SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

UNIT 5

INTRODUCTION
The dynamics of particles deals with the study of forces acting on a body and its effects,
when the body is in motion. It is further divided into Kinematics and kinetics.

Kinematics – The study of motion of body without considering the forces which cause the
motion of the body.
Kinetics – The study of motion of body with considering the external forces which cause the
motion of the body.

Plane motion – If a particle has no size but mass it is considered to have only plane motion, not
rotation. In this chapter the study motion of particles with only plane motion is taken without
considering force that cause motion i.e., Kinematics.

The plane motion of the body can be sub divided into two types
(i) Rectilinear motion
(ii) Curvilinear motion

1. RECTILINEAR MOTION (Straight Line Motion) - It is the motion of the particle along a
straight line.
Example: A car moving on a straight road
A stone falls vertically downwards
A ball thrown vertically upwards
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

This deals with the relationship among displacement, velocity, acceleration and time for a
moving particle. The rectilinear motion is of two types as Uniform acceleration and Variable
acceleration.

1.1 Displacement –The displacement of a moving particle is the change in its position, during
which the particle remain in motion. It is the vector quantity, i.e., it has both magnitude and
direction. The SI unit for displacement is the metre (m).

1.2 Velocity – The rate of change of displacement is velocity. It is the ratio between distances
travelled in particular direction to the time taken. It is also a vector quantity, i.e., it has both
magnitude and direction. The SI unit for velocity is the metre/second (m/sec) or
kilometer/hour (km/h)

1.3 Acceleration – The rate of change of velocity is acceleration. It is the ratio between
changes in velocity to the time taken. The change in velocity means the difference between
final velocity and initial velocity. It is also a vector quantity. The SI unit for acceleration is
2 2
the metre/second (m/sec ).

1.4 Retardation – The negative acceleration is retardation. It occurs when final velocity is less
than initial velocity (v<u).

1.5 Speed – The distance travelled by a particle or a body along its path per unit time. It is a
scalar quantity, i.e., it has only magnitude. The SI unit for speed is the metre/second (m/sec)
or kilometer/hour (km/h)
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

RELATIVE MOTION
A body is said to be in motion if it changes its position with respect to the surroundings,
taken as fixed. This type of motion is known as the individual motion of the body. An example
of relative motion is how the sun appears to move across the sky, when the earth is actually
spinning and causing that apparent motion. Usually, we consider motion with respect to the
ground or the Earth. Within the Universe there is no real fixed point. The basis for Einstein's
Theory of Relativity is that all motion is relative to what we define as a fixed point.

Relative velocity – Basic concept

Let‟s consider two motors A and B are moving on a road in same direction moving in
uniform speed. Let the uniform velocities of motors A and B be u m/sec and v m/sec respectively
(assume v > u)
Now, a person standing on the road looks at the motor A and finds that it is going at a
speed of u m/sec. Similarly, looks at motor B and finds it is going at a speed of v m/sec
separately. But for the driver of motor A, the motor B seems to move faster than him at the rate
of only (v - u) m/sec. i.e., the motor A is imagined to be at ret or, the driver of motor A forgets
his own motion.
Relative velocity of B with respect to A is (v-u). It is denoted by VB/A
∴ VB/A = VB – VA = (v - u) m/sec

Similarly for the driver of motor B, the motor A seems to move slower (assume u < v) than him
at the rate of only (u - v) m/sec. i.e., the motor B is imagined to be at ret or, the driver of motor B
forgets his own motion.
Relative velocity of A with respect to B is (v - u). It is denoted by VA/B
∴ VA/B = VA – VB = (u - v) m/sec

PROBLEM
Example1. The car A travels at a speed of 30 m/ sec and car B travels at a speed of 20 m/ sec in
the same direction. Determine, i) the velocity of car A relative to car B ii) the velocity of car B,
relative to car A
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Given data
VA = 30 m/se
VB = 20 m/sec
Same direction
Solution
Let the cars A and B, travels in the same direction, say towards right.
Now, let‟s use the sign convention, the RHS velocity is taken as positive, and the LHS
velocity is taken as negative. Hence, VA = 30 m/sec and VB = 20 m/sec.
Velocity of car A relative to car B
VA/B = VA – VB = 30 – 20 = 10 m/sec (→) (since due to positive)
Velocity of car B relative to car A
VB/A = VB – VA = 20 – 30 = - 10 m/sec (←) (since due to negative)

Example2. The car A travels at a speed of 30 m/ sec and car B travels at a speed of 20 m/ sec in
the opposite direction. Determine, i) the velocity of car A relative to car B ii) the velocity of car
B, relative to car A

Given data
VA = 30 m/se
VB = - 20 m/sec (- due to LHS)
Opposite direction
Solution
Let the cars A and B, travels in the opposite direction, say A towards right and towards
left.
Velocity of car A relative to car B
VA/B = VA – VB = 30 – (-20) = 50 m/sec (→) (since due to positive)
Velocity of car B relative to car A
VB/A = VB – VA = - 20 – 30 = - 50 m/sec (←) (since due to negative)
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

MATHEMATICAL EXPRESSION FOR VELOCITY AND ACCELERATION

(i) Velocity, v = ds/dt
2 2
(ii) Acceleration, a = d s/dt
Where, s – distance travelled by a particle in a straight line.
t – time taken by the particle to travel the distance „s‟

Equation of motion in straight line

Let, u – initial velocity (m/sec)

v – Final velocity (m/sec)
s – Distance travelled by a particle (m)
t – Time taken by the particle to change from u to v (second)
2
a – acceleration of the particle (m/sec )

v = u + at
2
s = ut + ½ (at )
2 2
v = u + 2as
Note: 1) If a body starts from rest, its initial velocity is zero i.e., u=0 2)
If a body comes to rest, its final velocity is zero i.e., v=0

PROBLEMS
Example1. A car is moving with a velocity of 20 m/sec. the car is brought to rest by applying
brakes in 6 seconds. Find i) retardation ii) distance travelled by the car after applying brakes.
Given data
u = 20 m/s
v = 0 (car is brought to
rest) t = 6 sec
Solution
i) Retardation or negative acceleration
Using equation of motion, v = u+at
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

0 = 20+ (a*6)
2
a = -3.33 m/sec
2
Retardation = 3.33 m/sec

ii) Distance travelled

2
Using equation of motion, s = ut+1/2 (at )
2
= (20*6) + 1/2(3.33*6 )
= 60 m

Distance, s = 60 m

Example2. A train starts from rest and attains a velocity of 45 kmph in 2 minutes, with uniform
acceleration. Calculate i) acceleration ii) distance travelled and iii) time required to reach a
velocity of 36n kmph.
Given data
Initial velocity, u = 0 (train starts from rest)
Final velocity, v = 45 kmph = 12.5 m/sec
Time taken , t = 2 minutes = 120 seconds
Solution
i) Acceleration, a
Using equation of motion, v = u+at
2
A = 0.104 m/sec
ii) Distance travelled in 2 minutes, s
Using equation of motion, s = ut+1/2
2
(at ) S = 748.8 m

iii) Time required to attain velocity of 36

kmph u = 0
v = 36 kmph = 10 m/sec
Using equation of motion, v = u+at t
= 96.15 sec
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2
Example3. A thief‟s car had a start with an acceleration of 2 m/sec . A police‟s car came after 5
seconds and continued to chase the thief‟s car with a uniform velocity of 20 m/sec. Find the time
taken in which the police car will overtake the thief‟s car?
Given data
Initial velocity of thief‟s car = 0
2
Acceleration of thief‟s car = 2 m/sec
Uniform velocity of police van = 20 m/sec
Police‟s car came after 5 seconds of the start of thief‟s car.
Solution
Let us consider that the police‟s car takes„t‟ seconds to overtake thief‟s car. Now, the cars are
taken separately to solve.
Motion of thief’s car
u=0
2
a = 2 m/sec
t = (t+5)
2 2
Using equation of motion, s = ut+1/2 (at ) = (t+5) ---------------------- (1)
Motion of police’s car
The police‟s car is moving with an uniform velocity of 20 m/sec.
Therefore, distance travelled by the police‟s car, from starting point of thief‟s car and to overtake
it
Take, s = uniform velocity * time taken
= 20*t = 20t ---------------------- (2)
The police car overtakes the thief‟s car. Hence, the distances travelled by both the cars should be
equal.
Therefore, equate (1) and (2)
2
(t+5) = 20t
2
t +25+10t = 20t
2
t +25-10t = 0
Using arithmetical equation, − ±√ 2−4 where, a = 1, b = 10 and c = 25
2

The t is found as 5 seconds.

Conclusion - The time taken by police‟s car to overtake thief‟s car is 5 seconds.
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

2. CURVILINEAR MOTION - It is the motion of the particle along a curved path. It has two
dimensions.

Example: A stone thrown into the air at an angle

Throwing paper airplanes in air

There are two systems involved in curvilinear motion. They are

(i) Cartesian systems (rectangular coordinates)
(ii) Polar system (radial coordinates)
CARTESIAN SYSTEMS
It is a rectangular coordinate system which has the horizontal component in X-axis and
vertical component in Y-axis.
Horizontal component of velocity, Vx = dx/dt
Vertical component of velocity, Vy = dy/dt
2 2
Therefore, resultant velocity of a particle, V =√ (Vx +Vy )
-1
Angle of inclination of velocity with X-axis, α=tan (Vy/Vx)
2 2
Acceleration of a particle along X-axis, ax = d x/dt
2 2
Acceleration of a particle along Y-axis, ay = d y/dt
2 2
Resultant acceleration of a particle, a = √(ax +ay )
-1
Angle of inclination of acceleration with X-axis, φ = tan (ay/ax)
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PROBLEMS
2
Example1. The portion of a particle along a curved path is given by the equations x=t +8t+4
3 2
and y=t +3t +8t+4. Find the i) initial velocity, u ii) velocity of the particle at t=2 sec iii)
acceleration of the particle at t=0 and iv) acceleration of the particle at t= 2 sec.
Given data
2
x=t +8t+4
3 2
y=t +3t +8t+4
Solution
2
Horizontal component of velocity , Vx = dx/dt = d(t +8t+4)/dt = 2t+8 -------------- (1)
3 2 2
Vertical component of velocity, Vy = dy/dt = d(t +3t +8t+4)/dt = 3t +6t+8 ------- (2)
2 2
Acceleration of a particle along X-axis, ax = d x/dt = d(2t+8)/dt = 2 --------------- (3)
2 2 2
Acceleration of a particle along Y-axis, ay = d y/dt = d(3t +6t+8)/dt = 6t+6 ------ (4)
i) Initial velocity, u
Put t = 0 in equation (1) and
(2) Vx = 2t+8
Now, Vx = 8 m/sec
2
Vy = 3t +6t+8
Now, Vy = 8 m/sec
2 2
Therefore, resultant velocity of a particle, V =√ (Vx +Vy )
2 2
= √(8 +8 )
V = 11.31 m/sec

-1
Angle of inclination of velocity with X-axis, α = tan (Vy/Vx)
-1
= tan (8/8)
α = 45˚
ii) Velocity at t= 2 sec
Put t = 2 seconds in equation (1) and (2)
Vx = 2t+8
Now, Vx = 12 m/sec
2
Vy = 3t +6t+8
Now, Vy = 32 m/sec
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

2 2
Therefore, resultant velocity of a particle, V =√ (Vx +Vy )
2 2
= √(12 +32 )
V = 34.17 m/sec
-1
Angle of inclination of velocity with X-axis, α = tan (Vy/Vx)
-1
= tan (32/12)
α = 69.4˚
iii) Acceleration at t=0
Put t = 0 in equation (3) and (4)
2 2 2
Acceleration of a particle along X-axis, ax = d x/dt = 2 m/sec
2 2 2
Acceleration of a particle along Y-axis, ay = d y/dt = 6t+6 = 6 m/sec
2 2 2 2 2
Resultant acceleration of a particle, a = √(ax +ay ) = √(2 +6 ) = 6.34 m/sec
-1 -1
Angle of inclination of acceleration with X-axis, φ = tan (ay/ax) = tan (6/2) = 71.56˚

iv) Acceleration at t = 2 sec

Put t = 2 sec in equation (3) and (4)
2 2 2
Acceleration of a particle along X-axis, ax = d x/dt = 2 m/sec
2 2 2
Acceleration of a particle along Y-axis, ay = d y/dt = 6t+6 = 18 m/sec
2 2 2 2 2
Resultant acceleration of a particle, a = √(ax +ay ) = √(2 +18 ) = 18.11 m/sec
-1 -1
Angle of inclination of acceleration with X-axis, φ = tan (ay/ax) = tan (18/2) = 83.66˚

PROJECTILES
The projectile is an example of curvilinear motion of a particle in plane motion. The
motion of a particle is neither vertical nor horizontal, but inclined to the horizontal plane.
It is classified under Kinematics since the force which is responsible for motion is left out
in the analysis and the rest are considered/

Definitions
Projectile – A particle projected in space at an angle to the horizontal plane.
Angle of projection means the angle to the horizontal at which the projectile is
projected. It is denoted by a.
Velocity of projectile means the velocity with which the projectile is thrown into
space. It is denoted by u (m/sec)
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Trajectory means the path described by the projectile.

Time of flight is the total time taken by the projectile from the instant of projection up to the
projectile hits the plane again.
Range is the distance along the plane between the point of projection and the point at which the
projectile hits the plane at the end of its journey.

Path of the Projectile

The horizontal distance travelled by the projectile in any time t.

X = Velocity * Time taken
Therefore, X= u cos αt

Or

t = X / u cos α
.

Similarly for vertical distance,

2 2 2
Y = tanα X – ½ (g X/u cos α )

From the equation of the trajectory, it is clear that the two variables of projectile motion are
initial velocity (u) and the angle of projection (a) to arrive standard results of projectile motion.
Time of flight (T) and time taken to reach highest point (t):

T = 2 u sin α / g t = u sin α / g

Maximum height attained:

2 2
hmax = u sin α / 2g

Horizontal range:

2
R = u sin 2α / g
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

PROBLEMS
Example1. A particle is projected with an initial velocity of 60 m/sec, at an angle of 75˚ with the
horizontal. Determine i) the maximum height attained by the particle ii) horizontal range of the
particle iii) time taken by the particle to reach highest point iv) time of flight
Given data
Initial velocity, u = 60 m/sec
Angle of projection, α = 75˚
Solution
i) the maximum height attained by the particle
2 2
hmax = u sin α / 2g = 171.19 m (take g = 9.81
2
m/sec ) ii) horizontal range
2
R = u sin 2α / g = 183.48 m

iii) time taken to reach highest

point t = u sin α / g = 5.9 sec
iv) time of flight
T = 2 u sin α / g = 11.8 sec

Example2. A particle is projected with an initial velocity of 12 m/sec at an angle α with the
horizontal. After sometime the position of the particle is observed by its x and y distances of 6m
and 4 m respectively from the point of projection. Find the angle of projection?
Given data
Initial velocity, u = 12 m/sec
Horizontal distance, x = 6 m
Vertical distance, y = 4 m
Solution
If the coordinate points on the projectile path are given, then use equation of
trajectory. Equation of path of projectile (trajectory)
2 2 2
Y = tan α X – ½ (g X/u cos α)
Put u = 12 m/sec, X = 6 m and Y = 4 m
2
Take g = 9.81 m/sec
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

We get,
2
4 = 6 tan α – (1.226/ cos α)
2
1.226 tan α – 6 tan α + 5.226 = 0
Using arithmetical equation, − ±√ 2−4 where, a = 1.226, b = 6 and c = 5.226
2

2
Therefore, tan α = - 6±√(6 – (4*1.226*5.226)/(2*1.226)
α = 75.1˚ or 53.06˚

Important definitions on kinetics

a) Mass - a fundamental measure of the amount of matter in the object. It is denoted by „m‟.
The SI unit of mass is Kilograms (Kg). It‟s a scalar quantity.
b) Weight - The weight of an object is defined as the force of gravity on the object and
may
be calculated as the mass times the acceleration of gravity, w = mg. Since the weight is
a force, its SI unit is the Newton.
Weight = mass * acceleration due to gravity

W = mg
c) Momentum - Momentum can be defined as "mass in motion." All objects have mass; so
if an object is moving, then it has momentum - it has its mass in motion. It depends upon
the variables mass and velocity. In terms of an equation, the momentum of an object is
2
equal to the mass of the object times the velocity of the object. Its SI unit is kg.m/sec
Momentum = mass • velocity

M = mv
LAWS OF MOTION
When a particle / body is at rest, or moving in a straight line (rectilinear motion) or in a
curved line (curvilinear motion), the particle / body obeys certain laws of motion. These laws are
called Newton‟s law of motion. These laws are also called the principles of motion, or principles
of Dynamics.
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

First Law
Every body continues to be in its state of rest or of uniform motion in a straight line
unless and until it is acted upon some external force to change that state. It is also called the law
of inertia, and consists of the following two parts:
1. A body at rest continues in the same state, unless acted upon by some external force. It
appears to be self-evident, as a train at rest on a level track will not move unless pulled by
an engine. Similarly, a book lying on a table remains at rest, unless it is lifted or pushed.
2. A body moving with a uniform velocity continues its state of uniform motion in a straight
line, unless it is compelled by some external force to change its state. It cannot be
exemplified because it is, practically, impossible to get rid of the forces acting on a body.
Second Law
The rate of change of momentum of a moving body is directly proportional to the
impressed force and takes place in the direction of the force applied.
The change of momentum = final momentum – initial momentum
= mv – mu = m (v – u)

The rate of change of momentum = change of momentum / time taken

= m (v – u) / t = m*a (since (v – u) / t = a)
Basically, to increase the velocity of the moving body from u to v, there must be some
external force to cause this change. Let that external force be „P‟.
As per the law, the external force „F‟ is directly proportional to the rate of change of
momentum i.e., F ∞ ma → F = k * ma where, k is the constant of proportionality.
But for a moving body, k and m are constants, and hence it states that, the force acting on the
body is directly proportional to the acceleration of the body. From this we can conclude that,
1. For a given body, greater force produces greater acceleration and the lesser force
produces the lesser acceleration.
2. The acceleration is zero, if there is no external force on the body which results in u = v.

To find the value of constant „k‟ in equation F =

2
k*ma We know that, 1 N = 1 kg * 1 m/sec
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2
That is, the unit force (N) is a force, which produce unit acceleration (1 m/sec ) on an
unit mass (1 kg) hence, by substituting F = 1; m = 1 and a = 1. We get

F = ma

Example1. A body of mass 4 kg is moving with a velocity of 2 m/sec and when certain force is
applied, it attains a velocity of 8 m/sec in 6 seconds?
Given data
Mass, m = 4 kg
Initial velocity, u = 2
m/sec Final velocity, v = 8
m/sec Time, t = 6 sec
Solution
2
Acceleration, a = v - u / t = 8-2/6 = 1 m/sec
Let, „P‟ be the force applied to cause this acceleration.
P = ma = 4*1 = 4 N

Example2. A body of mass 4 kg is at rest. What force should be applied to move it to a distance f
2 m in 4 seconds?
Given data
Mass, m = 4 kg
Distance, s = 12 m
Time taken, t = 4 sec
Initial velocity, u = 0
Solution
2
Using the equation, s = ut + ½ at
12 = 0 + 8a
2
Therefore, a = 12/8 m/sec
The force required to move, P = m*a = 4*(12/8) = 6 N
Therefore, P = 6 N
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4. D’ALEMBERT’S PRINCIPLE
It states, “If a rigid body is acted upon by a system of forces, this system may be reduced to a
single resultant force whose magnitude, direction and the line of action may be found out by the
methods of graphic statics.”
We know that, that force acting on a body.
P = ma ------- (i)
Where, m = mass of the body, and
a = Acceleration of the body.
The equation (i) may also be written as:
P – ma = 0 -----(ii)

It may be noted that equation (i) is the equation of dynamics whereas the equation (ii) is
the equation of statics. The equation (ii) is also known as the equation of dynamic equilibrium
under the action of the real force P. This principle is known as D' Alembert‟s principle.

PROBLEMS
[Link] bodies A and B of mass 80 kg and 20 kg are connected by a thread and move
along a rough horizontal plane under the action of a force 400 N applied to the first body of mass
80 kg as shown in Figure. The coefficient of friction between the sliding surfaces of the bodies
and the plane is [Link] the acceleration of the two bodies and the tension in the thread,
using D' Alembert‟s principle.

Given data
Mass of body A (m1) = 80 kg
Mass of the body B (m2) = 20 kg
Force applied on first body (P) = 400 N and
Coefficient of friction (μ) = 0.3
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015
regulations

Solution
Let a = Acceleration of the bodies, and
T = Tension in the thread.

Consider the body A. The forces acting on it

are: 400 N forces (acting towards left)
Mass of the body = 80 kg (acting downwards)
Reaction R1 = 80 × 9.8 = 784 N (acting upwards)
Force of friction, F1 = μR1 = 0.3 × 784 = 235.2 N (acting towards
right) Tension in the thread = T (acting towards right).
∴ Resultant horizontal force, P1 = 400 – T – F1 = 400 – T – 235.2 = 164.8 – T (acting towards left)

We know that force causing acceleration to the body A; → m1a = 80 a

And according to D' Alembert‟s principle P1 – m1a = 0 →1 64.8 – T – 80 a = 0
∴ T = 164.8 – 80a ---------- (i)

Now consider the body B. The forces acting on it are:

Tension in the thread = T (acting towards left)
Mass of the body = 20 kg (acting downwards)
Reaction R2 = 20 × 9.8 = 196 N (acting upwards)
Force of friction, F2 = μR2 = 0.3 × 196 = 58.8 N (acting towards right)
∴ Resulting horizontal force, P2 = T – F2 = T – 58.8

We know that force causing acceleration to the body B → m2a = 20 a

And according to D' Alembert‟s principle P2 – m2a = 0 → (T – 58.8) – 20 a = 0
∴ T = 58.8 + 20 a ---------- (ii)
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Now equating the two values of T from equation (i) and (ii),
164.8 – 80 a = 58.8 + 20 a
100 a = 106
a =106/100
2
∴ a = 1.06 m/sec

Tension in the thread

Substituting the value of a in equation (ii)
T = 58.8 + (20 × 1.06)
∴ T = 80 N

Third Law
To every action, there is always an equal and opposite reaction
This law appears to be self-evident as when a bullet is fired from a gun, the bullet moves
out with a great velocity, and the reaction of the bullet, in the opposite direction, gives an
unpleasant shock to the man holding the gun. Similarly, when a swimmer tries to swim, he
pushes the water backwards and the reaction of the water pushes the swimmer forward.

Example: When a bullet is fired from a gun, the opposite reaction of the bullet is known as the
recoil of gun.
Let M = Mass of the gun,

V = Velocity of the gun with which it recoils,

m = mass of the bullet, and

v = Velocity of the bullet after explosion.

∴ Momentum of the bullet after explosion = mv ----- (i)

Momentum of the gun = MV ------------------------ (ii)

Equating the equations (i) and (ii), MV = mv

This relation is popularly known as Law of Conservation of Momentum.

 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

PROBLEMS

Example1. A machine gun of mass 25 kg fires a bullet of mass 30 gram with a velocity of 250
m/s. Find the velocity with which the machine gun will recoil?

Given data
Mass of the machine gun (M) = 25 kg
Mass of the bullet (m) = 30 g = 0.03kg and
Velocity of firing (ν) = 250 m/s.
Solution
Let V = Velocity with which the machine gun will recoil.
We know that MV = mv
2 5 × v = 0.03 × 250 = 7.5 → v = 7.5 / 25
∴ v = 0.3 m/s

Example2. A bullet of mass 20 g is fired horizontally with a velocity of 300 m/s, from a gun
carried in a carriage; which together with the gun has mass of 100 kg. The resistance to sliding of
the carriage over the ice on which it rests is 20 N. Find (a) velocity with which the gun will
recoil, (b) distance, in which it comes to rest, and (c) time taken to do so.

Given data
Mass of the bullet (m) = 20 g = 0.02 kg
Velocity of bullet (v) = 300 m/s
Mass of the carriage with gun (M) = 100 kg and
Resistance to sliding (F) = 20 N
Solution
(a) Velocity, with which the gun will recoil
Let V = velocity with which the gun will recoil.
We know that MV = mv
100 × V = 0.02 × 300 = 6 → V = 6 / 100 = 0.06 m/s
∴ V = 0.06 m/sec
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

(b) Distance, in which the gun comes to rest

Now consider motion of the gun. In this case, initial velocity (u) = 0.06 m/s and final
velocity, v = 0 (because it comes to rest)
Let a = Retardation of the gun, and
s = Distance in which the gun comes to rest.
We know that resisting force to sliding of carriage (F)
20 = Ma = 100 a → a = 20 / 100
2
∴ a = 0.2 m/sec

2 2
We also know that v = u – 2as (Minus sign due to
retardation) 0 = (0.06)2 – 2 × 0.2 s
= 0.0036 – 0.4 s → s = 0.0036 / 0.4 = 0.009 m or 9 mm
∴ s = 9 mm

(c) Time taken by the gun in coming to rest

Let t = Time taken by the gun in coming to rest.
We know that final velocity of the gun (v)
0 = u + at = 0.06 – 0.2 t (Minus sign due to retardation)
t = 0.06 / 0.2 ∴ t = 0.3 seconds

WORK ENERGY EQUATION

Work
Whenever a force acts on a body, and the body undergoes some displacement, then work
is said to be done. e.g., if a force P, acting on a body, causes it to move through a distance s as
shown in Figure (a).
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Then work done by the force P = Force × Distance = P × s

Work done by the force = P*S

Sometimes, the force P does not act in the direction of motion of the body, or in other words, the
body does not move in the direction of the force as shown in Figure (b).
Then work done by the force P = Component of the force in the direction of motion × Distance
= P cos θ × s

Work done by the force = P cos θ*S

In SI system of units, force is in Newton and the distance is in meters.

∴ Unit of work is (Newton * meter) = 1 Nm = 1 joule
∴ In SI system of units, unit of work is joule

PROBLEMS

Example1.A horse pulling a cart exerts a steady horizontal pull of 300 N and walks at the rate
of 4·5 kmph. How much work is done by the horse in 5 minutes?
Given data
Pull (i.e. force) = 300 N
Velocity (v) = 4·5 kmph. = 75 m/ min
and Time, t = 5 min.
Solution
We know that distance travelled in 5 minutes
s = 75 × 5 = 375 m → ∴ s = 375 m

Work done by the horse, W = Force × Distance

= 300 × 375 = 112 500 N-m = 112.5 kN-m

∴ W = 112.5 kJ
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Example2. A spring is stretched by 50 mm by the application of a force. Find the work done, if
the force required to stretch 1 mm of the spring is 10 N.
Given data
Spring stretched by the application of force (s) = 50
mm Stretching of spring = 1 mm and force = 10 N
Solution
We know that force required stretching the spring by 50 mm = 10 × 50 = 500 N
∴ Average force = 500 / 2 = 250 N
Work done = Average force × Distance = 250 × 50 = 12 500 N-mm = 12.5 N-m
∴ Work done = 12.5 J

Power
The power may be defined as the rate of doing work.
∴ Power = work done / time
= (Force * Distance) / Time
Or
∴ Power = Force * (Distance/Time)
= Force * Velocity
In SI systems of units, unit of work is Newton metre, and the unit of time is
seconds. Unit of power = Nm / Seconds = 1 watt
∴ In SI systems, unit of power is watt

Energy
The energy may be defined as the capacity to do work. It exists in many forms i.e.,
mechanical, electrical chemical, heat, light etc. the energy is the capacity to do work. Since the
energy of a body is measured by the work it can do, therefore the units of energy will be the
same as those of the work. Therefore, the SI system of unit of work is joule.
In the study of mechanics, we are concerned only with mechanical energy. Mechanical
energy is classified into two types.
1. Potential energy. 2. Kinetic energy.
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Potential energy
It is the energy possessed by a body, for doing work, by virtue of its position.
Example1. A body, raised to some height above the ground level, possesses some potential
energy; because it can do some work by falling on the earth‟s surface.
Example2. Compressed air also possesses potential energy; because it can do some work in
expanding, to the volume it would occupy at atmospheric pressure.
Example3. A compressed spring also possesses potential energy; because it can do some work in
recovering to its original shape.
Now consider a body of mass (m) raise through a height (h) above the datum level. We know
that work done in raising the body = Weight × Distance = (mg) h = mgh

Potential Energy, P.E = mg *h

PROBLEM

Example1. A man of mass 60 kg dives vertically downwards into a swimming pool from a tower
of height 20 m. He was found to go down in water by 2 m and then started rising. Find the
average resistance of the water. Neglect the air resistance.
Given data
Mass of the man (m) = 60 kg and
Height of the tower (h) = 20 m
Solution
Let P = Average resistance of the water
We know that potential energy of the man before jumping
P.E = mg*h = 60 × 9.8 × 20 = 11 760 N-m -------------- (i)
Work done by the average resistance of water = Average resistance of water × Depth of water
= P × 2 = 2 P N-m ------- (ii)
Since the total potential energy of the man is used in the work done by the water, therefore
equating equations (i) and (ii),
→ 11 760 = 2 P → P = 11760 / 2 ∴ P = 5880 N
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Kinetic energy
It is the energy, possessed by a body, for doing work by virtue of its mass and velocity of
motion. Now consider a body, which has been brought to rest by a uniform retardation due to the
applied force.
Let m = Mass of the body
u = Initial velocity of the body
P = Force applied on the body to bring it to
rest, a = Constant retardation, and
s = Distance travelled by the body before coming to rest.
Since the body is brought to rest, therefore its final velocity, v = 0
and Work done, W = Force × Distance = P × s ---------- (i)
Now substituting value of (P = m.a) in equation (i),
W = ma × s = mas ----------- (ii)
2 2
We know that v = u – 2 as (Minus sign due to retardation)
2
∴ 2as = u (since, v = 0)

Now substituting the value of (a.s) in equation (ii) and replacing work done with kinetic energy,
2
K.E = mu /2
In most of the cases, the initial velocity is taken as v (instead of u), therefore kinetic energy,
2
K.E = mv /2

2
Kinetic Energy, K.E = ½ (mv )

PROBLEM
Example1. A truck of mass 15 tones travelling at 1.6 m/s impacts with a buffer spring, which
compresses 1.25 mm per kN. Find the maximum compression of the spring?

Given data
Mass of the truck (m) = 15 t
Velocity of the truck (v) = 1.6 m/s and
Buffer spring constant (k) = 1.25 mm/ kN
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Solution
Let x = Maximum compression of the spring in mm.
2 2
We know that kinetic energy of the truck = mv /2 = (15*1.6 ) / 2 = 19.2 = 19200 kN - mm
Kinetic Energy, K.E = 19200 kN-mm -------------- (i)
Compressive load = x / 1.25 = 0.8 x kN

Work done in compressing the spring = Average compressive load × Displacement =

2
(0.8 x / 2) * x = 0.4 x ------------------- (ii)

Since the entire kinetic energy of the truck is used to compress the spring therefore equating
equations (i) and (ii),
2 2
19 200 = 0.4 x → x = 19200 / 0.4
= 48000
∴ x = 219 mm

Work Energy Equation

The equation of motion in one-dimension (taking the variable to be x, and the force to be F ) is

Let us again eliminate time from the left-hand using the technique used above

To get

On integration this equation gives

 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

where xi and xf refer to the initial and final positions, and vi and vf to the initial and final
velocities, respectively. We now interpret this result. We define the kinetic energy of a particle of
mass m and velocity v to be

and the work done in moving from one position to the other as the integral given above

With these definitions the equation derived above tells us that work done on a particle
changes its kinetic energy by an equal amount; this known as the work-energy theorem.

IMPULSE AND MOMENTUM

Impulse

The impulse of a constant force F is defined as the product of the force and the time t for which it

acts. The SI unit of linear impulse is [Link] . -------------- (i)

The effect of the impulse on a body can be found using equation (i) where, a is
acceleration, u and v are initial and final velocities respectively and t is time.

So

------------ (ii)
So we can say that

Impulse is a vector quantity and has the sane units as momentum, Ns or kg m/s. The impulse of a
variable force can be defined by the integral
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Where, t is the time for which F acts.

nd
By Newton's 2 law

So impulse can also be written

Which for a constant mass

In summary

----------- (iii)

Impulsive force

Suppose the force F is very large and acts for a very short time. During this time the distance
moved is very small and under normal analysis would be ignored. Under these condition the only
effect of the force can be measured is the impulse, or change I momentum - the force is called an
impulsive force.

In theory this force should be infinitely large and the time of action infinitely small. Some
applications where the conditions are approached are collision of snooker balls, a hammer hitting
a nail or the impact of a bullet on a target.
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

PROBLEMS

Example1. A nail of mass 0.02 kg is driven into a fixed wooden block, its initial speed is 30 m/s
and it is brought to rest in 5ms. Find a) the impulse b) value of the force (assume this constant)
on the nail.

Given data
Mass, m = 0.02 kg
Velocity, v = 30 m/sec
Initial velocity, u = 0
Time, t = 5 minutes
Solution
Using the equation,

Momentum

The quantity of motion possessed by the moving body is called momentum. It is the product of
mass and velocity.
Momentum = Mass * Velocity

i.e., M = mv
Where, m is mass I kilogram
v = velocity in m/sec
M = Momentum in kg.m/sec
→ mv = (w/g) * v
The SI unit of momentum is also [Link]
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Impulse – Momentum equation

The impulse – Momentum equation is also derived from the Newton‟s secong law,
F = ma = m * (dv/dt) i.e., F dt = m dv
t
As derived in the impulse, the term ∫0 F dt is called impulse and m (v-u) is called the change of
momentum, i.e., Final momentum – Initial momentum.

Impulse = m (v-u) = (W/g) * (v-u)

Impact of elastic bodies

In the last section the bodies were assumed to stay together after impact. An elastic body is one
which tends to return to its original shape after impact. When two elastic bodies collide, they
rebound after collision. An example is the collision of two snooker balls.

If the bodies are travelling along the same straight line before impact, then the collision is called
a direct collision. This is the only type of collision considered here.

Direct collision of two elastic spheres

Consider the two elastic spheres as shown in figure. By the principle of conservation of linear
momentum

Where the u‟s are the velocities before collision and the v‟s, the velocities after.

When the spheres are inelastic v1 and v2 are equal as we saw in the last section. For elastic bodies
v1 and v2 depend on the elastic properties of the bodies. A measure of the elasticity is the
coefficient of restitution e, for direct collision this is defined as
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

This equation is the result of experiments performed by Newton. The values of e in practice vary
from between 0 and 1. For inelastic bodies e = 0, for completely elastic e = 1. In this latter case
no energy is lost in the collision.

PROBLEMS

Example1. A body of mass 2kg moving with speed 5m/s collides directly with another of mass 3
kg moving in the same direction. The coefficient of restitution is 2/3. Find the velocities after
collision.

Solution

---------- (i)

From equation

--------------- (ii)

Adding [i] and [ii] gives

And by [i]
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Example2.A railway wagon has mass 15 tones and is moving at 1.0 m/s. It collides with a
second wagon of mass 20 tones moving in the opposite direction at 0.5m/s. After the collision
the second wagon has changed its speed to 0.4m/s in the opposite direction as before the
collision. Find i) the velocity of the 15 tones wagon after the collision ii) the coefficient of
restitution and iii) the loss in kinetic energy.

Solution

The negative sign means it has change direction of travel.

Coefficient of restitution is
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Translation, Rotation of rigid bodies and General plane motion

Introduction

Forces acting of rigid bodies can be also separated in two groups: (a) The external forces
represent the action of other bodies on the rigid body under consideration; (b) The internal forces
are the forces which hold together the particles forming the rigid body. Only external forces can
impart to the rigid body a motion of translation or rotation or both.
In kinematics the types of motion are TRANSLATION, ROTATION about a fixed axis and
GENERAL PLANE MOTION.
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

TRANSLATION

A motion is said to be a translation if any straight line inside the body keeps the same
direction during the movement. It occurs if every line segment on the body remains parallel to
its original direction during the motion
All the particles forming the body move along parallel paths. If these paths are straight lines, the
motion is said a rectilinear translation; if the paths are curved lines, the motion is a curvilinear
motion as given below in figure.

GENERAL PLANE MOTION

Any plane motion which is neither a translation nor a rotation is referred as a general
plane motion. Plan motion is that in which all the particles of the body move in parallel
planes. Translation occurs within a plane and rotation occurs about an axis perpendicular to
this plane.

An example of bodies undergoing the three types of motion is shown in this mechanism.
The wheel and crank undergo rotation about a fixed axis. In this case, both axes of rotation are at
the location of the pins and perpendicular to the plane of the figure. The piston undergoes
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

rectilinear translation since it is constrained to slide in a straight line. The connecting rod
undergoes curvilinear translation, since it will remain horizontal as it moves along a circular
path. The connecting rod undergoes general plane motion, as it will both translate and rotate.

ROTATION

Some bodies like pulley, shafts, and flywheels have motion of rotation (i.e., angular
motion) which takes place about the geometric axis of the body. The angular velocity of a body
is always expressed in terms of revolutions described in one minute, e.g., if at an instant the
angular velocity of rotating body in N r.p.m. (i.e. revolutions per min) the corresponding angular
velocity ω (in rad) may be found out as discussed below:
1 revolution/min = 2π rad/min
∴ N revolutions/min = 2πN rad/min Angular velocity ω = 2 π N rad/min

ω = 2 π N / 60 rad/sec

Important Terms

The following terms, which will be frequently used in this chapter, should be clearly understood
at this stage:
Angular velocity - It is the rate of change of angular displacement of a body, and is expressed in
r.p.m. (revolutions per minute) or in radian per second. It is, usually, denoted by ω (omega).
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Angular acceleration - It is the rate of change of angular velocity and is expressed in radian per
2
second per second (rad/s ) and is usually, denoted by α. It may be constant or variable.
Angular displacement - It is the total angle, through which a body has rotated, and is usually
denoted by θ. If a body is rotating with a uniform angular velocity (ω) then in t seconds, the
angular displacement is θ = ω * t

Motion of rotation under constant angular acceleration

Consider a particle, rotating about its axis.

Let ω0 = Initial angular velocity,
ω = Final angular velocity,
t = Time (in seconds) taken by the particle to change its velocity from ω0 to
2
ω. α = Constant angular acceleration in rad/s , and
θ =Total angular displacement in radians.
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Relation between linear motion and angular motion

PROBLEMS

2
Example1. A flywheel starts from rest and revolves with an acceleration of 0.5 rad/ sec . What
will be its angular velocity and angular displacement after 10 seconds?
Given data
Initial angular velocity (ω0) = 0 (becasue it starts from rest)
2
Angular acceleration (α) = 0.5 rad/sec and
Time (t) = 10 sec.
Solution
Angular velocity of the flywheel
We know that angular velocity of the flywheel,
ω = ω0 + αt = 0 + (0.5 × 10) = 5 rad/sec
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Angular displacement of the flywheel

We also know that angular displacement of the flywheel,

Example2. A wheel rotates for 5 seconds with a constant angular acceleration and describes
during this time 100 radians. It then rotates with a constant angular velocity and during the next
five seconds describes 80 radians. Find the initial angular velocity and the angular acceleration.
Given data
Time (t) = 5 sec and
Angular displacement (θ) = 100 rad
Solution
Initial angular velocity
Let ω0 = Initial angular velocity in rad/s,
2
α = Angular acceleration in rad/s , and
ω = Angular velocity after 5 s in rad/s.
First of all, consider the angular motion of the wheel with constant acceleration for 5 seconds.
We know that angular displacement (θ),
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Linear (Or Tangential) Velocity of a Rotating Body

Consider a body rotating about its axis as shown in Figure.

Let ω = Angular velocity of the body in rad/s,

r = Radius of the circular path in meters, and
v = Linear velocity of the particle on the periphery in m/s.
After one second, the particle will move v meters along the circular path and the angular
displacement will be ω rad.
We know that length of arc = Radius of arc × Angle subtended in rad.
∴v=rω

PROBLEMS
Example1. A wheel of 1.2 m diameter starts from rest and is accelerated at the rate of 0.8 rad/s2 .
Find the linear velocity of a point on its periphery after 5 seconds.
Given data
Diameter of wheel = 1.2 m or radius (r) = 0.6 m
Initial angular velocity (ω0) = 0 (becasue, it starts from rest)
Angular acceleration (α) = 0.8 rad/s2 and
Time (t) = 5 s
Solution
We know that angular velocity of the wheel after 5 seconds,
ω = ω0+ αt = 0 + (0.8 × 5) = 4 rad/s
∴ Linear velocity of the point on the periphery of the
wheel, v = rω = 0.6 × 4 = 2.4 m/s
Example2. A pulley 2 m in diameter is keyed to a shaft which makes 240 r.p.m. Find the linear
velocity of a particle on the periphery of the pulley.
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Given data
Diameter of pulley = 2 m or radius (r) = 1 m and
Angular frequency (N) = 240 r.p.m.
Solution
We know that angular velocity of the pulley,

Linear (Or Tangential) Acceleration of a Rotating Body

PROBLEMS

Exapmle1. A car is moving at 72 kmph. If the wheels are 75 cm diameter, find the angular
velocity of the tyre about its axis. If the car comes to rest in a distance of 20 meters, under a
uniform retardation, find angular retardation of the wheels.
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Given data
Linear velocity (v) = 72 kmph = 20 m/s
Diameter of wheel (d) = 75 cm or radius (r) = 0.375 m and
Distance travelled by the car (s) = 20 m.

Solution
Angular retardation of the wheel
We know that the angular velocity of the wheel,

Example2. The equation for angular displacement of a body moving on a circular path is given
by θ = 2t3 + 0.5 where θ is in rad and t in sec. Find angular velocity, displacement and
acceleration after 2 sec.

Given data
Equation for angular displacement θ = 2t3 + 0.5 ----- (i)
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Solution

Example3. The equation for angular displacement of a particle, moving in a circular path (radius
2 3
200 m) is given by θ = 18t + 3t – 2t where θ is the angular displacement at the end of t sec.
Find (i) angular velocity and acceleration at start, (ii) time when the particle reaches its
maximum angular velocity; and (iii) maximum angular velocity of the particle.
Given data
3
Equation for angular displacement θ = 18t + 3t2 – 2t ------------- (i)
Solution
(i) Angular velocity and acceleration at start
Differentiating both sides of equation (i) with respect to t, dθ / dt = 18+ 6t – 6t
2 2
i.e. angular velocity, ω = 18 + 6t – 6t --------------(ii)
Substituting t = 0 in equation (ii),
ω = 18 + 0 – 0 = 18 rad/s
Differentiating both sides of equation (ii) with respect to t, dω / dt = 6 –
12t i.e. angular acceleration, α = 6 – 12t ---------------- (iii)
 SME1101 ENGINEERING MECHANICS COURSE MATERIAL (UNIT 5) 2015 regulations

Now substituting t = 0 in equation (iii),

2
α = 6 rad/s
(ii) Time when the particle reaches maximum angular velocity
For maximum angular velocity, take equation (iii) and equate it to zero 6 –
12t = 0 or t = 6 / 12
t = 0.5 seconds.
(iii) Maximum angular velocity of the particle
The maximum angular velocity of the particle may now be found out by substituting t
= 0.5 in equation (ii),
2
ωmax = 18 + (6 × 0.5) – 6 (0.5)
ωmax = 19.5 rad/s