ENGINEERING DYNAMICS

CREDIT HOURS: THEORY = 3 HOURS

 RECOMMENDED BOOKS

1. Vector Mechanics for Engineers (Dynamics) by Beer and Johnston

2. Engineering Mechanics (Dynamics) by J.L. Meriam

3. Engineering Mechanics (Dynamics) by R.C. Hibbler

 PARTICIPATION
The course consists of a three-hour lecture per week.
Any student whose attendance is less than 75% may be dropped from the
course for insufficient progress or participation.
STUDENT PERFORMANCE EVALUATION / GRADING

• Class participation, Assignments, Quizzes and the Final

examination will evaluate student progress.

FINAL GRADE

The final grade will be determined by averaging each section and

assigning them the following weights:

Quizzes ............................12.5%
Assignments………………12.5%
Mid Term Exam……………25%
Final Examination .............50%
---------------------------------------------------------
Total ............................. 100%
 What is Mechanics?
Mechanics is the branch of physical science which deals with the
state of rest or motion of bodies that are subjected to the action of
forces.

Mechanics is the study of forces that act on bodies and the resultant
motion that those bodies experience.

With roots in physics and mathematics, Engineering Mechanics is

the basis of all the mechanical sciences.

Physical science is the study of the physical world around you.

Any of several branches of science, such as physics, chemistry, and
astronomy, that study the nature and properties of energy and
nonliving matter.
 Mechanics
Applied Mechanics is subdivided into two parts:

1. SOLID MECHANICS
Solid mechanics is usually subdivided into further two streams i.e.
a) Mechanics of rigid bodies (i.e. objects that do not get deformed when forces are applied)
Mechanics of rigid bodies is further divided into two parts:
i) Statics
ii) Dynamics
Statics deals with bodies at rest.
Dynamics deals with objects in motion.
b) Mechanics of deformable bodies
The mechanics of deformable solids which is branch of applied mechanics is known by several names i.e. strength
of materials, mechanics of materials etc.

2. FLUID MECHANICS
 Idealizations
These are used to simplify problems. The following idealizations are used in
mechanics.

1. Particle
2. Rigid body
 Particle
• It is an object that has mass, but a size that can be neglected.
• For example, the size of earth is insignificant compared to the size of its
orbit, and therefore the earth can be modeled as a particle when studying
its orbital motion.
• When a body is idealized as a particle, the principles of mechanics reduce
to a rather simplified form since the geometry of the body will not be
involved in the analysis of the problem.
 Rigid body
• The term "rigid body" refers to a system with any number of
particles, but which are constrained not to move relative to each
other. That is, a rigid body does not deform.
• All particles in a rigid body remain at a fixed distance from one
another even after applying forces.
• A rigid body is nothing but a solid body of finite size in which
change in original shape (deformation in other words) is not
allowed.
 Dynamics
Mechanics deals with state of rest or motion of bodies under the action of
force.

Dynamics is that branch of mechanics which deals with the motion of

bodies under the action of forces.

The study of dynamics in engineering usually follows the study of statics,

which deals with effects of forces on bodies at rest.

Dynamics has two parts:

1) Kinematics
2) Kinetics
 POSITION
A particle moving along a straight line is said to be in rectilinear motion.
At any given instant t, the particle will occupy a certain position on the straight
line.
To define the position P of the particle, we choose a fixed origin O on the
straight line and a positive direction along the line.
We measure the distance s from O to P and record it a plus or minus sign,
according to whether P is reached from O by moving along the line in the
positive or the negative direction.
 DISPLACEMENT

The displacement of the particle is defined as the change in its position.

For example, if the particle moves from P to Pʹ, the displacement is
 VELOCITY
If the particle moves through a displacement Δs during the time interval Δt,
the average velocity of the particle during this time interval is
 ACCELERATION
Provided the velocity of the particle is known at the two points P and Pʹ, the
average acceleration of the particle during the time interval Δt is defined as
  (t 2  2t)ft/s
When t  0, s  0
When t  4s, Position  ? Acceleration  ?

ds
v
dt
 ds  vdt
a s
When t  0, s  0, v  0
When s  16m, Velocity  ? time  ?
Example 3:

  (3t 2  2t)ft/s
When t  0, s  0
When t  3s, Position  ? Acceleration  ?
  (3t 2  2t)ft/s
When t  0, s  0
When t  3s, Position  ? Acceleration  ?
Remember that these equations are useful only when the acceleration is
constant and the first two equations are applicable only to a case where
intial time = 0 .
A typical example of constant accelerated motion occurs when a body falls
freely toward the earth. If air resistance is neglected and the distance of fall
is short, then the downward acceleration of the body when it is close to the
earth is constant and approximately 9.81 m/S2 or 32.2 ft/S2.
It should be realized that the ball is subjected to a deceleration from position-0 to position-1 of 9.81 m/s2, and then from
position-1 to position-2 it is accelerated at this rate.

Furthermore, even though the ball momentarily comes to rest at position-1 (V1 = 0) the acceleration at 1 is still 9.81 m/S2
downward.
 S1  ?

CONSTANT ACCELERATION EQUATIONS:

Example:

SB  ?
Vc  ?
Why is acceleration due to gravity negative?

If up is positive, and gravity points down, then (acceleration due to gravity) would
be downwards, so it will have a negative magnitude. Whether the upward
direction will be taken as positive & the downward direction as negative or vice
versa simply depends upon you.

m
V 0
s
m
V 2
s
m
V 4
s
m
V 6
s m
V  6  8  2
m s
V 8
s m
m V  8  10  2
V  10 s
s
 Curvilinear Motion
• When a particle moves along a curve path
other than a straight line, we say that the
particle is in curvilinear motion.
To study the curvilinear motion, we will start with the basic Rectangular
Coordinate System.
If the particle is at point (x, y, z) on the curved path shown in Figure, then its
location is defined by the position vector

The path represents a sequence

of positions of the particle and
position is a function of time.

When the particle moves, the x, y, z components of r

will be functions of time; i.e., x = x(t), y = y(t), z = z(t),
so that r = r(t).
Suppose that during a small time interval ∆t the particle moves along the curve
to a new position Ṕ, defined by r' = r + ∆r, as shown in figure.
The displacement ∆r represents the change in the particle's position and is
determined by vector subtraction; i.e., ∆r = r' - r.
Note that if Δt is very small then our rʹ and r almost fall on the same line and this
very small dr is perpendicular to the position vectors and therefore tangent to the
path. So here is an important conclusion that direction of instantaneous velocity is
always tangent to the curved path.
The first time derivative of r yields
the velocity of the particle.
The acceleration of the particle is obtained by
taking the first time derivative of v (or the
second time derivative of r.
Example:
 Solution:
x  8t
x2

y
dx d 10
vx  x   (8t )  8 ft / s 
dt dt v  vx i  v y j  vz k
dx 
 2 2x
dy d x dt  x x  8t (8)  64t
vy  y   ( )
dt dt 10 10 5 5 5
The velocity has a magnitude that is found from
When t = 2 sec,
v  vx  v y  vz
2 2 2

64t 64(2)
vy    25.6 ft / s 
5 5

The velocity has a magnitude that is found from

v  vx  v y  vz  82  25.62  26.8 ft / s
2 2 2
 x  8t  x  8  x  0
x2 2 xx
y  y 
10 10

d d
ax  x  ( x )  (8)  0
dt dt
d d 2 xx 2 xx 2 xx x 2 xx
a y  y  ( y )  ( )   
dt dt 10 10 10 5 5

ay 
(8) 2 (8t )(0)
  12.8 2
ft a
5 5 s
The accelerati on has a magnitude that is found from
a  ax  a y  az
2 2 2
 x?
y?

 dx  8tdt

 dx  8 tdt
t2
x8
2
x  4t 2

1 32 1 2 32 1
3
2
3
1
3 1
 y  x  (4t )  4 (4) t  4 t  4 2 t 3  2t 3
2 2 2 3
4 4
Projectile
A projectile is an object upon which the only force acting is gravity.

By definition, a projectile has a single force that acts upon it - the force of gravity.
If there were any other force acting upon an object, then that object would not be
a projectile.

Thus, the free-body diagram of a projectile would show a single force acting
downwards and labeled force of gravity (or simply Fgrav).
Projectile motion is a form of motion in which an object or particle (called
a projectile) is thrown near the earth's surface, and it moves along a curved
path under the action of gravity only. The implication here is that air resistance
is negligible, or in any case is being neglected in all of these equations. The only
force of significance that acts on the object is gravity, which acts downward to
cause a downward acceleration. Because of the object's inertia, no external
horizontal force is needed to maintain the horizontal velocity of the object.
t  0 sec
t  1sec
t  2 sec

t  3 sec

t  4 sec

t  5 sec

t  6 sec
1 2 3 4 5 6 sec

X - Direction : Constant Velocity

m
Y - Direction : Uniformly accelerate d motion, a y   g  9.81
s2
Motion of a Projectile
There is only a constant
acceleration g in the negative y
direction and no acceleration in a
horizontal direction therefore
along the vertical and horizontal
direction respectively, the
equation of rectilinear motion with
constant acceleration apply.
 Example:

(v A ) x  12m / s
(v A ) y  0 m / s
m
a y  9.81
s2
(vB ) x  (v A ) x  12m / s
R?
t AB  ?

Ramp: An inclined surface or roadway connecting different levels

(v A ) x  12m / s
(v A ) y  0 m / s
m
a y  9.81
s2
(vB ) x  (v A ) x  12m / s
R?
t AB  ?
(v A ) x  12m / s
(v A ) y  0 m / s
m
a y  9.81
s2
(vB ) x  (v A ) x  12m / s
R?
t AB  ?
Example:

v  25 ft / s
  30
x  0 ft
x A  20 ft
y  0 ft
y A  (4  h) ft ( )( )
tOA  ?
h?
v  25 ft / s
  30
x  0 ft
x A  20 ft
y  0 ft
y A  (4  h) ft ( )( )
tOA  ?
h?
 Curvilinear Motion: Normal and
Tangential Components
If you recall when curvilinear motion of a particle is studied in an x, y and z
rectangular coordinate system, its position is represent by position vector r

Instantaneous velocity,

Instantaneous acceleration,

In general r, v and a are all three dimensional Cartesian vectors.

Don’t forget this
important conclusion
that the velocity of
the particle at any
point is always
tangent to the path.
 Now lets look at this 3D curve path.

It can be divided into small

segments of curves with equal
lengths.
When the segment gets small
enough, each one of them
approaches an arc which is a
segment of a circle.
For the next small segment of the path
it can also be approximated by another
arc that belong to another circle .

And then for another segment of the

path again it can be approximated by
an arc that belong to a circle.
Each segment ds is formed from the arc
of an associated circle having a radius of
curvature ρ (rho) and center of curvature
0.

For the particle travelling this arc

location, we can define a pair of axes
from it.

The first one is the t-axis being tangent

to the arc and other one is the n-axis
pointing toward the center of curvature.
It is also normal to the arc.

And with the definition of the t

tangent axis and n normal axis we can
represent the motion vectors using
the tangential and normal
components instead of the x,y and z
rectangular components.
So for a particle in a short moment dt, if it travels along this curve path from location P to
Pʹ.

The distance travelled is the length of the arc ds on this path. At any given time, we can
always set up a pair of axes from the particle.

The t axis is tangent to the curve at the point and is positive in the direction of increasing
s. We will designate this positive direction with the unit vector Ut .

The normal axis n is perpendicular to the t axis with its positive sense directed toward the
center of curvature 0.

This positive direction, which is always on the concave side of the curve, will be
designated by the unit vector Un.
Velocity:
Since the particle moves, s is a function of time. The particle's velocity v
has a direction that is always tangent to the path, Fig. 12-24c, and a
magnitude that is determined by taking the time derivative of the path
function ,
i.e., v = ds/ dt
ds 
V  vut v s
dt

ds
 un 
un 
un un
d 
ut

d
Initial position Final position 
ut ut
ut
d

Perpendicu lar
tan  
Base
du
tan d  t
ut
un  For very small angle, tan   
un
du
d  t
 ut
ut
d dut  ut d
ut dut  (1)d
dut  d
 Acceleration:
The accelerati on of the particle is the time rate of
change of the velocity.Thus,
  ds 
a
dV d
 (vut )  v ut  v ut .......1) V  vut v  s
dt dt dt

'
Here du t stretches between the arrowheads of u t and u t , which lie
on an infinitesimal arc of radius u t  1.
Hence, du t has a magnitude of du t  (1) d , and its direction is defined by u n .

dut  ut d
dut  (1)d
dut  d
dut  dun
 dut  dun

Differentiating with respect to time S  r

dut d ds  d
 un ds d
dt dt 
  dt dt
ut   u n  
s  
 
   s
s v
 ut   u n  un  un  
  

 
Eq1)  a  v ut  v ut
 v
a  v ut  v un

 v2
a  v ut  un

a  at ut  anu n
Example:
dy
?
dx

1 32
y x
4
 1 32
y x
4
Polar Coordinates
Curvilinear Motion: Polar Coordinates

er
e

Transverse: Situated or lying across; crosswise.

Polar Coordinates

We can specify the location of the particle shown in Figure using a radial coordinate r, which
extends outward from the fixed origin 0 to the particle, and a transverse coordinate θ, which is
the counterclockwise angle between a fixed reference line and the r axis.

The angle is generally measured in degrees or radians, where 1 rad = 180°/π.

The positive directions of the r and θ coordinates are defined by the unit vectors er and eθ ,
respectively.

Here er is in the direction of increasing r when θ is held fixed, and eθ is in a direction of

increasing θ when r is held fixed.

Note that these directions are perpendicular to one another.

e er
Figure shows the polar coordinates r and θ
which locate a particle travelling on a curved
path.

An arbitrary fixed line, such as the x-axis, is

used as a reference for the measurement of θ.

Unit vectors er and eθ are established in the

positive r and θ directions, respectively.

The position vector r to the particle at A has a

magnitude equal to the radial distance r and a
direction specified by the unit vector er.

Thus we can express the location of the particle

at A by the vector

r  rer
 r  rer
dr d dr de
v  (rer )  er  r r
dt dt dt dt

v  r  rer  rer

To evaluate , notice that er only changes its direction with respect to time,
since by definition the magnitude of this vector is always one unit.

Hence, during the time Δt, a change Δr will not cause a change in the direction
of er; however, a change Δθ will cause er to become erʹ.
During time dt the coordinate directions rotate through the angle dθ, and the
unit vectors also rotate through the same angle from er and eθ to eʹr and eʹθ as
shown in Figure.

We note that the vector change der is in the plus θ-direction and that deθ is in
the minus r-direction.

Because their mangitudes in the limit are equal to the unit vector as radius times
the angle dθ in radians, we can write them as
If we take the limit dθ→0, the distance between the ends of these two vectors er
and eʹr will exactly be equal to the arc length.

Perpendicu lar Perpendicu lar

tan   tan  

S  r de
Base
S  r de
Base
tan d  r tan d  

de  e d (er ) For very small angle, tan  

er e
der  er de For very small angle, tan   

de  1(d )(er )

de de
d  r d 
der  1(de ) er e
der  er d de  e d
der  de der  (1)d de  der de  (1)d
der  d de  d

Differentiating both the equations with respect to t, we get

er  e e  er

v  r  rer  rer

er  e

v  vr er  v e
v  vr er  v e
 
v  r er  r  e

 
er   e
 
e    er
Example:

Cardioid: A heart-shaped plane curve, the locus of a fixed point on a circle that rolls on the circumference
of another circle with the same radius.
r  0.5(1  cos  )
ft
v4
s
ft
a  30 2
s
  180

 ?

 ?

Cos180  1
Sin180  0
Example:


  4rad / s
When   45, Velocity  ? Acceleration  ?
 Base 100
cos   
Hypotenuse r

r 90
 100m