ENSC 12 Chapter 1 Part 1

ENSC 12:
Dynamics of Rigid Bodies

Second Semester AY 2018-2019
Asst. Prof. Glenn V. Latag

MS Materials Science & Engineering
BS Chemical Engineering
Introduction to
Engineering Dynamics
1. Definition of Mechanics
2. Statics vs. Dynamics
3. Particle vs. Rigid Body vs. Deformable Body
4. Kinematics vs. Kinetics
Introduction to Eng’g Dynamics
Mechanics
Concerned with state of rest or motion
of bodies subjected to action of forces
Statics Dynamics
Concerned with bodies at rest Concerned with bodies that
or moving at constant velocity have accelerated motion
ENSC 12 Dynamics of Rigid Bodies | 2nd Semester 2018-2019

Recall:
○ Particle – object that have dimensions that are of no
consequence in the analysis of problems under
mechanics
○ Rigid-body – combination of large number of particles
occupying fixed positions with respect to each other
before and after applying a load; size should be
considered in the analysis
○ Deformable body – a body which exhibits deformation
when subjected to particular loading
4
The subject of dynamics will be presented in two parts:

○ Kinematics – study of the geometry of the motion
○ Kinetics – study of the forces that cause the motion
Also, note that motion of a body can be:

○ Rectilinear (1-D) – motion along straight line
○ Planar (2-D) – e.g. curvilinear, projectile, circular motion
○ 3-Dimensional
5
Kinematics of
Dynamics
Particle
Particle
Kinetics of
Particle
Kinematics of
Rigid Body
Rigid Body
Kinetics of
Rigid Body

General
Kinematics of Particles.
Rectilinear
Continuous
Rectilinear Uniform
Kinematics Rectilinear
Erratic
Planar
Note:
Kinematics Projectile • Continuous motion:
𝑎 = 𝑓 𝑡, 𝑠 𝑜𝑟 𝑣 for
3-Dimensional any time t
Kinematics Curvilinear • Erratic motion: 𝑎 =
𝑓 𝑡, 𝑠 𝑜𝑟 𝑣 for
certain duration
Circular only

CHAPTER 1:
Kinematics of a Particle
1. Rectilinear Kinematics of a Particle
2. Planar Kinematics of a Particle
3. Motion of Systems of Particles
I. Rectilinear Kinematics
of a Particle
Outline
1. Continuous Motion
2. Erratic Motion
Rectilinear Kinematics of a
Particle with Continuous Motion
Definition of Terms
• Rectilinear Motion – motion along a straight line
• Rectilinear Kinematics of a particle – characterized by
specifying, at any given instant, the particle’s position,
velocity and acceleration
• Position (s or x) – a vector
quantity which indicates
the location of an object
with respect to a reference
point

Definition of Terms
• Displacement of the particle – change
in particle’s position; also a vector
denoted as ∆𝑠 or ∆𝑥
∆𝑠 = 𝑠 ′ − 𝑠
• Distance – positive scalar that

represents the total length of path
over which the particle travels

Velocity
• Average velocity (𝑣𝑎𝑣𝑔 )
∆𝑠 𝑠 ′ − 𝑠
𝑣𝑎𝑣𝑔 = =
∆𝑡 ∆𝑡
• Instantaneous velocity (𝑣) Note:

𝑑𝑠  ∆𝑡 or dt is always (+), the sign
𝑣= use to define sense of velocity
𝑑𝑡 is the same as that of ∆𝑠 or ds
 Speed – magnitude of the
velocity

Acceleration
• Average acceleration (𝑎𝑎𝑣𝑔 )
∆𝑣 𝑣 ′ − 𝑣
𝑎𝑎𝑣𝑔 = =
∆𝑡 ∆𝑡
• Instantaneous acceleration (𝑎)

𝑑𝑣 Note:
𝑎=  If particle is decelerating
𝑑𝑡
(∆𝑣 is negative), 𝑎 will be
negative and in the
opposite sense to 𝑣

• A differential relation involving displacement, velocity and

acceleration can be obtained by eliminating the time
differential,
𝑑𝑠 𝑑𝑣
𝑑𝑡 = =
𝑣 𝑎
• Thus,
𝑎𝑑𝑠 = 𝑣𝑑𝑣

Sample Problem 1.1
The motion of the particle is defined by the
relation 𝑠 = 𝑡 3 − 6𝑡 2 − 36𝑡 − 40, where s and t
are expressed in feet and seconds respectively.
Determine (a) the time t when the velocity is
zero; and (b) the velocity, acceleration and the
total distance travelled when 𝑠 = 0.
15
Sample Problem 1.2
A particle is moving along a straight line with an
initial velocity of 6 𝑚/𝑠 when it is subjected to a
deceleration of 𝑎 = −1.5𝑣 2 m/s2 , where v is in
1Τ
𝑚/𝑠. Determine how far it travels (m) before it

stops. How much time (s) does this take?
16
Sample Problem 1.3
The velocity of a particle traveling along a
straight line is 𝑣 = 3𝑡 2 − 6𝑡 ft/s, where s is in
seconds. If 𝑠 = 4 ft when 𝑡 = 0, determine the
position (ft) of the particle when 𝑡 = 4 s. What is
the total distance traveled (ft) during the time
interval 𝑡 = 0 to 𝑡 = 4 s? Also, what is the
acceleration when 𝑡 = 2 s?
17
Rectilinear Kinematics of a Particle
Uniformly Accelerated Rectilinear Motion (UARM)
Assumptions:
• Acceleration, 𝑎𝑐 is constant,
• When 𝑡 = 0, 𝑠 = 𝑠𝑜 and 𝑣 = 𝑣𝑜 .
Velocity as a function of time:

Integrate 𝑎𝑐 = 𝑑𝑣Τ𝑑𝑡
𝑣 𝑡
න 𝑑𝑣 = 𝑎𝑐 න 𝑑𝑡
𝑣𝑜 0
𝒗 = 𝒗𝒐 + 𝒂𝒄 𝒕
Position as a function of time:

Integrate 𝑣 = 𝑑𝑠Τ𝑑𝑡 = 𝒗𝒐 + 𝒂𝒄 𝒕
𝑠 𝑡
න 𝑑𝑠 = න 𝒗𝒐 + 𝒂𝒄 𝒕 𝑑𝑡
𝑠𝑜 0
𝟏
𝒔 = 𝒔𝒐 + 𝒗𝒐 𝒕 + 𝒂𝒄 𝒕𝟐
𝟐

Velocity as a function of position:

Integrate 𝑣𝑑𝑣 = 𝑎𝑑𝑠
𝑣 𝑠
න 𝑣𝑑𝑣 = න 𝑎𝑐 𝑑𝑠
𝑣𝑜 𝑠𝑜
𝒗𝟐 = 𝒗𝒐 𝟐 + 𝟐𝒂𝒄 𝒔 − 𝒔𝒐

Sample Problem 1.4
Tests reveal that a normal driver takes about 0.75 s before he
or she can react to a situation to avoid a collision. It takes
about 3 s for a driver having 0.1% alcohol in his system to do
the same. If such drivers are traveling on a straight road at 30
mph (44 ft/s) and their cars can decelerate at 2 ft/s2, determine
the shortest stopping distance d for each from the moment
they see the pedestrians. Moral: If you must drink, please don’t
drive!
21
Sample Problem 1.4
A train starts from rest at King’s Cross station (station
A) and accelerates at 0.5 m/s2 for 60 s. Afterwards it
travels with a constant velocity for 15 min. It then
decelerates at 1 m/s2 until it is brought to rest at York
station (station B). Determine the distance between
the stations.
22
Sample Problem 1.6
A ball A is thrown vertically upward from the top of a
30-m-high building with an initial velocity of 5 m/s. At
the same instant another ball B is thrown upward
from the ground with an initial velocity of 20 m/s.
Determine the height from the ground and the time
at which they pass.
23
Particle with Erratic Motion
Relationship between position, velocity

and acceleration
𝑡2
𝑑𝑣
|𝑡1 = 𝑎|𝑡1 → න 𝑎 𝑡 𝑑𝑡 = 𝑣2 − 𝑣1
𝑑𝑡 𝑡1
The slope in v-t curve at a given time is

equal to the acceleration at that instant.
Also, the area in the a-t curve for a given

time interval is equal to the change in the
velocity at that interval.
Particle with Erratic Motion
Relationship between position, velocity

and acceleration
𝑡2
𝑑𝑠
|𝑡1 = 𝑣|𝑡1 → න 𝑣 𝑡 𝑑𝑡 = 𝑠2 − 𝑠1
𝑑𝑡 𝑡1
The slope in s-t curve at a given time is

equal to the velocity at that instant.
Also, the area in the v-t curve for a given

time interval is equal to the change in the
position at that interval.
Sample Problem 1.7
A particle initially at rest moves through an applied electric
field from one plate to another, spaced 0.25 m apart, following
the a-t curve as shown. Derive the v-t and s-t curve. Also,
determine the total time (t) it takes for the particle to travel
from one plate to the other and the maximum velocity (vmax)
achieved by the particle.
26
Sample Problem 1.8
The v–t graph for the motion of a car as it moves along a
straight road is shown. Draw the s–t and a–t graphs. Also
determine the distance traveled at t = 10 and t = 15 s.
When t = 0, s = 0.
27
II. Planar Kinematics of a
Particle
Outline
1. General Curvilinear Motion
2. Projectile Motion
3. Curvilinear Motion in Inertial Coordinate
Planar Kinematics of a Particle
General Curvilinear Motion
Curvilinear Motion
▪ Occurs when a particle moves along a curved path
Consider a particle defined by the path function, s = 𝑠 𝑡
Position:
• Designated by the position
vector 𝑟 = 𝑟 𝑡 , measured
from a fixed point 𝑂
29
GeneralKinematics
Planar CurvilinearofMotion
a Particle
For a small time interval, ∆𝑡:
▪ The distance along the

curve from original to new
position is ∆𝑠
▪ The displacement is ∆𝑟,

such that,
∆𝑟 = 𝑟 ′ − 𝑟
30
GeneralKinematics
a Particle
▪ The average velocity is ▪ The length of segment ∆𝑟

∆𝑟 𝑟 ′ − 𝑟 approaches the arc length
vavg = =
∆𝑡 ∆𝑡 ∆𝑠 as ∆𝑡 → 0, thus
▪ The instantaneous 𝑑𝑠
v= = 𝑠ሶ
velocity is 𝑑𝑡
𝑑𝑟
v=
𝑑𝑡
Note: Since 𝑑𝑟 is tangent to curve, 𝑣

is also tangent to the curve
31
GeneralKinematics
a Particle
▪ The average acceleration

is
∆v v ′ − v
aavg = =
∆𝑡 ∆𝑡
▪ Instantaneous
acceleration is
𝑑v
a=
𝑑𝑡
32
GeneralKinematics
a Particle
Note:
The acceleration acts tangent to the hodograph, and in
general, not tangent to the path of motion.
33
GeneralKinematics
a Particle
Coordinate Systems
Rectangular Coordinates
▪ Used when curvilinear motion is viewed as superposition
of two simultaneous rectilinear motions in the x- and y-
directions; the equations for rectilinear motion can be
applied separately for the x- and y-motions
▪ e.g. Projectile Motion
Inertial Coordinates
▪ Used if curvilinear motion can be described using normal
and tangential coordinates that move along the path with
the particle
34
Sample Problem 1.9
The curvilinear motion of a particle is defined by its
horizontal component of velocity, 𝒗𝒙 = 𝟓𝟎 − 𝟏𝟔𝒕, and
vertical position from the ground, 𝒚 = 𝟏𝟎𝟎 − 𝟒𝒕𝟐 ,
where 𝑣 is in m/s, 𝑦 is in meters, and 𝑡 is in seconds.
Determine the magnitudes of velocity (m/s) and
acceleration (m/s2) when the particle hits the ground.
35
GeneralKinematics
a Particle
Projectile Motion
Projectile
▪ Particle that moves in a vertical
plane during freefall
36
GeneralKinematics
a Particle
Projectile Motion
Assumptions:
▪ The air has no effect on the motion of the projectile
▪ The horizontal motion and the vertical motion are
independent of each other.
▪ There is no acceleration along the horizontal motion,
thus a uniform motion.
▪ The vertical motion is uniformly accelerated due to
gravity.
37
GeneralKinematics
a Particle
Projectile Motion
38
GeneralKinematics
a Particle
Projectile Motion
Horizontal Motion Vertical Motion

1
▪ 𝑦 = 𝑦𝑜 + 𝑣𝑜𝑦 𝑡 − 2 𝑔𝑡 2
▪ 𝑥 = 𝑥𝑜 + 𝑣𝑜𝑥 𝑡 ▪ 𝑣𝑦 = 𝑣𝑜𝑦 − 𝑔𝑡
▪ 𝑣𝑦 2 = 𝑣𝑜𝑦 2 − 2𝑔 𝑦 − 𝑦𝑜
Equation of Trajectory Range Formula

𝑔𝑥 2 𝑣𝑜 2
▪ 𝑦 = 𝑥 tan 𝜃𝑜 − ▪ 𝑅= sin 2𝜃𝑜
2(𝑣𝑜 cos 𝜃𝑜 )2 𝑔
Range is the horizontal distance the projectile has travelled when it returns to
its original height.
39
Sample Problem 1.11
The drinking fountain is designed such that the nozzle is
located from the edge of the basin as shown. Determine the
maximum and minimum speed at which water can be ejected
from the nozzle so that it does not splash over the sides of the
basin at B and C.
40
Sample Problem 1.10
Neglecting the size of the ball, determine the magnitude vA of
the basketball’s initial velocity and its velocity when it passes
through the basket.
41
General CurvilinearofMotion
Planar Kinematics a Particle
Curvilinear Motion in Inertial Coordinates
Inertial Coordinate
▪ Used when the curvilinear motion can be described using
normal and tangential coordinates that move along the
path with the particle
▪ Makes use of unit vectors 𝑢𝑡 and 𝑢𝑛 (similar to 𝑖 and 𝑗 in
rectangular coordinate system)
42
Inertial Coordinate
▪ The tangential axis is tangent to
the curve at the point and is
positive in the direction of
increasing s.
▪ The normal axis is perpendicular

to the t-axis with its positive
sense directed towards the
center of curvature.
43
Velocity
▪ Always acts tangent to the path
Recall:
𝐬=𝐬 𝑡
𝐝𝐬
𝐯 = 𝐬ሶ =
𝑑𝑡
Since 𝐯 is in the direction of 𝐮𝐭 ,
𝐯 = 𝐯 ∙ 𝐮𝐭
44
Acceleration
▪ Time rate of change in velocity
Recall:
Note: Velocity is a vector!
𝐯 = 𝐯 ∙ 𝐮𝐭
𝑑𝐯 𝑑
𝐚= = 𝐯 ∙ 𝐮𝐭
𝑑𝑡 𝑑𝑡
Thus,
𝑑𝐯 𝑑𝐮𝐭
𝐚 = 𝐮𝐭 ∙ + 𝐯 ∙
𝑑𝑡 𝑑𝑡
𝐚𝐭 in the 𝐮𝐭 direction ?
45
𝑑𝐮𝐭
To find ,
𝑑𝑡
▪ The magnitude of the unit vector 𝐮𝐭
remains constant at 𝐝𝐬.
▪ However, direction change and
becomes 𝐮′𝐭 , such that
𝐮′𝐭 = 𝐮𝐭 + 𝐝𝐮𝐭
▪ Also, 𝐝𝐮𝐭 = 𝐝𝛉 with direction 𝐮𝐧
▪ Thus,
𝐝𝐮𝐭 = 𝐝𝛉 ∙ 𝐮𝐧
46
𝑑𝐮𝐭
To find ,
𝑑𝑡
▪ Taking the time derivative of the
previous expression,
𝐝𝐮𝐭 𝐝𝛉 ∙ 𝐮𝐧
=
𝑑𝑡 𝑑𝑡
▪ Since ds = 𝜌 dθ ,
?
▪ Then,
𝐝𝐮𝐭 1 𝐝𝐬
= ∙ 𝐮𝐧
𝑑𝑡 𝜌 𝑑𝑡
𝐝𝐮𝐭 𝐯
= ∙ 𝐮𝐧
𝑑𝑡 𝜌
47
𝑑𝐯 𝑑𝐮𝐭
𝐚 = 𝐮𝐭 ∙ + 𝐯 ∙
𝑑𝑡 𝑑𝑡 𝐚 = 𝐚𝐭 𝐮𝐭 + 𝐚𝐧 𝐮𝐧
𝑑𝐯 𝐯
𝐚= ∙ 𝐮𝐭 + 𝐯 ∙ ∙ 𝐮𝐧
𝑑𝑡 𝜌 𝟐 𝟐
𝐚= 𝐚𝐭 + 𝐚𝐧
If we let 𝑣 = 𝐯 , then,
𝑑𝒗 𝑣2
𝐚= ∙𝐮 + ∙ 𝐮𝐧
𝑑𝑡 𝐭 𝜌 Note:
𝐚𝐭 → rate of change in the magnitude
of velocity
𝐚𝐧 → rate of change in the direction of
𝐚𝐧 =normal acceleration velocity
𝐚𝐭 =tangential acceleration
48
𝑑𝒗 𝑣2
𝐚= ∙ 𝐮𝐭 + ∙ 𝐮𝐧
𝑑𝑡 𝜌
𝒂𝒕 𝒂𝒏
Particle moving along a straight line with varying speed √ 0
Particle moving along a straight line with constant speed 0 0
Particle moving along a curvilinear path with constant speed 0 √
Particle moving along a curvilinear path with varying speed √ √
Particle passing an inflection point of a curvilinear path with

0 0
constant speed (radius of curvature is infinite)
Particle passing an inflection point of a curvilinear path with √ 0
varying speed
49
Sample Problem 1.12
The automobile has a speed
of 80 ft/s at point A and an
acceleration 𝑎 having a
magnitude of 10 ft/s2, acting
in the direction shown.
Determine the radius of
curvature of the path at point
A and the tangential
component of acceleration.
50
Sample Problem 1.13
The car travels along the
circular path such that its
speed is increased by
𝑎𝑡 = 0.5𝑒 𝑡 m/s2, where t
is in seconds. Determine
the magnitudes of its
velocity and acceleration
after the car has traveled
𝑠 = 18 m starting from
rest. Neglect the size of
the car.
51
Sample Problem 1.14
The car is traveling at a speed of 100 ft/s as it approaches
point A. Beginning at A, the car decelerates at a constant 7
ft/s2 until it gets to point B, after which its constant rate of
decrease of speed is 3 ft/s2. After the car passes point C, it
travels with constant speed.
Determine the magnitude
of the total car
acceleration
(a) just before it gets to B,
(b) just after it passes B,
(c) at point C, and
(d) just after it passes C.
52

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ENSC 12:

Dynamics of Rigid Bodies

Asst. Prof. Glenn V. Latag

ENSC 12 Dynamics of Rigid Bodies | 2nd Semester 2018-2019

The subject of dynamics will be presented in two parts:

Also, note that motion of a body can be:

ENSC 12 Dynamics of Rigid Bodies | 2nd Semester 2018-2019

ENSC 12 Dynamics of Rigid Bodies | 2nd Semester 2018-2019

ENSC 12 Dynamics of Rigid Bodies | 2nd Semester 2018-2019

• Distance – positive scalar that

ENSC 12 Dynamics of Rigid Bodies | 2nd Semester 2018-2019

• Instantaneous velocity (𝑣) Note:

ENSC 12 Dynamics of Rigid Bodies | 2nd Semester 2018-2019

• Instantaneous acceleration (𝑎)

ENSC 12 Dynamics of Rigid Bodies | 2nd Semester 2018-2019

• A differential relation involving displacement, velocity and

ENSC 12 Dynamics of Rigid Bodies | 2nd Semester 2018-2019

𝑚/𝑠. Determine how far it travels (m) before it

Velocity as a function of time:

Position as a function of time:

ENSC 12 Dynamics of Rigid Bodies | 2nd Semester 2018-2019

Velocity as a function of position:

ENSC 12 Dynamics of Rigid Bodies | 2nd Semester 2018-2019

Relationship between position, velocity

The slope in v-t curve at a given time is

Also, the area in the a-t curve for a given

Relationship between position, velocity

The slope in s-t curve at a given time is

Also, the area in the v-t curve for a given

Consider a particle defined by the path function, s = 𝑠 𝑡

▪ The distance along the

▪ The displacement is ∆𝑟,

▪ The average velocity is ▪ The length of segment ∆𝑟

Note: Since 𝑑𝑟 is tangent to curve, 𝑣

▪ The average acceleration

Horizontal Motion Vertical Motion

Equation of Trajectory Range Formula

▪ The normal axis is perpendicular

Since 𝐯 is in the direction of 𝐮𝐭 ,

Particle moving along a straight line with constant speed 0 0

Particle moving along a curvilinear path with constant speed 0 √

Particle moving along a curvilinear path with varying speed √ √

Particle passing an inflection point of a curvilinear path with

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