Dynamics
Common Nomenclature
t = time
s position coordinate, measured along a curve from an origin
v velocity
a = acceleration
an = normal acceleration
at = tangential acceleration
= angular position coordinate
angular velocity
= angular acceleration
angular velocity of x,y,z reference axis measured from the X,Y,Z reference
:
X = angular acceleration of x,y,z reference axis measured from the X,Y,Z reference
rA/B relative position of A with respect to B
vA/B relative velocity of A with respect to B
aA/B relative acceleration of A with respect to B
Particle Kinematics
inematics is the study of motion without consideration of the mass of, or the forces acting on, a system. For particle motion,
let r(t be the position vector of the particle in an inertial reference frame. The velocity and acceleration of the particle are
defined, respectively, as
v = dr/dt
a = dv/dt
where
v instantaneous velocity
a = instantaneous acceleration
t = time
Cartesian Coordinates
r = xi + yj + z k
v = xo i + yo j + zo k
a = xpi + yp j + zpk
where
xo dx/dt vx, etc.
2 2
xp d x/dt ax, etc.
Radial and Transverse Components for Planar Motion
y
eθ
er
r
θ
x
PATH
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Dynamics
nit vectors er and e are, respectively, collinear with and normal to the position vector r. Thus:
r = rer
v = roer + rio ei
a = _rp − rio i er + _rip + 2roio i ei
2
where
r radial position coordinate
i angle from the x axis to r
ro dr/dt, etc.
rp d 2 r/dt 2, etc.
Particle Rectilinear Motion
Variable a Constant a = a0
a
dv v = v0 + a0t
dt
1
ds s = s0 + v0t + 2 a0t 2
v dt
s = s0 + 2 _v0 + v j t
1
a ds v dv
v 2 = v02 + 2a0 _ s − s0 j
Particle Curvilinear Motion
x, y, z Coordinates r, i, z Coordinates
vx xo ax xp vr = ro ar = rp − rio 2
vy yo ay yp vi = rio ai = rip + 2roio
vz zo az zp
vz = zo az = zp
n, t, b Coordinates
v=s dv dv
at = v = =v
dt ds
v2 [1 + (dy/dx)2[3/2
an = ρ ρ=
d 2y
dx2
Relative Motion
rA = rB + rA/B vA = vB + vA/B aA = aB + aA/B
Translating Axes x-y
The equations that relate the absolute and relative position, velocity, and acceleration vectors of two particles A and B, in plane
motion, and separated at a constant distance, may be written as
y
Y
rA/B A
B
rB x
rA = rB + rA/B rA
vA = vB + × rA/B = vB +vA/B
aA = aB + × rA/B + × × rA/B) = aB + aA/B O X
where and are the absolute angular velocity and absolute angular acceleration of the relative position vector rA/B of constant
length, respectively.
Source: Adapted from ibbeler, .C., Engineering Mechanics, th ed., rentice all, .
©2020 NCEES 102
Dynamics
Plane Circular Motion
A special case of radial and transverse components is for constant radius rotation about the origin, or plane circular motion.
y
eθ
er
r
s
θ
x
ere the vector quantities are defined as
r = rer
v = r~ei
a = _− r~ 2 i er + raei
where
r radius of the circle
i angle from the x axis to r
The values of the angular velocity and acceleration, respectively, are defined as
~ = io
a = ~o = ip
Arc length, transverse velocity, and transverse acceleration, respectively, are
s = ri
vi = r~
ai = ra
The radial acceleration is given by
ar =- r~ 2 (towards the center of the circle)
Normal and Tangential Components
y
et
en
x
PATH
nit vectors et and en are, respectively, tangent and normal to the path with en pointing to the center of curvature. Thus
v = v ^ t h et
a = a ^ t h et + `vt2 /t j en
where
t instantaneous radius of curvature
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Dynamics
Constant Acceleration
The equations for the velocity and displacement when acceleration is a constant are given as
a(t) = a0
v(t) = a0 (t – t0) + v0
s(t) = a0 (t – t0)2/2 + v0 (t – t0) + s0
where
s = displacement at time t, along the line of travel
s0 = displacement at time t0
v velocity along the direction of travel
v0 velocity at time t0
a0 = constant acceleration
t = time
t0 = some initial time
For a free-falling body, a0 g downward towards earth .
An additional equation for velocity as a function of position may be written as
v 2 = v02 + 2a0 _ s - s0i
For constant angular acceleration, the equations for angular velocity and displacement are
a ^ t h = a0
~ ^ t h = a0 _t − t0 j + ~0
i ^ t h = a0 _t − t0 j /2 + ~0 _t − t0 j + i0
2
where
angular displacement
0 = angular displacement at time t0
angular velocity
0 angular velocity at time t0
0 = constant angular acceleration
t = time
t0 = some initial time
An additional equation for angular velocity as a function of angular position may be written as
~ 2 = ~02 + 2a0 _i − i0 j
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Dynamics
Projectile Motion
y
v0
θ
x
The equations for common pro ectile motion may be obtained from the constant acceleration equations as
ax = 0
vx = v0 cos(
x = v0 cos( t + x0
ay = –g
vy = –gt + v0 sin(
y = –gt2/2 + v0 sin( t + y0
Non-constant Acceleration
When non-constant acceleration, a(t , is considered, the equations for the velocity and displacement may be obtained from
v ^ t h = # a ^x h dx + vt0
t
t0
s ^ t h = # v ^x h dx + st0
t
t0
For variable angular acceleration
t
~ ^t h = # a ^xh dx + ~t0
t0
t
i ^t h = # ~ ^xh dx + it0
t0
where is the variable of integration
Concept of Weight
W = mg
where
W weight N or lbf
m mass kg or lbf-sec2/ft)
g local acceleration of gravity m s2 or ft/sec2)
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Dynamics
Particle Kinetics
Newton s second law for a particle is
F d(mv)/dt
where
F sum of the applied forces acting on the particle
m mass of the particle
v velocity of the particle
For constant mass,
F m dv/dt ma
One-Dimensional Motion of a Particle (Constant Mass)
When motion exists only in a single dimension then, without loss of generality, it may be assumed to be in the x direction, and
ax Fx /m
where Fx the resultant of the applied forces, which in general can depend on t, x, and vx.
If Fx only depends on t, then
ax ^ t h = Fx ^ t h /m
t
vx ^ t h = # ax ^x h dx + vxt0
t0
t
x ^ t h = # vx ^x h dx + xt0
t0
where is the variable of integration.
f the force is constant i.e., independent of time, displacement, and velocity then
ax = Fx /m
vx = ax _t − t0 j + vxt0
x = ax _t − t0 j /2 + vxt0 _t − t0 j + xt0
2
Normal and Tangential Kinetics for Planar Problems
When working with normal and tangential directions, the scalar equations may be written as
RFt mat mdvt /dt
RFn ma n m `v t2 /t j
Principle of Work and Energy
If Ti and Vi are, respectively, the kinetic and potential energy of a particle at state i, then for conservative systems no energy
dissipation or gain , the law of conservation of energy is
T2 V2 T1 V1
f nonconservative forces are present, then the work done by these forces must be accounted for. ence
T2 V2 T1 V1 U1 2, where
U1 2 the work done by the nonconservative forces in moving between state and state . Care must be exercised during
computations to correctly compute the algebraic sign of the work term. f the forces serve to increase the energy of the system,
U1 2 is positive. f the forces, such as friction, serve to dissipate energy, U1 2 is negative.
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Dynamics
Kinetic Energy
1 2
T= mv
Particle 2
Rigid Body
1 2 1
( Plane Motion T= mvc + Ic 2
2 2
subscript c represents the center of mass
Potential Energy
V = Vg + Ve , where Vg = Wy , Ve = 1/2 ks2
The work done by an external agent in the presence of a conservative field is termed the change in potential energy.
Potential Energy in Gravity Field
Vg mgh
where h the elevation above some specified datum.
Elastic Potential Energy
For a linear elastic spring with modulus, stiffness, or spring constant, k, the force in the spring is
Fs k s
where s the change in length of the spring from the undeformed length of the spring.
n changing the deformation in the spring from position s1 to s2, the change in the potential energy stored in the spring is
V2 - V1 = k ` s 22 - s12 j /2
Work
Work U is defined as
U F • dr
Variable force U F = F cos ds
Constant force U F = Fc cos ∆s
Weeight UW = W∆y
1 2 1 2
Spring Us = ks ks
2 2 2 1
Couple moment U M = M
Power and Efficiency
dU Pout U
P= = F• v ε= = out
dt Pin U in
Source: Adapted from ibbeler, .C., Engineering Mechanics, th ed., rentice all, .
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