Engineering Systems in

Motion: Dynamics of

Particles and Bodies in Planar

Two Dimensional (2D) Motion
Dr. Wayne Whiteman
Director of the Office of Student Services
and Senior Academic Professional
School of Mechanical Engineering

This course is an introduction to the study of bodies in motion as

applied to engineering systems and structures.

School of Mechanical Engineering

Module 2 Learning Outcomes

Explain the concept of reference frames as
applied to vector derivatives
Describe the particle kinematic relationships
of position, velocity and, acceleration
Define rectilinear motion

Reference Frames and Vector Derivatives

dR
R
dt

A vector can change in both

magnitude and direction

For a constant
magnitude

vector, R
Vinyl Reference Frame

Earth Reference Frame

Used with permission from Engineering

Mechanics: Dynamics, McGill/King, 4th Ed, 2003

So we need to specify the appropriate reference

frame
when
taking
vector
derivatives!

R R1e1 R2 e2 R3e3

unit vectors

F
dR dR1
de

e1 R1 1
dt
dt
dt
F
Identifies the
dR2
de
2 R2 2

e
reference
dt
dt
frame in which
F
dR
de
the derivative
3 e3 R3 3
dt
dt
is being taken
F

Used with permission from Engineering

Mechanics: Dynamics, McGill/King, 4th Ed, 2003

Particle Kinematic Relationships

Position

d
dt

dt
Velocity

d
dt

Used with permission from Engineering

Mechanics: Dynamics, McGill/King, 4th Ed, 2003

dt
Acceleration

Rectilinear Motion
Straight line motion
One component of acceleration

rOP xi

v P xi

a P xi

Used with permission from Engineering

Mechanics: Dynamics, McGill/King, 4th Ed, 2003

No change in direction:
Therefore work with scalars!
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