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 1
Engr. John Ray T. Miciano
Instructor
Learning Objectives
At the end of the lesson, the students should be able to explain the basic concept of dynamics and accurately
determine the position, velocity, and acceleration of a particle in rectilinear motion using appropriate
mathematical relations and graphical representations.
I. Introduction to Dynamics
Mechanics is a branch of physical sciences that is concerned with the state of rest or motion of bodies subjected
to the action of forces. Engineering Mechanics is divided into two areas of study, namely,
Statics is concerned with the equilibrium of a body that is either at rest or moves with constant velocity.
Dynamics which deals with the accelerated motion of a body.
I.1 Applications of Dynamics
There are many problems in engineering whose solutions require application of the principle of dynamics.
Typically, structural design of any vehicle, such as an automobile or airplane, requires consideration of
the motion to which it is subjected.
This is also true for many mechanical devices, such as motors, pumps, movable tools, industrial
manipulators, and machinery.
Furthermore, predictions of the motion of artificial satellites, projectiles, and spacecraft are based on the
theory of dynamics.
With further advances in technology, there will be an even greater need for knowing how to apply the principles
of this subject.
I.2 Types of Dynamics
In physics and classical mechanics, dynamics is divided into two main branches that study the motion of bodies
under the action of forces:
1. Kinematics- This branch describes motion (position, displacement, velocity, acceleration) without
considering the cause of that motion.
2. Kinetics- This branch relates the action of forces, mass, and torque to the resulting motion.
I.3 Particle vs Body
To develop these principles, the dynamics of a particle will be discussed first, followed by the topics in rigid
body dynamics.
The term “particle” usually denotes an object of point size. The term “body” denotes a system of
particles which form an object of appreciable size.
In other words, a particle is a body so small that any differences in the motions of its parts can be
neglected.
The criterion of size is only relative, however; the terms particle and body may apply equally to the
same object. For example, the Earth may be assumed to be a particle in comparison with the size of its
path, whereas to an observer on the Earth, it is obviously a body of appreciable size.
In this course, the term particle is used to mean an object whose dimensions are negligible compared
with the size of its path.
II. Kinematics of a particle
We will begin our study of dynamics by discussing the kinematics of a particle that moves along a rectilinear or
straight-line path.
II.1 Motion of a particle
Rectilinear Kinematics refers to straight line motion. The kinematics of a particle is characterized by
specifying, at any given instant, the particle’s position, velocity, and acceleration.
Position
The straight-line path of a particle will be defined using a single coordinate axis s. The origin O on the path is a
fixed point the position coordinate s is used to specify the location of the particle at any given instant. The
magnitude of s is the distance from O to the particle, usually measured in meters (m) or feet (ft), and the sense
of direction is defined by the algebraic sign on s. Realize that the position is a vector quantity since it has both
magnitude and direction.
Displacement
The displacement of the particle is defined as the change in its position. If the particle moves from one point to
another, the displacement is ∆ s=s ' −s. In this case ∆ s is positive since the particle’s final position is to the
right of its original position, s' > s. Likewise, if the final position were to the left of its original position, ∆ s
would be negative.
Velocity
If the particle moves through a displacement ∆ s during the time interval ∆ t , the average velocity of the particle
∆s
during this time travel is v ave = . If we take smaller and smaller values of ∆ t , the magnitude of ∆ s becomes
∆t
∆s ds
smaller and smaller. Consequently, the instantaneous velocity is a vector defined as v= lim ( ), or v= .
∆ t → 0 ∆t dt
Since ∆ t∨dt is always positive, the sign used to define the sense of the velocity is the same as that of ∆ s∨ds .
For example, if the particle is moving to the right, the velocity is positive; whereas if it is moving to the left, the
velocity is negative. The magnitude of velocity is known as the speed, and it is generally expressed in units of
m ft
∨ . Occasionally, the term “average speed” is used. The average speed is always a positive scalar and is
s s
s
defined as the total distance traveled by a particle, st , divided by the elapsed time ∆ t ; (v sp )avg = t . For example,
∆t
s
the particle travels along the path of length st in time ∆ t , so its average speed is (v sp)avg = t , but its average
∆t
−∆ s
velocity is v ave = .
∆t
Acceleration
Provided the velocity of the particle is known at two points, the average acceleration of the particle during the
∆v
time interval ∆ t is defined as a avg= . Here ∆ v represents the difference in the velocity during time interval
∆t
∆ t , ∆ v=v ' −v . The instantaneous acceleration at time t is a vector that is found by taking smaller and smaller
2
∆v dv d s
values of ∆ t and corresponding smaller and smaller of values of ∆ v , so that a= lim or a= or a= 2
∆ t →0 ∆ t dt dt
Finally, an important differential relation involving displacement, velocity, and acceleration along the path may
ds dv
be obtained by eliminating the time differential dt between v= ∧a= , which gives,
dt dt
ds dv
v= a=
dt dt
ds dv
dt= dt=
v a
Since, dt v =dt a ;
ds dv
=
v a
Therefore,
a ds=v dv
Newton’s Laws of Motion for a particle
Newton’s laws of motion for a particle have been stated in variety of ways. For our purposes, we shall phrase
them as follows:
1st Law
An object at rest stays at rest, and an object in motion stays in motion with the same speed and in the same
direction unless acted upon by an unbalanced external force.
2nd Law
The acceleration of an object is directly proportional to the net force acting on it and inversely proportional to
its mass.
F=ma
3rd Law
For every action, there is an equal and opposite reaction.
III. RECTILINEAR TRANSLATION
Translation is defined as the motion of a rigid body in which a straight line passing through any two of its
particles always remains parallel to its initial position. The figure 10-1 represents a translating body at any
instant. A straight line has been drawn through two particles A and B. The position of the body at a later instant
is shown by the dashed outline. The line A’B’ passing through the same two particles is parallel to its original
position.
III.1 TYPES OF RECTILINEAR TRANSLATION
1. RECTINLINEAR MOTION WITH CONSTANT ACCELERATION
ds dv
When the acceleration is constant, each of the three kinematic equations v= , a= ,∧ads=vdv can be
dt dt
integrated to obtain formulas that relate a , v , s∧t .
FORMULAS:
dv ds
Integrate a= ; Integrate v= ; Integrate a ds=v dv
dt dt
a dt=dv v dt=ds ∫ a ds=∫ v dv
∫ a dt =∫ dv ∫ v dt =∫ ds a ∫ ds=∫ v dv
t vf s vf
a ∫ dt=∫ dv Since, v f =v=v o +at , then, a ∫ ds=∫ v dv
0 vo 0 vo
t s
a¿ ∫ ( v o +at ) dt=∫ ds a¿
0 0
t t s 2 2
vf vo
a [ t−0 ]=v f −v o ∫ v o dt +∫ at dt=∫ ds as−0= −
2 2
0 0 0
1 2 2
at=v f −v o Since v o and a are constant, then; as= ( v −v o )
2 f
v f =v o +at ¿ 2 2
2 as=v f −v o
2
at 2 2
vot ± =s−0 v f −v o =2 as
2
1 2
s=v o t ± a t
2
Example Problems
1. A car is approaching a stoplight moving with a velocity of 30 m/s. The light turns yellow, and the car
driver applies the brakes and skids to a stop. If the car’s decelerates at 8 m/s2, then determine the
displacement of the car during the skidding process.
SOLUTION:
2. On a certain stretch of track, trains run at 60 mph. How far back of a stopped train should warning
torpedo is placed to a signal an oncoming train? Assume the brakes are applied at once and retard the
train at the uniform rate of 2 ft/s2.
SOLUTION:
3. A ship being launched slides down the ways with a constant acceleration. It takes four seconds to slide
the first meter. How long will it take to slide down the ways if their length is 900 m?
SOLUTION:
4. Two cars A and B have a velocity of 25 m/s in the same direction. A is 73.5 m behind B when the brakes
are applied to B, causing it to decelerate at a constant rate of 3 m/s2. (a) In what time will A overtake B?
(b) How far will car A travel? (c) How far will car B travel?
SOLUTION:
Supplementary Exercises
1. An automobile moving at a constant velocity of 45 ft per sec passes a gasoline station. Two seconds
later, another automobile leaves the gasoline station and accelerates at a constant rate of 6 ft/s 2. How
soon will the second automobile overtake the first?
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