
A gun weighing 80kN shoots a 250N projectile in a horizontal direction with a muzzle velocity of
500m/s. The bullet weighs 150N and is assumed to move with one-half of the muzzle velocity of
the projectile. Find the initial recoil velocity of the gun. If the recoil is resisted by a constant
force, find this force if the recoil distance is 80cm.
Solution
Let v be the recoil velocity in m/s
Total momentum =

Since all portions of the system are at rest initially, using the principle of conservation of
momentum, we have
8
6
/
The negative sign indicates that the gun moves in a direction opposite to that of the projectile.
Now using the work-energy relation,
, we have

()
()
= 21kN

Example 30
A car of mass 750kg is moving East with a velocity of 30km/h and collides with a second car of
mass 1200kg moving NW@
W with a velocity of 45km/h. Find the velocity of the two cars

after impact, assuming that they remain constant.

Solution
Applying the principle of conservation of momentum, we have
| ( )
|
| 6
From the vector diagram shown in Fig. we have
= ()
(6)
6cos

= 133.125 + 766.847 - 541.924 = 448.048
21.17 km/h
tan
=
/
/


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=

= 6 66
666

Or =
West of North
Therefore, the direction of the motion of the cars after impact is
NW.

Example 31
A body of mass 6kg moving with a velocity of 3m/s meets a body of mass 4kg moving(a) in the
same direction, (b) in opposite direction, with a velocity of 1.5m/s. If they coalesce into one
body, find the velocity of the compound body and the loss of kinetic energy.
Solution
(a) Let be the velocity after coalescing, then
6 (6 )
18 + 6 = 10
)
,

=
(6 )
(6 )()
( 6)
2.7N.m
(b) (6 )(6 )

12 =
= 1.2m/s
(6 ) = 24.3N.m

N

E 11.538
27.692


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Example 32
A shot of mass m penetrates a thickness s of a fixed plate of mass M. Prove that if M is free to
move, the thickness it penetrated is
)

Solution
Let be the velocity of the shot and F be the average resistance to penetration. When the plate is
fixed, using
we get

Let be the thickness penetrated when the plate is free to move, then using the principle of
conservation of momentum, we have
()
and using the principle of work and energy, we have
()
,

=
)

Collision of Elastic Bodies

If two bodies suddenly collide, an impulsive force, or impact, is set up between them. When the
direction of each body is along the common normal at the point where they touch, the impact is
said to be direct. When the direction of motion of either or both, is not along the common normal
at the point of contact, the impact is said to be oblique. If the pressure exerted on the surfaces of
contact coincides with the line joining the mass centers of the bodies, the impact is central. If
such is not the case, it is eccentric.
For a very short period of time after the two bodies come in contact, the mass centers continue
to approach each other. This is known as the period of deformation. During this period the
intensity of the force between the surfaces increases. For an instant at the end of the period of
deformation, the mass centers are moving with the same velocity. If the bodies are elastic, the
impulsive forces causes centers to begin separating and, after a second short interval, the
surfaces of the bodies are no longer in contact. This second short period is known as the period


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is known as the period of restitution. Time of impact is the sum of the period of deformation and
period of restitution. The time of impact is very small. For this reason, the resultant impulse of
the external forces acting on the system during this time must be small and can be neglected. On
the bodies of this assumption, the sum of the momentum before impact is equal to the sum of the
momentum after impact, i.e, the conservation of momentum holds, thus for direct central impact,
we have

Coefficient of Restitution
For direct central impact Newton verified experimentally that the relative velocity after impact
is in a constant ratio to the relative velocity before impact. If the bodies collide obliquely, the
same fact holds for their compound velocities along the common normal at the point of contact.
This ratio is known as the coefficient of restitution, and is denoted by e. Thus

In which the proper sign of the four velocities must be included.
The value of e lies between zero and one. It is zero for perfectly inelastic bodies and one for
perfectly elastic bodies.

Example 33
A ball of mass 4kg moving with a velocity of 1.5 m/s is overtaken by a ball of mass 6kg moving
with a velocity of 3m/s. (a) in the same direction as the first, (b) in the opposite direction. If e =
1/5, find the velocity of the two balls after impact. Find also the loss of energy in the first case.
Solution
Here
= 4kg,
= 1.5m/s,
= 6kg,
= 3 m/s, e = 1/5 = 0.2

(a)
= 6 . . . . . . . . (a)
Also

0.2 =
= 0.75 . . . . . . . . . .(b)
Solving Eqns. (a) and (b), we get
2.5
= 5.25
= 2.1 m/s
= 2.85m/s


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Loss in kinetic energy
=
)
=
( 6 )
( 6 )
= 6N.m
(b)

Also, 0.2 =
= 0.9
2.5
m/s
m/s

Example 34
A ball weighing 1kg and moving with a velocity of 3m/s impinges on a smooth fixed plane in a
direction making 6
with the plane. Find its velocity and direction of motion after impact, the
coefficient of restitution being 0.5. Find also the loss in kinetic energy and the impulse on the
plane due to the impact.
Solution:
Here v = 3m/s, m = 1kg

, e = 0.5
Now
(sin
cos
)
= 9(sin
cos
)
= 9(0.25 + 0.25 ) = 3.9375

1.984m/s
Also cot cot cot
= 0.866

Loss in kinetic energy

,
)

( ) = 2.583N.m
Impulse = ( ) cos
= 1(1 + 0.5) cos

= 1.5
= 3.879kg. m/s


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Example 35
A solid cylinder, as shown in Fig. is supported on frictionless bearings. Find the angular velocity
of the cylinder and the tension T in the rope, 8s after the system is released from rest.

Solution
The impulse-momentum equation for the 600N load is
)
(600 T) 8 =
( ) ()
The angular impulse-momentum equation for the cylinder is:
)
( 6)
(6)
( )
6 ()
Now 6
Eq.(a) becomes
(6 )
6
6
6 ()
Comparing Eqs. (b) and (c), we get

T = 375N

rad/s
6 = 29.43m/s

60cm
2kN
600N
T


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Conservation of Angular Momentum
According to this principle, if a system of two rotating bodies are brought into contact for a short
time period, and no external torque is applied to the system during this time, the resultant
angular impulse on the system is zero.
Suppose the two bodies have moments of inertia
and
and angular velocities e
and
e
repectively, before coming, into contact, and angular velocities e
and e
at the end of the

period of contact. Then the principle of conservation of angular momentum may be stated as

Example 36
The 2.5kN body shown in Fig. rolls freely on the inclined plane and has a centroidal radius of
gyration of 0.6r. Determine the velocity of each body and tension T, 4s after the system has been
released from rest.

Solution
(6)
66

For the rolling body,
)
( sin
) 66
( )
66 . . . . . . . (a)
For the translating body,
)
( )
. . . . . . . . (b)
1.5kN
R

F=R
2.5kN
O
T
r


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Now
= 2re
Or e =

Eq. (a) becomes

Or = 86.65
()
Adding Eqs. (b) and (c), we get
3500 = 239.55
= 14.61m/s
.305m/s
66 6
N

Example 37
A pile hammer weighing 12kN drops from a height of 75 cm on a pile weighing 6N. If the pile
penetrates a distance of 4cm for every blow, find the resistance of the ground assuming it to the
uniform and the impact to be plastic.
Solution
Velocity of hammer on impact
6m/s
Let be the velocity of the pile and hammer after impact, then applying the principle of
conservation of linear momentum, we have

6 6 ( 6)

= 2.557m/s
Let be the resistance of the ground. Using the principle of work end energy
, we get
( )
()

66N

Example 38
A cricket ball of mass 150g is moving with a velocity of 12m/s and is hit by a bat so that the ball
is turned back with a velocity of 20m/s. The force of blow acts for 0.01s on the ball. Find the
average force exerted by the bat on the ball.

Solution
gram,
= 12 m/s


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m/s, = 0.01s
Change in momentum
(
( ) = 4.8kg m/s
Force = Rate of change of momentum
=
= 480N

Example 39
A body of mass 8kg is moving 2m/s without any external force on it. An internal explosion
suddenly breaks the body into two equal parts and 16 joules of translational kinetic energy is
imparted to the system by the explosion. Neither part leaves the line of original motion.
Determine the speed and direction of each part after the explosion.
Solution
Let
and
be the velocities of the disintegrated parts (Fig.)

Applying the principle of conservation of momentum,
(
)
or
= 4 . . . . . . (1)
Now applying law of conservation of energy.
6
)
Or
= 16 . . . . . . (2)
Substituting the value of
from (1) in (2),

(
= 16
16+
= 16
2
= 0
Or
= 4m/s
And
= 0
Work and Energy
Work: If a force acts on a body and causes it to move some distance, work is said to be done by
the force. Thus, work is a measure of accomplishment. Therefore, work done by a constant force
is equal to the product of the force and the displacement of its point of application in the
direction of the force. It is measured in Nm.
2m/s
8kg 4kg
4kg


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Energy: The capacity to do work is called energy. It is measured in N.m.
Potential Energy: This is the energy which a body possesses because of its position.
Kinetic Energy: This is the energy which a body possesses because of its velocity.
Power: The rate of doing work is called power.
Work Done by a Force
The work done by a force is equal to the product of the force, F, and its displacement, s, provided
the force is constant and the displacement, of the body is in the same direction as the force.
Denoting work by
, we have
,
= F.s
Relation between work and change of kinetic energy
Net work = change in kinetic energy

Where
represents kinetic energy. This equation represents the principle of work and energy.
Conservative/Non-Conservative Force Fields and Energy Balance
We know work done is the dot product between force F & displacement s ie W=F.s. Further,
assume we have a body of mass m being acted upon by a spatially varying force F(s) which is a
function of displacement (Ex: Spring force which is ks where s is the displacement from
equilibrium). Then, assume that the body moves from position s to a small change in position s +
ds, during which time we can assume that F(s) remains constant. Then, the work done to achieve
this motion is
dW = F(s).ds
Now, assume that during this motion, the velocity changes from v to v+dv. By Newtons law, if
a(s) denotes the acceleration of the body during this motion,
F(s) = ma(s) dW ma(s)ds
But we know
( )
Then, if we move from position 1 to 2, then the total work to be done for this is

= Change in Kinetic Energy

Further, suppose for a given force function F(s), we can find some V(s) such that F(s) =
V(negative gradient of some function V), then we get as follows.


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=Change in Function V between points

The function V is usually called Potential Energy Function. So, if we are able to find a potential
function V which satisfies the above condition, clearly, then the quantity (V + KE) ie Sum of
Potential and Kinetic Energies is conserved. This brings us to 2 main classifications of forces.
Conservative Forces: Those force fields F(s) for which a function V can be found out such
that F(s) = V In these cases, KE+PE=Constant. Examples: Gravitational force mg whose
potential function is mgh(Gravitational Potential Energy), spring force kx whose potential
energy function is

Non-Conservative Forces: Those force fields F(s) for which there is no potential
function which satisfies F(s) = V exists Examples Friction force, Damping force
etc. In this case,KEPEConstant
Therefore, in a generic scenario with both conservative and non-conservative forces, one has to
apply energy work balance and not energy conservation which in turn comes out of the
following form.

Power = (F )
v is the velocity of the point where the force F is acting.
is the angle between the directions of the force and the velocity.
If both are in the same direction then .
One metric horse power = 735.5 watts
Work of the Elastic force: If a prismatic bar of area of cross section A, length and elastic constant
E is stretched then the work of elastic force can be calculated by treating it as a spring of
stiffness k.

Principle of work and Energy
Work energy principle: The work done by a force acting on a particle during its displacement is
equal to the change in kinetic energy of the particle during that displacement.
U
&
are
Net W.D. by the force for displacing a body from (1) to (2)
)
W.D. by a force for displacing a body from (1) (2) is positive (+ve) and from (1) (2) is
negative (ve).
Principle of conservation of energy: means that the sum of the potential energy and the kinetic
energy of a particle (or of a system of particles) remains constant during the motion under the
action of conservative forces.
K E
P E
K E
P E

This principle cannot be applied where frictional force is involved.


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Work of the gravity force
() is positive upwards is negative upwards.
)

Force exerted by the spring is not a constant force but it varies linearly with the displacement
from the undeformed position.
U
)U
du F dx

sign indicates that Force and displacement are in opposite directions.

If a particle of mass m is moving with velocity , its kinetic energy kE is given by

Let v
and
be the velocities of the particle at points 1 and 2 and the corresponding distance be
and
.
U
)
(K E )
(P E )
(K E )
(P E )

W.D. by the springs +ve W.D. by the system (springs)
W.D. on the system ve. W.D. on the system (springs)
{
When spring is stretched W D by force is ve ie work is done on the spring
When the spring returns towards undeformed position
W D is ve(or)work is done by the spring

Example 40
Block A in Fig. weights 500 N and block B weights 200 N. The coefficient of friction under B is
0.2. Find the velocity of each block after A has moved 6 m from rest. Also find the tension T in the
cord attached to B.
Solution
By inspection of the weights, we observe that A will move downwards while B will move up the
inclined plane. Also B will travel by half the amount of A.

R
T
T
T
T
T
A
B
W

C


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Now R =W cos

F = 6
Also

500 6
6
=
)
3000 300 103.92 =

2596.08 =
(250
)
Now
m/s
= 9.62 m/s
To find tension in the cord, we apply
to the block
(T 6 )
()
]
(T 134.64)3 = 235.84
T = 213.25 N

Work Done by a Couple or Torque
Let a couple Fr act on a body so that the body starts rotating. As it rotates through a small angle
d , the work done by the force is
Fds = Fr d
When the body rotates through the angle , the total work done is,
d
Relation between Work and Kinetic Energy for Rotation
Consider a rigid body rotating about an axis 0 with an angular velocity w as shown in a Fig. The
particle of mass dm in this body has a velocity v = rw normal to the radial line r.
The kinetic energy of the particle is,as


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Therefore,
()
()
rotating about a fixed axis.

Where
is the mass moment of inertia with respect to the axis of rotation.

Example 41
A 1.6 m diameter cylinder as shown in Fig. starts from rest and rolls freely towards the right
because of the action of the 400 N weight. Determine the velocity of the cylinder and of the
weight after the weight has descended 8 m. Neglect friction and weight of the pulley.

Solution
W =

400N
1.5kN
80 cm
40 cm
O

W

Rigid body


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()
= 14.68 kg.

400
6(
)
320 = 20.39
+45.87

66.26
= 320
2.2 m/s

= 5.5rad/s
m/s

Example 42
A bullet moving at the rate of 60 m/s is fired into a thick target which penetrates to the extent of
15 cm; if fired into a target 7.5 cm thick with equal velocity, with what velocity would it emerge
supposing the resistance to be uniform and same in both cases.
Solution
Let mass of the bullet be = m kg
Force of resistance = F
Then, using,
, we get
F
(6)

F =
12000mN
Let v be the velocity of emergence, then
12000 m
(6)
]
12000 6

6 m/s

Example 43
A machine gun bullet weighing 3
N is fired with a velocity of 500 m/s. What is the kinetic

energy of the bullet? If it can pernetrate 30 cm in a block of wood, what is the average resistance
of the wood? What will be the exit velocity of the bullet if fired into a similar block of wood 15
cm thick?
Solution
Kinetic Energy,
()
38226 N.m
Let F be the average resistance of the wood. Applying
, we have


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F
()
= 12742 N
12742
()
]
()

250000

v = 353.5 m/s

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Chapter 3 Engineering Mechanics

respectively, show that

be the times for acceleration, constant speed and deceleration, then

be the times for acceleration, uniform velocity and deceleration. Then

, the numerator is change in vector from time t to t + t can have two

(velocity of point P as viewed from O) &

is a vector which has change in magnitude (motion in the

is a rotating vector in the CS at O and hence has magnitude change(

): This is the acceleration of the origin O of rotating CS w.r.t ground CS at G.

) This component is the Coriolis acceleration component produced due

): This is the Tangential acceleration component which acts in the

. Also, as far as magnitude is concerned,

does not change direction in time

w.r.t. tube. Find the

to the horizontal respectively. Find the range

. If the pulley is initially at rest, find(a) the time required

=Velocity of Point P as viewed from Origin of Rotating Cord. Sys. O

=Acceleration of Point P as viewed from Origin of Rotating Cord. Sys. O

=Velocity of Origin of Rotating CS O w.r.t Fixed Ground CS with origin at G

=Acceleration of Origin of Rotating CS O w.r.t Fixed Ground CS with origin at G

=Angular Velocity of Rotating CS O w.r.t Fixed Ground CS with origin at G

=Angular Acceleration of Rotating CS O w.r.t Fixed Ground CS with origin at G

or FG? Clearly, the observer in frame O is applying a lesser force as per

), caused by translational & rotational acceleration

)caused by velocity of particle P inside the

))due to rotation of the frame O is a fictitious

as a fictitious inertial force and draw it in opposite

time for accelration

time for retardation

, k being the radius of gyration.

. Here the equality holds only if the body is

, thereby proving the above identity.

(obtained by applying perpendicular axis

of 8 kN and 5 kN are attached at the ends of a flexible cable. The cable

. Neglect friction in the pulley bearing.

be the tensions in the cable on the weights W

sides respectively and

) m0 = Initial mass of the system

Same continues till some critical

. Note that in this whole region till

, the frictional force is same as applied force and hence a

line is traced as shown

N where N=normal reaction=mg

ma. But, now on, we see that

N. Note that there is a kink in plot which shows that

Dynamic Friction Force) (f

Static Friction force)

Coefficient of rolling friction. Example: A truck in neutral rolling down the

is constant, above equation may be integrated, giving

respectively, before coming

at the end of the period of contact. Then

W with a velocity of 45km/h. Find the velocity of the two cars

= 3 m/s, e = 1/5 = 0.2

and angular velocities e

repectively, before coming, into contact, and angular velocities e

at the end of the

be the velocities of the disintegrated parts (Fig.)

from (1) in (2),

= Change in Kinetic Energy

=Change in Function V between points

rotating about a fixed axis.

is the mass moment of inertia with respect to the axis of rotation.

N is fired with a velocity of 500 m/s. What is the kinetic

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