Engineering Mechanics

Dynamics
A brief introduction
 Name:Engr Tauqeer Ahmed Khan
 Designation: Industrial Liaison Officer (MED)
 Office: Room EE2- 212
 Email: [email protected]
 Office hours (tentative):
Wednesdays 9;00AM – 10:00AM
Thursdays 10:00AM – 12:00AM
Introduction to Dynamics
 Introduction to engineering dynamics, History and applications of
engineering mechanics
 Kinematics of particles: Rectilinear motion
Introduction to Dynamics
 Dynamics: The part of mechanics that deals with the analysis of
bodies in motion

 The first significant contribution to dynamics was made by Galileo

(1564–1642)

 Galileo’s experiments on uniformly accelerated bodies led Newton

(1642–1727) to formulate his fundamental laws of motion
Introduction to Dynamics
 Dynamics includes:

 Kinematics: the study of the geometry of motion

 Kinematics is used to relate displacement, velocity, acceleration, and

time, without reference to the cause of the motion (i.e. without taking
forces into account)

 Kinetics, which is the study of the relation existing between the forces
acting on a body, the mass of the body, and the motion of the body.
Introduction to Dynamics
 Kinetics is used to predict the motion caused by given forces or to
determine the forces required to produce a given motion

 We will start the course with the kinematics of particles

 By saying that the bodies are analyzed as particles, we mean that

only their motion as an entire unit will be considered; any rotation
about their own mass center will be neglected

 The bodies themselves can be small (a point) to large (aero planes)

Introduction to Dynamics
 There are cases, however, when such a rotation is not negligible; the
bodies cannot then be considered as particles

 Such motions will be analyzed in later chapters, dealing with the

dynamics of rigid bodies
Rectilinear motion of particles
 A particle moving along a straight line is said to be in rectilinear
motion
 Position co-ordinate: The position of the particle on a straight-line, at
a certain time instant

Source: Beer & Johnston, 10th

Ed.
Rectilinear motion of particles
 When the position coordinate x of a particle is known for every value
of time t, we say that the motion of the particle is known

 The “timetable” of the motion can be given in the form of an equation

in x and t, such as x = 6t2 – t3 , or in the form of a graph of x versus t
as shown below

Source: Beer & Johnston, 10th

Ed.
Rectilinear motion
 Consider the position P occupied by the particle at time t and the
corresponding coordinate x

 Consider also the position P’ occupied by the particle at a later time t

+t

 Average velocity given as:

Rectilinear motion
 The instantaneous velocity v of the particle at the instant t is
obtained from the average velocity by choosing shorter and shorter
time intervals t and displacements x:

 Observing that the limit of the quotient is equal, by definition, to

the derivative of x with respect to t, we write:
Rectilinear motion
 Consider the velocity v of the particle at time t and also its velocity v
+ v at a later time t + t

 The average acceleration of the particle over the time interval t is

defined as the quotient of v and t:
Rectilinear motion
 The instantaneous acceleration a of the particle at the instant t is
obtained from the average acceleration by choosing smaller and
smaller values for t and v:

 The limit of the quotient, which is by definition the derivative of v

with respect to t, measures the rate of change of the velocity. We
write:

 Substituting for v:
Rectilinear motion
 Positive value of a: this may mean that the particle is moving faster
in the positive direction (a) :

or that it is moving more slowly in the negative direction (b)

 In both cases, is positive.

Rectilinear motion
 A negative value of a indicates that the velocity decreases
(deceleration)

 Either the particle is moving more slowly in the

positive direction (c)

 or it is moving faster in the negative direction (d)

Rectilinear motion
 Another expression for the acceleration can be obtained by
eliminating the differential dt:

 

 Because:
Example
 Consider a particle moving in a straight line, and assume that
its position is defined by the equation:

 -
 Velocity v obtained by differentiating x with respect to t:

 And acceleration by differentiating again with respect to t:

Example
 Consider a particle moving in a straight line, and assume that
its position is defined by the equation:

 -
 Velocity v obtained by differentiating x with respect to t:

 And acceleration by differentiating again with respect to t:

Example
 Consider a particle moving in a straight line, and assume that
its position is defined by the equation:

 -
 Velocity v obtained by differentiating x with respect to t:

 And acceleration by differentiating again with respect to t:

Example
 The position coordinate, the velocity, and the
acceleration have been plotted against t in the
figure below:

 The curves obtained are known as motion

curves.
 However, that the particle does not move
along any
of these curves; the particle moves in a
straight line
Example
 Since the derivative of a function measures
the slope of the corresponding curve, the
slope
of the x–t curve at any given time is equal to
the value of v at that time
 The slope of the v−t curve is equal to the
value of a
 Since a = 0 at t = 2 s, the slope of the v−t
curve must be zero at t = 2 s; the velocity
reaches a maximum at this instant
 Also, since v = 0 at t = 0 and at t = 4 s, the
tangent to the x−t curve must be horizontal
for both of these values of t
Example
 4 stages of motion:

 1. The particle starts from the origin, x = 0,

with no velocity but with a positive
acceleration. Under this acceleration, the
particle gains a positive velocity and moves in
the positive direction. From t = 0 to t = 2 s,
x, v, and a are all positive

 2. At t = 2 s, the acceleration is zero; the

velocity has reached its maximum value. From
t = 2 s to t = 4 s, v is positive, but a is
negative; the particle still moves in the
positive direction but more and more slowly;
the particle is decelerating
Example
 4 stages of motion:

 3. At t = 4 s, the velocity is zero; the position

coordinate x has reached its maximum value
 From then on, both v and a are negative; the
particle is accelerating and moves in the
negative direction with increasing speed.
 At t = 6 s, the particle passes through the
origin; its coordinate x is then zero, while the
total distance traveled since the beginning of
the motion is 64 m. For values of t larger than
6 s, x, v, and a will all be negative. The
particle keeps moving in the negative
direction, away from O, faster and faster
Determination of the motion of a
particle
The motion of a particle is said to be known if the position of the
particle is known for every value of the time t

 In practice, however, a motion is seldom defined by a relation

between x and t

 More often, the conditions of the motion will be specified by the type
of acceleration that the particle possesses

 For example, a constant downward acceleration of 9.81 m/s 2

Determination of the motion of a
particle
A mass attached to a spring which has been stretched will have an
acceleration proportional to the instantaneous elongation of the
spring measured from the equilibrium position

 In general, the acceleration of the particle can be expressed as a

function of one or more of the variables x, v, and t

 Case 1: a = f(t). The Acceleration Is a Given Function of t

Determination of the motion of a
particle
Integrate both sides:

 An arbitrary constant will be introduced as a result of the integration.

This is due to the fact that there are many motions which correspond
to the given acceleration a = f(t)

 To uniquely define the motion of the particle, it is necessary to specify

the initial conditions of the motion, i.e., the value v 0 of the velocity
and the value x0 of the position coordinate at t = 0
Determination of the motion of a
particle
Replacing the indefinite integrals by definite integrals with lower
limits corresponding to the initial conditions t = 0 and v = v and
0,
upper limits corresponding to t = t and v = v, we write:

 Now we have v in terms of t

 The equation dx = v dt can be solved (substitute v obtained above
into the equation).
 Both members are then integrated, the LHS with respect to x from x
= x0 to x = x, and the RHS with respect to t from t = 0 to t = t
 The position co-ordinate x is thus obtained in terms of t – motion is
completely determined
Determination of the motion of a
particle
Case 2: a = f(x). The acceleration is a given function of x.
 Rearranging the equation: and substituting f(x) for a:

 Denote the initial values of the velocity and the position coordinates
as v0 and x0 respectively, and integrate both sides of the equation:

 We now have v in terms of x. However, we need x in terms of t

Determination of the motion of a
particle
We know that v = dx / dt; can substitute the expression in the
equation obtained above, and integrate both sides to obtain the
desired relation between x and t

 The last integration may require a numerical method of solution

Determination of the motion of a
particle
Case 3: The acceleration is a given function of v. We can now
substitute f(v) for a in either a = dv / dt or a = v . (dv /dx) to obtain
one of the following:

 Integration of the first equation will yield a relation between v and t;

integration of the second equation will yield a relation between v and
x

 Either of these relations can be used in conjunction with v = dx /dt to

obtain the relation between x and t
Example
s
Example 1
 The position of a particle which moves along a straight line is defined
by the relation x = t3 - 6t2 - 15t + 40, where x is expressed in feet and
t in seconds.
 Determine:
 (a) the time at which the velocity will be zero
 (b) the position and distance traveled by the particle at that time
 (c) the acceleration of the particle at that time
 (d) the distance traveled by the particle from t = 4 s to t = 6 s.
Example 1 – Solution
Example 1 – Solution
Example 2
 A ball is tossed with a velocity of 10 m/s directed vertically upward
from a window located 20 m above the ground. Knowing that the
acceleration of the ball is constant and equal to 9.81 m/s 2 downward,
determine:

 (a) the velocity v and elevation y of the ball above the ground at any
time t,
 (b) the highest elevation reached by the ball and the corresponding
value of t,
 (c) the time when the ball will hit the ground and the corresponding
velocity.

 (d) Draw the v−t and y−t curves

Example 2 – Solution
Example 2 – Solution
Example 3
 The brake mechanism used to reduce recoil in certain types of guns
consists essentially of a piston attached to the barrel and moving in a
fixed cylinder filled with oil
 As the barrel recoils with an initial velocity v0, the piston moves and
oil is forced through orifices in the piston, causing the piston and the
barrel to decelerate at a rate proportional to their velocity; that is, a
= - kv.

 Express (a) v in terms of t,

 (b) x in terms of t,
 (c) v in terms of x,
 (d) Draw the corresponding motion curves
Example 3 – Solution
Example 3 – Solution
END