Engineering Mechanics : Dynamics

Uniform Rectilinear Motion

For particle in uniform rectilinear motion, the acceleration is zero and the velocity is constant.
dx = v = constant dt
x x0 t 0

dx = v dt
x x0 = vt x = x0 + vt

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Engineering Mechanics : Dynamics

Uniformly Accelerated Rectilinear Motion
For particle in uniformly accelerated rectilinear motion, the acceleration of the particle is constant.
dv = a = constant dt v = v0 + at
v v0 t

dv = a dt
0

v v0 = at

dx = v0 + at dt

dx = (v0 + at )dt
0

x0

2 x x 0 = v0 t + 1 at 2

2 x = x0 + v0 t + 1 at 2

dv v = a = constant dx
2 v 2 = v0 + 2 a ( x x0 )

v v0

x x0

v dv = a dx

1 2

(v 2 v02 ) = a(x x0 )
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Engineering Mechanics : Dynamics

Motion of Several Particles: Relative Motion
For particles moving along the same line, time should be recorded from the same starting instant and displacements should be measured from the same origin in the same direction.
= x B x A = relative position of B with respect to A xB = x A + xB A xB
A

= v B v A = relative velocity of B with respect to A vB = v A + vB A vB

A

= a B a A = relative acceleration of B with respect to A aB = a A + aB A aB

A
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Engineering Mechanics : Dynamics

Motion of Several Particles: Dependent Motion
Position of a particle may depend on position of one or more other particles. Position of block B depends on position of block A. Since rope is of constant length, it follows that sum of lengths of segments must be constant.

x A + 2 x B = constant (one degree of freedom)

Positions of three blocks are dependent.
2 x A + 2 x B + xC = constant (two degrees of freedom)

For linearly related positions, similar relations hold between velocities and accelerations.
dx A dx B dxC 2 +2 + = 0 or 2v A + 2v B + vC = 0 dt dt dt dv dv dv 2 A + 2 B + C = 0 or 2a A + 2a B + aC = 0 dt dt dt
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Engineering Mechanics : Dynamics

Curvilinear Motion: Position, Velocity & Acceleration
Consider particle which occupies position P defined r r by r at time t and P defined by r at t + t, r r r dr r = v = lim dt t 0 t
= instantaneous velocity (vector) v = lim s ds = dt t 0 t

= instantaneous speed (scalar)

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Engineering Mechanics : Dynamics

Curvilinear Motion: Position, Velocity & Acceleration
r Consider velocity v of particle at time t and velocity r v at t + t, r r v dv r = a = lim dt t 0 t

= instantaneous acceleration (vector)

In general, acceleration vector is not tangent to particle path and velocity vector.

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Engineering Mechanics : Dynamics

Rectangular Components of Velocity & Acceleration
When position vector of particle P is given by its rectangular components, r r r r r = xi + y j + zk Velocity vector, r r r r dx r dy r dz r v= i + j+ k =x &i + y &j+z &k dt dt dt r r r = vx i + v y j + vz k Acceleration vector, r r r r d 2 xr d 2 y r d 2 z r a = 2i + 2 j + 2k = & x y z &i + & &j + & &k dt dt dt r r r = ax i + a y j + az k
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Engineering Mechanics : Dynamics

Rectangular Components of Velocity & Acceleration
Rectangular components particularly effective when component accelerations can be integrated independently, e.g., motion of a projectile, ax = & x ay = & y az = & z &= 0 & = g &= 0 with initial conditions, (v x )0 , v y 0 , (v z )0 = 0 x0 = y 0 = z 0 = 0

( )

Integrating twice yields

vx = (vx )0 v y = (v y )0 gt x = (vx )0 t
2 y = (v y )0 t 1 2 gt

vz = 0 z =0

Motion in horizontal direction is uniform. Motion in vertical direction is uniformly accelerated. Motion of projectile could be replaced by two independent rectilinear motions.
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Engineering Mechanics : Dynamics

Motion Relative to a Frame in Translation
Designate one frame as the fixed frame of reference. All other frames not rigidly attached to the fixed reference frame are moving frames of reference. Position vectors for particles A and B with respect to r r the fixed frame of reference Oxyz are rA and rB . r r Vector B A joining A and B defines the position of B with respect to the moving frame Axyz and r r r rB = rA + rB A Differentiating twice, r r r r vB = v A + vB A vB
r r r a B = a A + aB
A

= velocity of B relative to A.

r aB A = acceleration of B relative to A.

Absolute motion of B can be obtained by combining motion of A with relative motion of B with respect to moving reference frame attached to A.
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Engineering Mechanics : Dynamics

Tangential and Normal Components
r dv r v 2 r a = et + en dt
dv at = dt an = v2

Tangential component of acceleration reflects change of speed and normal component reflects change of direction. Tangential component may be positive or negative. Normal component always points toward center of path curvature.
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