Western Mindanao State University
Normal Rd., Baliwasan, Zamboanga City
College of Engineering
Mechanical Engineering Department
S.Y. 2025-2026
BES 122
DYNAMICS OF RIGID BODIES
MODULE 2
Engr. John Ray T. Miciano
Instructor
Learning Objectives
Students will define free fall as motion under constant gravitational acceleration (g = 9.81 m/s²) independent of
1
mass, apply kinematic equations like 𝑣 = 𝑔𝑡 and 𝑦 = 2 𝑔𝑡 2 to solve for position, velocity, and time of dropped
objects, recognize that all objects fall at the same rate without air resistance, and interpret linear velocity-time
graphs alongside parabolic position-time graphs. For rectilinear motion with variable acceleration, students will
derive velocity by integrating acceleration over time or finding the area under an acceleration-time graph, obtain
position by integrating velocity or using velocity-time graph areas, solve problems involving linear acceleration
functions (e.g., a = kt), construct and interpret non-linear motion graphs, and apply these concepts to practical
scenarios such as falling objects with air resistance or decelerating vehicles.
I. Rectilinear Motion with Variable Acceleration
When bodies experience variable forces, they undergo motion with variable acceleration, precluding general
kinematic equations like those for constant acceleration; instead, given data must be applied to differential
kinematic equations on a case-by-case basis, with procedures outlined rather than universal formulas. The three
principal variables—position (s), velocity (v), and acceleration (a)—are interrelated through a common
parameter, and each can be expressed in terms of time or combinations of the others, with simpler relationships
considered here.
Case 1: The displacement is given in terms of the time; i.e., s=f(t), to find v and a.
This is the simplest case and easily solved by successive differentiation of the displacement with respect to the time
𝑑𝑠 𝑑𝑣 𝑑2 𝑠
according to the fundamental definitions of velocity (𝑣 = 𝑑𝑡 ) and acceleration (𝑎 = = 𝑑𝑡 2 )
𝑑𝑡
Case 2: The acceleration is expressed in terms of the time; i.e., a=f(t), to find v and s.
𝑑𝑣
The general procedure is to start with 𝑎 = 𝑑𝑡
written in the form 𝑑𝑣 = 𝑎 𝑑𝑡 and integrate to find the velocity in terms of
𝑑𝑠
the time. We may now apply 𝑣 = 𝑑𝑡 written in the form 𝑑𝑠 = 𝑣 𝑑𝑡 and likewise integrate to determine the
displacement in terms of the time. Eliminating time between these two relations will give an equation between velocity
and displacement.
Case 3: The velocity is given in terms of the time; i.e., v=f(t), to find a and s.
This case is the combination of cases 1 and 2. Differentiating the given velocity-time relation determines the acceleration
𝑑𝑣
(𝑎 = 𝑑𝑡 ) while integrating it determines the displacement (𝑑𝑠 = 𝑣 𝑑𝑡).
Example Problems:
1. If the motion of a body is defined by the relation s=5t +4t3, s being in ft and t in seconds, determine the velocity and
acceleration of the body after 3 seconds.
2. Determine the velocity and displacement of a body after 2 seconds, if the motion is defined by the relation 𝑎 = 2𝑡, a
being in ft/s2 and t is in seconds, and if it is known that s=4 ft and v=2ft when t=1 sec.
s
3. The car moves in a straight line such that for a short time its velocity is defined by 𝑣 = (3𝑡 2 + 2𝑡)𝑓𝑡/𝑠, where t is in
seconds. Determine its position and acceleration when t=3 sec. When t=0, s=0.
II. Free Falling Bodies
Free fall is a common kind of motion which everybody can observe in daily life. If we drop something
accidentally, we can see its motion. In the beginning, it will have low speed and until the end, it gains speed and
before the collision, it reaches its maximum speed. Many factors are there to affect the speed of the object while
it is in free fall.
In solving problems on a falling-bodies, a specified direction (up or down) is assumed to represent positive
displacement. Velocity and acceleration are positive when directed along positive displacement; they are
negative when pointing in the opposite direction.
It should be observed that a negative value of acceleration does not per se indicate a slowing down. We can only
say that a body is accelerating if tis velocity is increasing with time, and it is decelerating if its velocity is
decreasing with time. This is equivalent to stating that a body is speeding up if the directions of velocity and
acceleration are the same, and slowing down if velocity and acceleration are oppositely directed.
In any motion involving free falling bodies, the general equations of motion for constant acceleration may be
applied by replacing a by g. No restriction on the equations needs to be made other than that velocity and
acceleration are to be taken as positive in the direction of positive displacement.
Old Equation: New Equation:
𝑣𝑓 = 𝑣𝑜 + 𝑎𝑡 𝑣𝑓 = 𝑣𝑜 + 𝑔𝑡
1 1
𝑠 = 𝑣𝑜𝑡 + 2 𝑎𝑡 2 𝑠 = 𝑣𝑜𝑡 + 2 𝑔𝑡 2
𝑣2 = 𝑣2 + 2𝑎𝑠 𝑣2 = 𝑣2 + 2𝑔𝑠
𝑓 𝑜 𝑓 𝑜
Example Problems:
1. A stone is thrown vertically into the air from a tower 100 ft high at the same instant that a second stone
is thrown upward from the ground. The initial velocity of the first stone is 50 ft/sec and that of the
second stone is 75 ft/sec. When and where will the stones be at the same height from the ground?
2. A stone is dropped from the top of a building with an elevation of 1000 ft. Two seconds later another
stone is projected vertically upward from the ground with a velocity of 248 ft/sec. If g=32 ft/sec2, when
and where will stones pass each other?
Supplementary Problems
1. A stone is dropped from the top of a tall building and falls freely under gravity. Neglecting air resistance, how
long will it take for the stone to reach the ground if the height of the building is 45 m and the acceleration due to
gravity is 9.8 m/s2?
2. A train starts from rest with acceleration 𝑎 = 2 + 0.5𝑡 m/s² for 10 seconds. Determine (a) Velocity at t=10 s
and (b) Distance traveled in 10 s.