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Dynamicsof Rigid Bodies-Module 2-Week3-4 With Evaluation

Dynamics of Rigid Bodies (Nueva Vizcaya State University)

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Republic of the Philippines

NUEVA VIZCAYA STATE UNIVERSITY
Bambang, Nueva Vizcaya
INSTRUCTIONAL MODULE
IM No.: MECH02-2S-2020-2021

College of Engineering
Bambang Campus

DEGREE Bachelor of Science in COURSE NO. MECH02

PROGRAM Mechanical Engineering
SPECIALIZATION - COURSE Dynamics of Rigid Bodies
TITLE
YEAR LEVEL 2nd Year TIME FRAME 2 WK NO. 3-4 IM 2
hrs/week NO.

I. UNIT TITLE/CHAPTER TITLE: Kinematics of Particles and Rigid Bodies

II. LESSON TITLE: Motion in Translation

II.1 Rectangular Components of Velocity and Acceleration

II.2 Motion Relative to a Frame in Translation
II.3 Tangential and Normal Components
II.4 Radial and Transverse Components

III. LESSON OVERVIEW:

The course programs provides the students the techniques of analysing the rectangular
components when dealing with problems involving velocity and accceleration. It also discusses the
relative velocity and acceleration of objects with respect to some references moving in translation form.
This module differentiates the way tangential and normal components are analysed depending on the
case problem as well as the radial and transverse components using derived functions.

IV. DESIRED LEARNING OUTCOMES:

1. Discuss and identify the rectangular components of velocity and acceleration using known techniques.
2. Analyse and explain problems involving relative motion (i.e. relative velocity and acceleration)
3. Solve acceleration problems by thoroughly identifying the tangential and normal components.
4. Solve acceleraiton problems by thoroughly identifying and evaluating its radial and transverse
components.

V. LESSON CONTENT:

1. Rectangular Components of Velocity and Acceleration

The position of a particle P is defined by rectangular coordinates x,y and z to resolve velocity v
and acceleration a of the particle into its rectangular components. When resolving the position vector
(learned from Module 1), denoted by r into its rectangular components, it is written as

where x, y and z are the coordinates as function of t and i,j,k as unit vectors. Note that when position r
is differentiated with respect to t gives the velocity, and differentiating v with respect to t again gives the
accelertation, thus,

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Bambang, Nueva Vizcaya
INSTRUCTIONAL MODULE
IM No.: MECH02-2S-2020-2021

The dotted sign above tells the count of derivatives, hence it follows that

, ,

, ,
Note that the sense or sign of each vector components can be determined from the sign of corresponding
scalar components. The motion of the particles in the x direction, y-direction and z-direction are
considered separately. Note that equations above are with respect to time, e.g. ax is dependent only upon
t, x and vx. Likewise for the ay, az, vx, vy, etc.

Application: PROJECTILE MOTION

In the case of projectile motion, there are certain assumptions to be considered in the acceleration
component, where ax and az are always zero value while ay = -g (9.81 m/s2) if the resistance of air is
neglected. In this course, air resistance is assumed negligible.

Denoted by xo, yo and zo as initial positions, then vxo, vyo and vzo are the initial velocities. We integrate
these twice in terms of t to get,

1
2

These equations of projectile tells that the motion of an object exhibiting projectile motion from origin O
has uniform horizontal velocity while direction in the y (vertical) is uniformly accelerated. If vx and vz are
both constant, then getting its derivative wrt to t gives ax = az = 0. For the ay, getting the derivative of vy
gives –g or the gravitational constant of falling bodies.
Note that when body starts from zero position (origin) at XY plane only, the above equations are simplified
to,

1
2
0
0

Figure 1. Motion of projectile starting from origin O Figure 2. Rectangular components at 2 pts.

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NUEVA VIZCAYA STATE UNIVERSITY
Bambang, Nueva Vizcaya
INSTRUCTIONAL MODULE
IM No.: MECH02-2S-2020-2021

SAMPLE PROBLEM 1:

A projectile is fired from the edge of a 150-m cliff with an initial

velocity of 180 m/s at an angle of 30° with the horizontal. Neglecting
air resistance, find:

(a) the horizontal distance from the gun to the point where the
projectile strikes the ground

(b) the greatest elevation above the ground reached by the

projectile.

Solution:

At the vertical motion is uniformly accelerated motion while at the horizontal motion is simply uniform
motion. Thus, computing the vy and ay along the vertical motion,

180 30 90 /
9.81 / 2

By substitution to derived equations above,

90 9.81
1
90 (0.5)(9.81)
2
2 8100 (2)(9.81)

Looking at horizontal motion, we get

180 30 155.9 /
155.9

Note that when the projectile reached the surface of the ground,
it is (shown in figure) 150 .

Thus, substituting to above,

90 (0.5)(9.81) 150 or dividing all terms with 4.90 gives

18.37 30.6 0  t=19.91s (using calculator)

To get the horizontal distance,

155.9 155.9(19.91 )
To compute the greatest elevation reached by projectile, the velocity at that point is zero (vy=0) since it comes
to full stop (instant) before going down back to the ground due to gravitational acceleration. So,

2 8100 (2)(9.81) 0  y = 413 m (use calc)

Adding this to 150m (from ground) gives 150+413m = 563m.

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Bambang, Nueva Vizcaya
INSTRUCTIONAL MODULE
IM No.: MECH02-2S-2020-2021

SAMPLE PROBLEM 2:

A tennis player serves the ball at a height h=2.5 m with an initial velocity v0 at an angle of 50 with the
horizontal. Determine the range of v0 for which the ball will land in the service area that extends to 6.4 m
beyond the net.

Solution:
The range of vo depends on the range of final position x between 12.2m until 18.6m (12.2+6.4m).
Thus,
5
5∗
5 9.81
1
5 (0.5)(9.81)
2
At x=12.2m, y = 2.5-0.914 m = -1.586m
Thus, we write
1
5 (0.5)(9.81) 1.586
2
5 12.2
12.2
5
Substituting t to y equation above, we get

5 (0.5)(9.81) 1.586
becomes
12.2 12.2
5( ) (0.5)(9.81)( ) 1.586
5 5
. .
5( ) (0.5)(9.81)( ) 1.586  . /
At x=18.6m, y = -2.5 m
Thus, we write
1
5 (0.5)(9.81) 2.5
2
5 18.6
18.6
5
Substituting t to y equation above, we get

5 (0.5)(9.81) 2.5
becomes
18.6 18.6
5( ) (0.5)(9.81) 2.5
5 5

. .
5( ) (0.5)(9.81) 2.5  . /

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NUEVA VIZCAYA STATE UNIVERSITY
Bambang, Nueva Vizcaya
INSTRUCTIONAL MODULE
IM No.: MECH02-2S-2020-2021

2. Motion Relative to a Frame in Translation

The relative motion of an object depends on any arbitrary fixed reference frame while the moving object
is in the moving frame of reference. Shown in Figure 3 with particles A & B moving in space, their
positions are defined by rA and rB with respect to fixed frame of reference O.

Figure 3. Relative position of A and B

Consider now a system of another coordinate (red figure) with axes x’, y’ and z’ centered at A and parallel to
original x,y,z axes. Thus the frame of reference of A (x’,y’,z’) is in translation with respect to O (x,y,z). The
vectors:

rB/A from A to B defines the position of B relative to moving frame A (x’,y’,z’)  position of B relative to A

Looking at Figure 3, the vector rB (blue arrow) is simply the sum of the position vector rA and position vector
rB/A, thus, written as
/

Getting the derivative of the position vector (dot sign) gives the velocity vector, thus the velocity vector vB is
/
Getting the derivative of the velocity vector (double dot sign) gives the acceleration, thus the acceleration aB is
/

SAMPLE PROBLEM

Automobile A is traveling east at the constant speed of 36 km/h. As

automobile A crosses the intersection shown, automobile B starts from rest
35 m north of the intersection and moves south with a constant acceleration
of 1.2 m/s2.

Determine the position, velocity, and acceleration of B relative to A 5 s after

A crosses the intersection.

Solution:
The velocity A has constant speed of 36kph or 10m/s when converted. Since constant speed, the
acceleration of A is zero. Thus,
0 10 , 10 / , 0 / 2
For t=5 s, we substitute
10(5) 50 , 10 / , 0 / 2

The velocity B has constant acceleration of 1.2 m/s2 but negative sign since going south direction. Thus it
follows a uniformly accelerated motion.
1
35 0 (0.5)( 1.2)
2
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Bambang, Nueva Vizcaya
INSTRUCTIONAL MODULE
IM No.: MECH02-2S-2020-2021

1.2
1.2 /
For t=5 s, we substitute
35 (0.5)( 1.2)( ) 20
1.2( ) 6 /
1.2 /
Motion of B relative to A:
We draw the triangle formed by the position vectors of A and B. Since rA=50 m to east and rB = 20m to north,

/ (follow the arrow)

/
We solve rB/A by triangle formula,
/ 20 50
/ .
20
.
50

We draw the triangle formed by the velocity vectors of A and B. Since vA=10 m/s to east and vB = 6m to south,

/ (follow the arrow)

/
We solve vB/A by triangle formula,
/ ( 6) 10
/ . /
6
.
10
We draw the direction formed by the acceleration of A and B. Since aA=0 m/s and aB = -1.2 m/s2, no arrow
figure for A such that aB/A and aB has same direction.

/ .

3. Tangential and Normal Components

For simplification purposes, the tangential and normal components are the scalar
components of acceleration that are related to the speed of the particle and radius of curvature from the
center following a path P. Hence, the acceleration is written into two components:
(

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Bambang, Nueva Vizcaya
INSTRUCTIONAL MODULE
IM No.: MECH02-2S-2020-2021

The tangential component is equal to rate of change of velocity (discussed

in Module 1) while the normal components is the ratio of square of speed
over the radius of curvature of path at P.

While speed increases, at is positive and the vector points in the

direction of motion as shown in Figure 4. The at becomes negative if
speed decreases and points against the direction of motion. The
normal component an is always directed toward C or center of curvature
of path shown in the left figure.

Figure [Link] components of P

Note: To say that the total acceleration is zero, both components must have zero value. The tangential
form becomes zero at constant speed, and the normal form must have infinite radius of curvature R. If
the R is very large, we can assume that path follows a straight line already. If the path is straight line,
the normal component is zero, hence computation of acceleration is simply dv/dt, and we go back to
rectilinear motion.

SAMPLE PROBLEM

A motorist is traveling on a curved section of highway of radius 2500 ft at

the speed of 60 mi/h. The motorist suddenly applies the brakes, causing
the automobile to slow down at a constant rate. Knowing that after 8 s, the
speed has been reduced to 45 mi/h, determine the acceleration of the
automobile immediately after the brakes have been applied.
Solution:
Convert velocities:
60 mi/h x (5280ft/mi) x (1h/3600s) = 88ft/s
45 mi/h x (5280ft/mi) x (1h/3600s) = 66t/s
As stated, since the car slows down at constant rate, we get the average tangential acceleration:
66 / 88 /
, 2.75 /
8
The speed of car is still 88 ft/s right after applying the brake (~0 sec), thus the normal form:
88
3.10 /
2500
Drawing the FBD of the car A shows

Note that in FBD above, at is in negative direction of motion while the direction of an is ALWAYS
towards the center of curvature (positive). Thus, the resultant a is computed:
Magnitude: √ 2.75 3.10 .
.
Direction: .
.

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Bambang, Nueva Vizcaya
INSTRUCTIONAL MODULE
IM No.: MECH02-2S-2020-2021

4. Radial and Transverse Components

When dealing with motion in polar coordinates r and u in different mechanism applications (e.g.
rocker, roller mechanism, robotic arm, etc.), it is more convenient to solve the motion of particle into
components that are parallel and perpendicular to line of arm. These components are radial and
transverse. In simplified forms, the scalar components of velocity and acceleration in radial and transverse
direction are written as,

where r is the vector length of line OP (radial direction) and u is obtained by rotating r through 90o counter-
clockwise (transverse direction).

Figure 5. Radial and transverse components

Here, we note that ar is not simply equal to the time derivative of vr and au is not equal to derivative of vu.
If in case the particle moves along a circle where radius is constant,

The above equation becomes

SAMPLE PROBLEM:

The rotation of the 0.9-m arm OA about O is defined by the relation

u = 0.15t2, where u is expressed in radians and t in seconds.

Collar B slides along the arm in such a way that its distance from O is
r = 0.9 - 0.12t2, where r is expressed in meters and t in seconds.

After the arm OA has rotated through u=30°, determine:

(a) the total velocity of the collar
(b) the total acceleration of the collar
(c) the relative acceleration of the collar with respect to the arm.

Solution:

Substituting u=30°, we get t

0.524 0.15  t=1.869 s

Note: 180°, thus 300/180 x = 0.524 rad

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Bambang, Nueva Vizcaya
INSTRUCTIONAL MODULE
IM No.: MECH02-2S-2020-2021

Sustituting t=1.869 s to r equation and first and second derivative, we get

Radial Component:
Position: . . . . ( . ) .
Velocity: ( )( . ) . ( . ) . /
Acceleration: . /

Transverse Component:
Position: 0.15 0.15(1.869) .
Velocity: (2)(0.15 ) 0.30(1.869 ) . /
Acceleration: . /

To get the velocity of collar B, we use equations as discussed above

. /
( . ) . . /

As shown in FBD above, the resultant v is computed by right triangle technique, that is,
Magnitude: 0.270 ( 0.449) . /
.
Direction: .
.

To get the acceleration of collar B, we use equations as discussed above

. ( . )( . ) . /
( . )( . ) ( . )( . ) . /

As shown in FBD above, the resultant a is computed by right triangle technique, that is,
Magnitude: 0.391 ( 0.359) . /
.
Direction: .
.

Note that the direction of ar is negative going down to fixed origin O, while the negative value of
at rotates clockwise to zero degree.

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Bambang, Nueva Vizcaya
INSTRUCTIONAL MODULE
IM No.: MECH02-2S-2020-2021

The acceleration of collar B relative to arm OA is rectilinear and defined by coordinate r

/

The acceleration of arm OA, is ZERO since the whole arm is fixed at origin O and thus not
translate. Thus,

/ , , ( )

To complete the analysis, the collar B does not rotate since it is constrained only to translation
by the arm OA. Only the arm OA rotates, thus transverse directions of B becomes .

/ ( ) . /

VI. LEARNING ACTIVITIES:

Seatwork #2: Solve the following problems and box your final answers. The solution must include the free-
body diagram (if needed), the magnitude and direction of all vectors involved. Pattern the step-by-step
solution in sample problems.

1.) A ball is thrown so that the motion is defined by the

equations x = 5t and y = 2 + 6t - 4.9t2, where x and y are
expressed in meters and t is expressed in seconds.
Determine:
(a) the velocity at t=1 s
(b) the horizontal distance the ball travels before hitting the
ground.

2.) Milk is poured into a glass of height 140 mm and inside

diameter 66 mm. If the initial velocity of the milk is 1.2 m/s at an
angle of 40° with the horizontal, determine the range of values of
the height h for which the milk will enter the glass.

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Bambang, Nueva Vizcaya
INSTRUCTIONAL MODULE
IM No.: MECH02-2S-2020-2021

3.) Race car A is traveling on a straight portion of the track

while race car B is traveling on a circular portion of the
track. At the instant shown, the speed of A is increasing
at the rate of 10 m/s2, and the speed of B is decreasing
at the rate of 6 m/s2. For the position shown, determine
(a) the velocity of B relative to A
(b) the acceleration of B relative to A.

4.) As rod OA rotates, pin P moves along the parabola BCD.

Knowing that the equation of this parabola is r = 2b/(1 + cos u) and that
u = kt, determine the velocity and acceleration of P when

(a) u = 00
(b) u = 900

Hint: Get the first and second derivative of r with respect to u where b is
constant.

VII. EVALUATION

To be given via MS Teams

VIII. ASSIGNMENT:

Assignment #2. Solve the following problems and box your final answers. The solution must include the
free-body diagram (if needed), the magnitude and direction of all vectors involved. Pattern the step-by-step
solution in sample problems.

1.) A robot arm moves so that P travels in a circle about point B,

which is not moving. Knowing that P starts from rest, and its speed
increases at a constant rate of 10 mm/s2, determine
(a) the magnitude of the acceleration when t = 4 s
(b) the time for the magnitude of the acceleration to be 80 mm/s2.

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Bambang, Nueva Vizcaya
INSTRUCTIONAL MODULE
IM No.: MECH02-2S-2020-2021

2.) The rotation of rod OA about O is defined by the relation u = t3 - 4t, where
u and t are expressed in radians and seconds, respectively.
Collar B slides along the rod so that its distance from O is r=2.5t3- 5t2, where
r and t are expressed in inches and seconds, respectively. When t = 1 s,
determine
(a) the velocity of the collar
(b) the acceleration of the collar
(c) the radius of curvature of the path of the collar

IX. REFERENCES:

A. Beer, F. P., Johnston, E. R., Mazurek, D. F., & Cornwell, P. J. (2013). Vector Mechanics for Engineers:
Statics and Dynamics. New York, New York: McGraw Hill

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