Control and System Engineering Department,

University of Technology- Baghdad,

Dynamics (2017 – 2018)

Lecturer: Assc. Prof. Dr. Saleem Khalefa Kadhim

saleem.khalefa@gmail.com
Learning Outcomes:

By the end of the course, students should be able to:

1. Analyse the kinematics of particles and rigid bodies using
different coordinate systems and relative-motion.
2. Sketch free-body diagrams and construct equations of motion
to analyse kinetics of particles and rigid bodies.
3. Apply principle of work and energy to solve problems related to
kinetics of particles and rigid bodies.
4. Apply principle of impulse and momentum to solve problems
related to kinetics of particles.
Summary: Introduction to basic principles of dynamics, kinematics and
kinetics of particles, work and energy, impulse and momentum, kinematics
and kinetics of rigid bodies, which include rotation, absolute motion, relative
velocity and acceleration, general equation of motion and work-energy
relation.
Attendance: Attendance to lecture and tutorial sessions will be recorded.
Students must attend at least 90% of the sessions.

Text: Engineering Mechanics: Dynamics

SI 14th Edition, Prentice-Hall, 2010.
R.C. Hibbeler.

Assessment:
Assignments %
Quizzes 10
Mid Exam 20
Final Exam 70
Total 100
1- Introduction
Mechanics is a branch of the physical sciences that is concerned with the
state of rest or motion of bodies subjected to the action of forces.

Engineering mechanics is divided into two areas of study, namely, statics

and dynamics.
Statics is concerned with the equilibrium of a body that is either at rest or
moves with constant velocity. Here we will consider dynamics, which deals
with the accelerated motion of a body. The subject of dynamics will be
presented in two parts: kinematics, which treats only the geometric aspects
of the motion, and kinetics, which is the analysis of the forces causing the
motion.
To develop these principles, the dynamics of a particle will be discussed first,
followed by topics in rigid-body dynamics in two and then three dimensions.
 Rectilinear Kinematics: Continuous Motion
Rectilinear Kinematics: The kinematics of a particle is characterized by specifying, at
any given instant, the particle’s position, velocity, and acceleration.

Position.

Displacement.
∆𝑠 = 𝑠 − 𝑠

Velocity.
∆𝑠
𝑉𝑎𝑣𝑒 =
∆𝑡
If we take smaller and smaller values of t, the magnitude of s becomes smaller and
smaller. Consequently, the instantaneous velocity is a vector defined as
∆𝑠 𝑑𝑠
v= lim ∆𝑡 𝑠 = 𝑑𝑡
∆𝑡→0
Acceleration.
𝑑 2 𝑠 𝑑𝑣
𝑠= 𝑣= 2=
𝑑𝑡 𝑑𝑡
Example 1: The position of a particle with a specific movement along a straight line is given by equation
(s= 2𝑡 3 − 24𝑡 + 6) where s is measured by meters from an appropriate source and t is measured in seconds.
Find, (a) the time required for the particle to reach a velocity of 72 m/s of the initialization position when the t
= 0, (b) the acceleration of the body when the V = 30 m/s; (c) the net displacement of the particle during the
period from t=1 s to t=4 s.
SOLUTION
A- V= 6𝑡 2 − 24, −−−−− −72 = 6𝑡 2 − 24,−−− −t = 4 s

B- a= 𝑉 = 12𝑡,−−−−−−− −30 = 12𝑡,−−−−−− −𝑡 = 3 𝑠

a= 𝑉 = 12 ∗ 3 = 36 𝑚/𝑠2

C- ∆𝑠1→4 = 𝑠4 − 𝑠1
t=2 t=1 t=0 t=4
𝑠1 = -16 m, 𝑠4 = 38 𝑚 S = -26 S= -16 S=6m S= 38

∆𝑠1→4 = 38 − −16 = 54 𝑚
𝑠𝑜 = 6 m, 𝑉𝑜 = −24 𝑚/𝑠
𝑚
𝑉1 = −18 𝑠

𝑉𝐶𝑉 = 𝑜 𝑚/𝑠, 0 = 6𝑡 2 − 24, t = 2 s.

CV= Coup velocity
𝑠2 = -26 m,
𝐷1→4 = 𝐷1→2 + 𝐷2→4 = 10 + 64 = 74 m
The Movement is a Constant Acceleration:

1- The acceleration is zero (a = 0, V = Constant)

𝑑𝑠 𝑑𝑣
𝑣 = 𝑑𝑡 , 𝑎 = ---------------------------(1)
𝑑𝑡
𝑠 𝑡
𝑑𝑠 = 𝑣 𝑑𝑡
𝑠𝑜 0
𝑠 = 𝑠𝑜 + 𝑣 ∙ ∆𝑡
2- The acceleration is non zero (a  0)
𝑑𝑣
𝑎 = 𝑑𝑡
𝑣 𝑡
𝑑𝑣 = 𝑎 𝑑𝑡
𝑣𝑜 0
v = 𝑣𝑜 + 𝑎 ∙ ∆𝑡
From equation 1
𝑑𝑠 𝑑𝑣
𝑑𝑡 = =
𝑣 𝑎
𝑣𝑑𝑣 = 𝑎𝑑𝑠
By integration
𝑣 2 = 𝑣2𝑜 + 2 ∙ 𝑎 ∙ ∆𝑠
1
∆𝑠 = 𝑣𝑜 ∙ 𝑡 + ∙ 𝑎 ∙ ∆𝑡 2
2
Solution
Position:
V= 3𝑡 2 − 2𝑡
𝑠 𝑡 𝑡
𝑑𝑠 = 𝑣𝑑𝑡 = (3𝑡 2 + 2𝑡)𝑑𝑡
0 0 0

𝑠 = 𝑡3 + 𝑡2
When t=3s, S = 36 ft

Acceleration:
𝑑𝑣 𝑑
𝑎= = 3𝑡 2 + 2𝑡 = 6t + 2
𝑑𝑡 𝑑𝑡

When t=3, a= 20 ft/s2

Solution
1- Position:

𝑣 2 𝐵 = 𝑣2𝐴 + 2 ∙ 𝑎𝑐 ∙ 𝑠𝐵 − 𝑠𝐴
0 = 752 + 2 ∙ (−9.81) ∙ 𝑠𝐵 − 40
𝑠𝐵 = 327 m
2- Velocity:
𝑣 2 𝐶 = 𝑣2𝐵 + 2 ∙ 𝑎𝑐 ∙ 𝑠𝐶 − 𝑠𝐵
𝑣 2 𝐶 = 0 + 2 ∙ −9.81 ∙ 0 − 327
𝑣𝐶 = −80 𝑚/𝑠

𝑣 2 𝐶 = 𝑣2𝐴 + 2 ∙ 𝑎𝑐 ∙ 𝑠𝐶 − 𝑠𝐴
𝑣 2 𝐶 = 752 + 2 ∙ −9.81 ∙ 0 − 40
𝑣𝐶 = −80 𝑚/𝑠
 Rectilinear Kinematics: Change Acceleration
𝑑𝑠 = 𝑣𝑑𝑡, 𝑑𝑣 = 𝑎𝑑𝑡, 𝑣𝑑𝑣 = 𝑎𝑑𝑠

1- a= f(t) 2- a= g(v)
𝑣 𝑡
A- Find the velocity function of time
𝑣 𝑡
𝑑𝑣 = 𝑓 𝑡 𝑑𝑡 → 𝑣 = 𝑓1 (𝑡) 𝑑𝑣
𝑣𝑜 0 𝑑𝑣 = 𝑔 𝑣 𝑑𝑡 → = 𝑑𝑡
𝑠 𝑡 𝑔(𝑣)
𝑣𝑜 0
𝑔1 𝑣 = 𝑡 → 𝑣 = −1
𝑔 (𝑡)
𝑑𝑠 = 𝑓1 𝑡 𝑑𝑡 → 𝑠 = 𝑓2 (𝑡)
𝑠 𝑡
𝑠𝑜 0
𝑑𝑠 = 𝑔−1 𝑡 𝑑𝑡 → 𝑠 = 𝑔2 (𝑡)
3- a= h(s) 𝑠𝑜 0
𝑣 𝑠
B- Find velocity function of
𝑣𝑑𝑣 = 𝑕 𝑠 𝑑𝑠 → 𝑣 = 𝑕1 (𝑠) displacement
𝑣 𝑠
𝑣𝑜 𝑠𝑜
𝑣𝑑𝑣
𝑑𝑠 = 𝑕1 𝑠 𝑑𝑡 𝑣𝑑𝑣 = 𝑔 𝑣 𝑑𝑠 → = 𝑑𝑠
𝑠 𝑡 𝑔(𝑣)
𝑑𝑠 −1
𝑣𝑜 𝑠𝑜
→ = 𝑑𝑡 → 𝑠 = 𝑕2 (𝑡) 𝑔3 𝑣 = 𝑠 → 𝑣 = 𝑔3 −1 (𝑠)
𝑕1 (𝑠)
𝑠𝑜 0
Example: The sliding object moves in the horizontal guide under a spring effect and with
negligible friction. The velocity of the particle vo in the direction s , when the particle passes
from the point of t=0 , s = 0. The spring together exert a deceleration force on the movement of
the slider, resulting in an acceleration proportional to the displacement in the opposite direction
of a = -k2s, where k is a constant. Find relationships between displacement (s) and velocity (v) in
terms of time (t).
Solution
𝑎 = −𝑘 2 𝑠, 𝑣=𝑘 𝑡 , 𝑠=𝑓 𝑡
By integration equation:
𝑣 𝑠

𝑣𝑑𝑣 = −𝑘 2 𝑠𝑑𝑠 → 𝑣 2 = 𝑣𝑜2 − 𝑘 2 𝑠 2

𝑣𝑜 0
𝑣= 𝑣𝑜2 − 𝑘 2 𝑠 2
𝑑𝑠 = 𝑣𝑜2 − 𝑘 2 𝑠 2 𝑑𝑡
By integration displacement equation given :
𝑠 𝑡
𝑑𝑠
= 𝑑𝑡
𝑣𝑜2 − 𝑘2𝑠2
0 0
1 −1 𝑘𝑠
sin =𝑡
𝑘 𝑣𝑜
𝑣𝑜
𝑠= sin 𝑘𝑡 → 𝑠 = 𝑣 = 𝑣𝑜 cos 𝑘𝑡
𝑘