Engineering Mechanics B

EEMQ 2241 – Engineering Mechanics B

Course Description / Content

 Dynamics of particles and rigid bodies: Rectilinear motion of
particles, relative motion, Curvilinear motion, Newton‟s laws of motion,
energy and momentum equations.
 Circular motion: Angular momentum, centrifugal forces, conservation
of linear and angular momentum. Linear and angular acceleration for
thin plates, three dimensional bodies and composite bodies.
 Impulse: Impact of elastic and inelastic bodies, momentum transfer.
 Translation and rotation of rigid bodies; velocity and acceleration,
plane motion of rigid bodies; forces and acceleration.
 Friction: sliding friction, rolling friction, static and kinetic friction, stick-
slip phenomenon.
 EEMQ 2241 – Engineering Mechanics B

Course Objective/Purpose of the Course

1.) The goal of this Engineering Mechanics course is to expose students
to problems in mechanics as applied to plausibly real-world scenarios.

2.) Understand the equations of linear motion

3.) Understand Newton‟s second law and its applications

4.) Understand the concept of dynamic equilibrium

 EEMQ 2241 – Engineering Mechanics B

Learning outcome
At the end of this course, the student should be able to:
1.) Solve motion problems using the equations of linear motion e.g.
Relative motion, Projectiles etc
2.) Determine absolute and relative velocoties in general plane motion
3.) Solve simple problems relating to Newton„s second law and dynamic
equilibrium.
 EEMQ 2241 – Engineering Mechanics B

Reference Books:
 Course Material: Text Book is “Mechanics of
Materials, 6th Edition Beer, Johnston, DeWolf, McGraw-
Hill, 2012, ISBN 978-0-07-338028-5.”
 Mechanics of Materials, 9th Edition, Hibbeler, R.C.,
Pearson Prentice Hall, 2014, ISBN: 9780133254426
 Engineering Mechanics of Solids, E. P. Popov,
Prentice-Hall
Engineering Mechanics B

Chapter 1
Introduction
 Introduction
 Engineering mechanics is the application of mechanics to solve
problems involving common engineering elements.
 When machines and structures started to operate with high
speeds it became necessary to make calculations based on the
principles of dynamics rather than on the principles of statics.
 The rapid technological developments of the present day require
increasing application of the principles of mechanics. These
principles are basic to the analysis and design of moving
structures, fixed structures subjected to shock loads, robotic
devices, automatic control systems, rockets and machinery of all
types.
 Introduction
 Engineering mechanics is the application of mechanics
to solve problems involving common engineering
elements.
 Types of Engineering Mechanics:
 Statics : Statics is the branch of mechanics that deals
with the study of objects at rest. Objects at rest may or
may not be under the influence of forces.
 Dynamics: Dynamics is the branch of mechanics that
deals with the study of objects in motion and the forces
causing such motion.
 Introduction
 Dynamics can be further classified into two types. They are:
Kinematics and Kinetics
 Kinematics: is the study of motion

of bodies without considering the forces

acting on them.
 Kinetics: Kinetics is the branch of

dynamics which deals with the study

of motion of bodies by considering
the forces acting on them.
 Kinematics is the study of motion without
reference to the forces which cause motion.
 Kinematics: The description of motion
(position, velocity, acceleration, time)
without regard to forces.
 Particle Kinematics
 Rigid Body Kinematics
 Kinetics relates the action of forces on bodies
to their resulting motions.
 Kinetics: Determining the forces
(based on F=ma) associated with
motion.
 F=ma (Particles and Rigid Bodies)
 Integrated forms of F=ma
(Work-Energy, Impulse-Momentum)
 Particles & Rigid Bodies
 Particle: A point. Insignificant dimensions.
Rotation not defined.
 A particle is a body of negligible dimensions.
 Generally a particle is thought to be an
infinitesimally small element which possesses all
properties of a body. But when the dimensions of
a body are irrelevant to the description of its
motion or the action of forces on it, a large body
may also be treated as a particle.
 Particles & Rigid Bodies
 Rigid Body: Infinite number of points. A RB
may rotate, with angular displacement,
velocity and acceleration.
 A rigid body is a body whose changes in shape are
negligible compared with the overall dimensions of
the body or with the changes in position of the
body as a whole. The shape and dimensions of a
rigid body will remain the same under all
conditions of loading and at all times.
 Rigid Bodies
 Body which does not deform/change shape
under the influence of forces.
 A body on which the distance between two
points/molecules never changes (remains the
same) whatever the force applied on it.
1. No object is rigid body in real life
2. It is idealized model
3. Unchanging shape and size
 A rigid body is one for which all the parts
maintain the same positions relative to one
another.
 It cannot deform or change shape in any
way. It can only translate and rotate.
 It is an idealization. There is no such thing
as a perfectly rigid body.
 Kinematic Variables
 Particle kinematics involves describing
a particle’s position, velocity and
acceleration versus time.
Kinematic Variables
Description Vector Scalar
Position r s
Velocity v v
Acceleration a a
Time t t
 Particle Kinetics
 Rectilinear motion: position, velocity, and acceleration of a
particle as it moves along a straight line.
 The position, velocity and acceleration of a body is only
described by their x components, the y and z components are
zero. In this case, the x axis may be taken as the axis of the
motion and the body may move along a straight line with
varying velocity and acceleration.
 Particle Kinetics
 Planar Curvilinear motion: position, velocity, and
acceleration of a particle as it moves along a curved line
in two dimensions (Usually z component of these is 0).
 Space Curvilinear motion: position, velocity, and
acceleration of a particle as it moves along a curved line
in three dimensions.
 Kinematics of Rigid Bodies
We will group the various types of rigid-body motion into three categories:
Translation – rectilinear or curvilinear motion where all of the particles that make
up the body move along parallel paths
Rotation about a fixed axis – the particles of the rigid body move in parallel planes
along circles centered on the axis of rotation
General plane motion – plane motion that is a combination of translation and
rotation
 Rolling motion of a particle on a wheel
(Superposition of rolling and linear motion)

Rolling

=
Rotation
+
Linear
 Kinematics of Rigid Bodies
 Linear Motion

 Corresponding Angular Motion

Relation between Linear and Angular
Quantities of Motion
 Angular Quantities:
Acceleration - Summary
If the angular velocity of a rotating object changes, it
has a tangential acceleration:

at  r 

Even if the angular velocity is constant,

each point on the object has a centripetal
acceleration:
 s=r
r One radian is the angle
subtended by an arc length
equal to the radius of the arc.
q
s 2r
For full circle: q    2
r r

Full circle has an angle of 2 radians, Radian Degrees

2 360°
Thus, one radian is 360°/2  57.3
 180°
/2 90°
1 57.3°
The frequency is the number of complete revolutions
per second:
f = ω/2π
Frequencies are measured in hertz.
1 Hz = 1 s−1
The period is the time one revolution takes:
 Calculus Application

The motion equations for the case of constant acceleration can be

developed by integration of the acceleration. The process can be reversed
by taking successive derivatives.
Rectilinear Motion: Position, Velocity & Acceleration

• Consider particle with motion given by

x  6t 2  t 3
dx
v  12t  3t 2
dt
dv d 2 x
a  2  12  6t
dt dt

• at t = 0, x = 0, v = 0, a = 12 m/s2

• at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0

• at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

• at t = 6 s, x = 0, v = -36 m/s, a = -24 m/s2

Example 1
Example 3
 Example 4: Discuss Thrower

Arm rotates as rigid body: r = 0.8 m

Constant angular acceleration  = 50 rad/s2

Find the tangential and radial (centripetal)

r
components of the acceleration
a tan g   r  50 x 0.8  40 m / s 2
• constant magnitude
• direction: tangent to rotary motion

arad  w2 r  (w0   t)2 r

• w not constant
Start from rest  w0 = 0

 arad  ( t)2 r • centripetal acceleration growing rapidly as square of time

 Example 5
The blade of a windshield wiper moves
through an angle of 90 degrees in 0.28
seconds. The tip of the blade moves on
the arc of a circle that has a radius of
0.76m. What is the magnitude of the
centripetal acceleration of the tip of the
blade?

2r 2 (.76)
vc  vc   4.26 m / s
T (.28 * 4)
Period T is the time
required to travel once
around the circle,
v 2 (4.26) 2
that is, to make one
complete revolution. ac    23.92 m / s 2
r 0.76
 Example 6

Ball tossed with 10 m/s vertical velocity from window 20 m above

ground.
Determine:
• velocity and elevation above ground at time t,
• highest elevation reached by ball and corresponding time, and
• time when ball will hit the ground and corresponding velocity.
Example SOLUTION:
• Integrate twice to find v(t) and y(t).

dv
 a  9.81 m s 2
dt
v t  t
 dv    9.81dt vt   v0  9.81t
v0 0

m  m
vt   10   9.81 2  t
s  s 
dy
 v  10  9.81t
dt
y t  t
 dy   10  9.81t dt y t   y0  10t  12 9.81t 2
y0 0

 m  m
yt   20 m  10 t   4.905 2 t 2
40
 s  s 
Example
• Solve for t at which velocity equals zero and evaluate
corresponding altitude.

m  m
vt   10   9.81 2  t  0
s  s 
t  1.019 s

 m  m
y t   20 m  10 t   4.905 2 t 2
 s  s 
 m  m
y  20 m  10 1.019 s    4.905 2 1.019 s 2
 s  s 
y  25.1 m
Example
• Solve for t at which altitude equals zero and
evaluate corresponding velocity.

 m  m
yt   20 m  10 t   4.905 2 t 2  0
 s  s 
t  1.243 s meaningless 
t  3.28 s

m  m
vt   10   9.81 2  t
s  s 
m  m
v3.28 s   10   9.81 2  3.28 s 
s  s 

m
v  22.2
s
 Example 7
SOLUTION:

a   kv • Integrate a = dv/dt = -kv to find v(t).

• Integrate v(t) = dx/dt to find x(t).

• Integrate a = v dv/dx = -kv to find
Brake mechanism used to reduce gun v(x).
recoil consists of piston attached to barrel
moving in fixed cylinder filled with oil.
As barrel recoils with initial velocity v0,
piston moves and oil is forced through
orifices in piston, causing piston and
cylinder to decelerate at rate proportional
to their velocity.
Determine v(t), x(t), and v(x).
Example
SOLUTION:
• Integrate a = dv/dt = -kv to find v(t).

dv
v
dv
t
v t 
a
dt
 kv v v  k 0 dt ln
v0
 kt
0

vt   v0 e  kt
• Integrate v(t) = dx/dt to find x(t).
dx
v t    v0e  kt
dt
t
 1 
x t

 dx  v  e
0
 kt
dt x  t   v0   e  kt 
0 0  k 0

xt  
v0
k

1  e kt 
Example
• Integrate a = v dv/dx = -kv to find v(x).
v x
dv
a  v   kv dv   k dx  dv  k  dx
dx v0 0
v  v0   kx
v  v0  kx
• Alternatively,

with xt  
v0
k

1  e kt 
vt 
and vt   v0 e kt or e kt 
v0
v  vt  
then xt   0 1  
k  v0 
v  v0  kx
 Example 8

SOLUTION:
• Determine the proper kinematic
relationship to apply (is acceleration
The car starts from rest and accelerates a function of time, velocity, or
according to the relationship position?
• Determine the total distance the car
travels in one-half lap
a  3  0.001v2
It travels around a circular track that has • Integrate to determine the velocity
a radius of 200 meters. Calculate the after one-half lap
velocity of the car after it has travelled
halfway around the track. What is the
car’s maximum possible speed?
 Example
Given: a  3  0.001v2 Find: v after ½ lap
Maximum speed
vo = 0, r = 200 m
Choose the proper kinematic relationship
Acceleration is a function of velocity, and we
also can determine distance. Time is not
involved in the problem, so we choose:
x v
dv
v  a v v dv
dx  dx  
x0 v0
a v

Determine total distance travelled

x   r  3.14(200)  628.32 m
 Example
Determine the full integral, including limits

x v
v dv 628.32 v

x dx  v a  v 
v
0 0

0
dx  
0
3  0.001v 2
dv

Evaluate the interval and solve for v

1 2 v
628.32   ln 3  0.001v 

0.002 0

628.32( 0.002)  ln 3  0.001v 2   ln 3  0.001(0) 

ln 3  0.001v 2   1.2566  1.0986=  0.15802

Take the exponential of each side 3  0.001v2  e0.15802

 Example
Solve for v 3  0.001v2  e0.15802

3  e0.15802
v 
2
 2146.2 v  46.3268 m/s
0.001

How do you determine the maximum speed the car can reach?
Velocity is a maximum when
acceleration is zero
a  3  0.001v2

This occurs when 0.001v2  3

vmax  3
0.001 vmax  54.772 m/s
 Motion of Several Particles
We may be interested in the motion of several different particles,
whose motion may be independent or linked together.
Motion of Several Particles: Relative Motion

• For particles moving along the same

line, displacements should be
measured from the same origin in
the same direction.
x B A  x B  x A  relative position of B
with respect to A
xB  x A  xB A

v B A  v B  v A  relative velocity of B
with respect to A
vB  v A  vB A

a B A  a B  a A  relative acceleration of B
with respect to A
aB  a A  aB A
 Example

Ball thrown vertically from 12 m

level in elevator shaft with initial
velocity of 18 m/s. At same
instant, open-platform elevator
passes 5 m level moving upward
at 2 m/s.
Determine (a) when and where
ball hits elevator and (b) relative
velocity of ball and elevator at
contact.
Example
SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.

• Substitute initial position and constant

velocity of elevator into equation for
uniform rectilinear motion.
• Write equation for relative position of
ball with respect to elevator and solve
for zero relative position, i.e., impact.

• Substitute impact time into equation

for position of elevator and relative
velocity of ball with respect to
elevator.
Examples
SOLUTION:
• Ball: uniformly accelerated motion
(given initial position and velocity).
• Elevator: constant velocity (given initial
position and velocity)

• Write equation for relative position of

ball with respect to elevator and solve
for zero relative position, i.e., impact.

• Substitute impact time into equation

for position of elevator and relative
velocity of ball with respect to elevator.
Example

SOLUTION:
• Ball: uniformly accelerated rectilinear motion.

m  m
v B  v0  at  18   9.81 2 t
s  s 
 m  m
y B  y0  v0t  12 at 2  12 m  18 t   4.905 2 t 2
 s  s 

• Elevator: uniform rectilinear motion.

m
vE  2
s
 m
y E  y0  v E t  5 m   2 t
56
 s
Example
• Relative position of ball with respect to elevator:

yB E  
 12  18t  4.905t 2  5  2t   0
t  0.39 s meaningless 
t  3.65 s

• Substitute impact time into equations for position of elevator

and relative velocity of ball with respect to elevator.
y E  5  23.65
y E  12.3 m

vB E  18  9.81t   2
 16  9.813.65
m
v B E  19.81
s
 Curvilinear Motion

A particle moving along a curve other than a straight line

is said to be in curvilinear motion.
 Projectile Motion
 Motion of objects moving in 2 dimensions
which are under the influence of gravity.
 Normally air resistance is ignored so the only
force acting upon the body is gravity.
 Types of Projectile
1. Projectiles launched horizontally
 NO initial upward or downward motion
 All motion will be horizontal (x) and down (y)
 Types of Projectiles
2. Projectiles launched at an angle
 Use x and y components to analyze motion
 Have initial upward angle of motion (could be initially downward as
well)
 Have initial horizontal motion
 Projectile Motion
Horizontal Vertical

v y  v0 y  a y t
vx  v0 x  axt
x  x0  v0 x t  12 a x t 2 y  y0  v0 y t  12 a y t 2
v x  v0 x  2a x ( x  x0 ) v y 2  v0 y 2  2a y ( y  y0 )
2 2

X and Y motions happen independently, so we can

treat them separately
v x  v0 x v y  v0 y  gt

x  x0  v0 x t y  y0  v0 y t  12 gt 2
 Projectile Motion
Horizontal Vertical

v x  v0 x v y  v0 y  gt
x  x0  v0 x t y  y0  v0 y t  12 gt 2

 Velocity initial conditions:

 v0 can have x, y components.

 v0x is constant usually.

v0 x  v0 cos q 0
 v0y changes continuously. v0 y  v0 sin q 0
 Height of an Projectile
 The greatest height that the
object will reach is known as height h
of projectile.
 It does not depend on mass of

the object.
 Range of an Projectile
 The range of an projectile is
the distance covered by the body till
it comes to rest in x-axis.
 It does not depend on mass of

the object.
 Time of flight of a Projectile
 The total time for which the
projectile remains in air is known
as time of flight.
 Example 1
SOLUTION:
• Consider the vertical and horizontal motion
separately (they are independent)
• Apply equations of motion in y-direction

• Apply equations of motion in x-direction

A projectile is fired from the edge
of a 150-m cliff with an initial • Determine time t for projectile to hit the
velocity of 180 m/s at an angle of ground, use this to find the horizontal
30°with the horizontal. Neglecting distance
air resistance, find (a) the horizontal
distance from the gun to the point • Maximum elevation occurs when vy=0
where the projectile strikes the
ground, (b) the greatest elevation
above the ground reached by the
projectile.
 Example

y
Remember:
v  v0  at
x  x0  v0t  12 at 2
v  v  2a  x  x0 
2 2
0
x
 Example
SOLUTION:

Given: (v)o =180 m/s (y)o =150 m

(a)y = - 9.81 m/s2 (a)x = 0 m/s2
Vertical motion – uniformly accelerated:

Horizontal motion – uniformly accelerated:

Choose positive x to the right as shown
 Example SOLUTION:

Horizontal distance

Projectile strikes the ground at:

Substitute into equation (1) above

Solving for t, we take the positive root

Substitute t into equation (4)

Maximum elevation occurs when vy=0

Maximum elevation above the ground =

 Example 2
John kicks the ball and ball does projectile motion with an
angle of 53º to horizontal. Its initial velocity is 10 m/s, find the
maximum height it can reach, horizontal displacement and
total time required for this motion.
 Example 3
In the given picture you see the motion path of
cannonball. Find the maximum height it can
reach, horizontal distance it covers and total
time from the given information.
Example 4
Problem 1