Lecture Notes

Engineering mechanics

Part II

Dynamics

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Contents
Chapter 1. Introduction to Dynamics...........................................................................1
1.1 Introduction........................................................................................................1
1.2 Basic Concepts of Dynamics.............................................................................2
1.3 Axioms of Dynamics..........................................................................................3
1.4 Units...................................................................................................................4
1.5 Basic Problems of Dynamics.............................................................................5
Chapter 2. Particle Kinematics......................................................................................7
2.1 Introduction.......................................................................................................7
2.2 Rectilinear Kinematics.......................................................................................8
2.3 General Curvilinear Motion.............................................................................16
2.4 Rectangular Components of Velocity and Acceleration...................................19
2.5 Normal and Tangential Components................................................................25
2.6 Cylindrical Components...................................................................................30
Chapter 3. Particle Kinetics.........................................................................................34
3.1 Kinetics of a Particle: Force and Acceleration.................................................34
3.1.1 Basic concepts........................................................................................34
3.1.2 Equations of Motion: Rectangular Coordinates.....................................39
3.1.3 Equations of Motion: Normal and Tangential Coordinates...................43
3.1.4 Equations of Motion: Cylindrical Coordinates......................................47
3.2 Kinetics of a Particle: Work and Energy..........................................................50
3.2.1 Introduction............................................................................................50
3.2.2 The Work of a Force...............................................................................50
3.2.3 Kinetic Energy of a Particle and Principle of Work and Energy............53
3.2.4 Principle of Work and Energy for a System of Particles........................55
3.2.5 Power and Efficiency.............................................................................58
3.2.6 Conservative Forces, Potential Energy and Conservation of Energy....61
3.3 Kinetics of a Particle: Impulse and Momentum...............................................67
3.3.1 Principle of Linear Impulse and Momentum.........................................67
3.3.2 Principle of Angular Impulse and Momentum.......................................74
Chapter 4. Planar Kinematics of a Rigid Body...........................................................82
4.1 Introduction......................................................................................................82

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4.2 Translation........................................................................................................83
4.3 Rotation About a Fixed Axis............................................................................85
4.4 General Plane Motion......................................................................................91
4.4.1 Absolute Motion Analysis......................................................................91
4.4.2 Relative Motion Analysis: Velocity.......................................................93
4.4.3 Instantaneous Center of Zero Velocity in Plane Motion........................98
4.4.4 Relative-Motion Analysis: Acceleration..............................................102
4.4.5 Relative-Motion Analysis Using Rotating Axes..................................105
Chapter 5. Planar Kinetics of a Rigid Body..............................................................111
5.1 Introduction....................................................................................................111
5.2 Moment of Inertia of a Rigid Body................................................................112
5.2.1 Moment of Inertia.................................................................................112
5.2.2 Parallel-Axis Theorem.........................................................................115
5.3 Planar Kinetics of Rigid Bodies: Force and Acceleration..............................116
5.3.1 General Equations of Motion...............................................................116
5.3.2 Equations of Motion: Translation.........................................................119
5.3.3 Equations of Motion: Rotation About a Fixed Axis ............................122
5.3.4 Equations of Motion: General Plane Motion.......................................126
5.4 Planar Kinetics of a Rigid Body: Work and Energy.......................................130
5.4.1 Kinetic Energy.....................................................................................130
5.4.2 The Work of Forces and Couples........................................................135
5.4.3 Principle of Work and Energy..............................................................139
5.4.4 Conservation of Energy........................................................................141
5.5 Planar Kinetics of a Rigid Body: Impulse and Momentum...........................144
5.5.1 Linear and Angular Momentum...........................................................144
5.5.2 Principle of Impulse and Momentum ..................................................149