School of Aerospace Engineering

B.Sc. in Aeronautical Engineering

Engineering Mechanics II- Dynamics

(ENGR 2021)

Abdulkadir Aman Hassen ( PhD)

Associate Professor at Addis Ababa University
Adjunct Professor at Ethiopian Aviation University
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Engineering Mechanics II: Dynamics : Lecture Slides
1.1 Introduction to Dynamics
Dynamics is that branch of mechanics which deals with the motion
of bodies under the action of forces.
The study of dynamics in engineering usually follows the study of
statics, which deals with the effects of forces on bodies at rest.

Dynamics has two distinct parts:

a. kinematics, which is the study of motion without reference to the forces
which cause motion, and
b. kinetics, which relates the action of forces on bodies to their resulting
motions.

A thorough comprehension of dynamics will provide one of the most useful

and powerful tools for analysis in engineering.
 History of Dynamics
• Dynamics is a relatively recent subject compared with statics.

• The beginning of a rational understanding of dynamics is credited to Galileo

(1564–1642), who made careful observations concerning bodies in free fall,
motion on an inclined plane, and motion of the pendulum.
• Galileo was continually under severe criticism for refusing to accept the
established beliefs of his day, such as the philosophies of Aristotle which held, for
example, that heavy bodies fall more rapidly than light bodies.

• The lack of accurate means for the measurement of time was a severe handicap to
Galileo, and further significant development in dynamics awaited the invention
of the pendulum clock by Huygens in 1657.

(Video footage : Concepts of Motion from Aristotle and Galileo _ Physical Science
_ Mechanics _ Astronomy )

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Engineering Mechanics II: Dynamics : Lecture Slides
• Newton (1642–1727), guided by Galileo’s work, was able to make an
accurate formulation of the laws of motion and, thus, to place dynamics
on a sound basis.

• Newton’s famous work was published in the first edition of his Principia,
which is generally recognized as one of the greatest of all recorded
contributions to knowledge.

• In addition to stating the laws governing the motion of a particle, Newton

was the first to correctly formulate the law of universal gravitation.
Although his mathematical description was accurate, he felt that the
concept of remote transmission of gravitational force without a
supporting medium was an absurd notion.

• Following Newton’s time, important contributions to mechanics were

made by Euler, D’Alembert, Lagrange, Laplace, Poinsot, Coriolis, Einstein,
and others.
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Engineering Mechanics II: Dynamics : Lecture Slides
 Newton's Laws of Motion

Law I – A particle remains at rest or continuous to move in a straight line

with a constant velocity if there is no unbalanced force acting on it.

Law II –The acceleration of a particle is proportional to the resultant force

acting on it and is in the direction of this force.

F = ma

Law II –The force of action and reaction between interacting bodies are
equal in magnitude and opposite in direction and collinear.

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Engineering Mechanics II: Dynamics : Lecture Slides
 Area of application of dynamics

The rapid technological developments of the present day requires

increasing application of the principles of mechanics, particularly
dynamics.
 Analysis and design of moving structures.

 Fixed structure subjected to shock load.

 Robotic systems

 Automatic control system

 Rockets

 Missiles and spacecraft

 Transportation vehicle

 Machinery of all types, such as turbines, pumps, etc.

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Engineering Mechanics II: Dynamics : Lecture Slides
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Engineering Mechanics II: Dynamics : Lecture Slides
 Basic concepts and terms

Space – the geometric region occupied by bodies.

Time – is a measure of the succession of events and is considered an

absolute quantity in Newtonian mechanics.

Mass – is the quantitative measure of inertia or resistance to change

in motion of a body. Mass can also be defined as the quantity

of matter in a body or a property that gives rise to gravitational

attraction.

Force – vector action of one body on another.

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Engineering Mechanics II: Dynamics : Lecture Slides
Particle – a body of negligible dimensions.

- when the dimension of a body are irrelevant to the description

of its motion or the action of force on it, the body may be treated

as a particle.

Rigid body – is a body whose changes in shape are negligible

compared with the over all dimensions of the body or with the

changes in position of the body as a whole.

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Engineering Mechanics II: Dynamics : Lecture Slides
 1.2 Kinematics of Particles

Introduction

Kinematics: is the branch of dynamics which describes the

motion of bodies without reference to the forces that
either causes the motion or are generated as a result of
the motion.

 Kinematics is often referred to as the “geometry of

motion”

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Engineering Mechanics II: Dynamics : Lecture Slides
 The design of cams, gears,

linkages, and other machine

elements to control or produce

certain desired motions, and

 The calculation of flight

trajectory for aircraft, rockets and

spacecraft.

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Engineering Mechanics II: Dynamics : Lecture Slides
• If the particle is confined to a specified path, as with a bead
sliding along a fixed wire, its motion is said to be Constrained.
Example 1. - A small rock tied to the end of a string and whirled in
a circle undergoes constrained motion until the string
breaks

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Engineering Mechanics II: Dynamics : Lecture Slides
• If there are no physical guides, the motion is said to be
unconstrained.

Example 2. - Airplane, rocket

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Engineering Mechanics II: Dynamics : Lecture Slides
• The position of particle P at any time t can be described by specifying its:

- Rectangular coordinates; X,Y,Z

- Cylindrical coordinates; r,θ,z

- Spherical coordinates; R, θ,Ф

- Also described by measurements along the tangent t and normal n to the curve(path variable).
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Engineering Mechanics II: Dynamics : Lecture Slides
• The motion of particles(or rigid bodies) may be described by
using coordinates measured from fixed reference axis
(absolute motion analysis) or by using coordinates measured
from moving reference axis (relative motion analysis).

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Engineering Mechanics II: Dynamics : Lecture Slides
 Rectilinear motion

• Is a motion in which a particle moving along a straight

line(one-dimensional motion)

• Consider a particle P moving along a straight line.

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Engineering Mechanics II: Dynamics : Lecture Slides
Average velocity: for the time interval Δt, it is defined as
the ratio of the displacement Δs to the time interval Δt.
s
Vav = 1.1
t
• As Δt becomes smaller and approaches zero in the
limit, the average velocity approaches the
instantaneous velocity of the particle.
s ds  1.2
V  lim Vav  lim  S
t 0 t 0 t dt
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Engineering Mechanics II: Dynamics : Lecture Slides
Average acceleration
For the time interval Δt, it is defined as the ratio of the
change in velocity Δv to the time interval Δt.
v 1.3
a av 
t
Instantaneous acceleration
v dv 
a  lim  v 1.4(a)
t 0 t dt

v dv d  ds  d 2 s
a  lim      2  s 1. 4(b)
t 0 t dt dt  dt  dt
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Engineering Mechanics II: Dynamics : Lecture Slides
• Note:-The acceleration is positive or negative depending on
whether the velocity increasing or decreasing.

• Considering equation 1.2 and 1.4(a) , we have

ds dv
dt  
v a
 vdv  ads

ds d s   
dt  
 
 s d s  s ds
s s
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Engineering Mechanics II: Dynamics : Lecture Slides
 General Representation of
Relationship among s, v, a & t.

Engineering Mechanics II: Dynamics : Lecture Slides

1. Graph of s Vs t

• By constructing tangent to the curve at any time t, we

obtain the slope, which is the velocity v=ds/dt

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Engineering Mechanics II: Dynamics : Lecture Slides
2. Graph of v Vs t

• The slope dv/dt of the v-t curve at any instant gives the acceleration at that instant.

• The area under the v-t curve during time dt is vdt which is the displacement ds

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Engineering Mechanics II: Dynamics : Lecture Slides
• The area under the v-t curve is the net displacement of the
particle during the interval from t1 to t2.
s2 t2

 ds
s1
  vdt
t1

s2  s1  (area under v-t curve )

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Engineering Mechanics II: Dynamics : Lecture Slides
3. Graph of a vs t

• The area under the a-t curve during time dt is the net
change in velocity of the particle between t1 and t2.
v2 t2

 dv   adt
v1 t1

v2 - v1=(area under a-t curve)

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Engineering Mechanics II: Dynamics : Lecture Slides
4. Graph of a Vs s

• The net area under the curve b/n position coordinates s1 and s2 is
v2 s2

 vdv   ads
v1 s1

1 2 2
(v2 v1 )  (areas under a-s curve)
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Engineering Mechanics II: Dynamics : Lecture Slides
5. Graph of v vs. s

dv
tan   ds  CB
1 v
dv CB
  vdv  CBds
ds v
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Engineering Mechanics II: Dynamics : Lecture Slides
• The graphical representations described are useful for:-
 visualizing the relationships among the several motion quantities.

 approximating results by graphical integration or differentiation when a lack

of knowledge of the mathematical relationship prevents its expression as an

explicit mathematical function .

 experimental data and motions that involve discontinuous relationship b/n

variables.

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Engineering Mechanics II: Dynamics : Lecture Slides
 General Methods for Determining the
Velocity and Displacement Functions
Representation of Relationship among s,
v, a & t.

Engineering Mechanics II: Dynamics : Lecture Slides

a) When the acceleration is constant, (a=const.)
- boundary conditions
at t=0 , s=s0 and v=v0
using integrating
dv
a  adt  dv
dt
v t

 dv   adt  v  v
vo 0
o  at

 v  v o  at
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Engineering Mechanics II: Dynamics : Lecture Slides
 v s
• Using
vdv  ads 
vo
 vdv   ads so

v2 v 2  vo 2
 a  s  so 
v s
  a s so 
2 vo
2
 v 2  v o 2  2 a (s  s 0 )
• Using
d s
v   d s  v d t
d t
s t
 
s
d s  
o
( v o  a t ) d t
0

a t 2
 s  s o  v o t 
2
1
 s  s o  v o t  a t 2

2
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Engineering Mechanics II: Dynamics : Lecture Slides
• These relations are necessarily restricted to the special case where the acceleration is constant.

• The integration limits depend on the initial and final conditions and for a given problem may be
different from those used here.

• Typically, conditions of motion are specified by the type of acceleration experienced by the
particle. Determination of velocity and position requires two successive integrations.

• Three classes of motion may be defined for:

- acceleration given as a function of time, a = f(t)

- acceleration given as a function of position, a = f(x)

- acceleration given as a function of velocity, a = f(v)

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Engineering Mechanics II: Dynamics : Lecture Slides
 b) Acceleration given as a function of time, a=f(t)
v t  t t
dv
 a  f t dv  f  t  dt  dv   f t  dt v  t   v0   f  t  dt
dt v0 0 0
x t  t t
dx
 v t  dx  v  t  dt  dx   vt  dt x  t   x0   v  t  dt
dt x0 0 0

c) Acceleration given as a function of position, a = f(x)

dx dx dv dv
v  or dt  a  or a  v  f  x
dt v dt dx
v x x
vdv  f  x dx  vdv   f  x dx v  v   f  x dx
1 2
2
1 2
2 0
v0 x0 x0
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Engineering Mechanics II: Dynamics : Lecture Slides
d) Acceleration given as a function of velocity, a = f(v)
v t
dv dv dv
 a  f v   dt    dt
dt f v  v0
f v  0
v
dv

v0
f v 
t

x v
dv v dv v dv
v  a  f v  dx   dx  
dx f v  x0 v0
f v 
v
v dv
x  x0  
v0
f v 

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Engineering Mechanics II: Dynamics : Lecture Slides
 Example 1

The position coordinate of a particle which is confined to

move along a straight line is given by s = 2t3 − 24t + 6, where
s is measured in meters from a convenient origin and t is in
seconds. Determine :
(a) the time required for the particle to reach a velocity of 72
m /s from its initial condition at t = 0,
(b) the acceleration of the particle when v = 30 m /s, and
(c) the net displacement of the particle during the interval
from t = 1 s to t = 4 s

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Engineering Mechanics II: Dynamics : Lecture Slides
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Engineering Mechanics II: Dynamics : Lecture Slides
 Example 2
• The position of a particle which moves along a
straight line is defined by the relation
, x  t 3  6t 2 15t  40 where x is expressed in m and t
in second.
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 between 4s
and 6s.
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Engineering Mechanics II: Dynamics : Lecture Slides
Example 3

SOLUTION:
• Determine the proper kinematic
relationship to apply (is acceleration
a function of time, velocity, or
position?
• Determine the total distance the car
The car starts from rest and accelerates travels in one-half lap
according to the relationship
• Integrate to determine the velocity
a  3  0.001v 2
after one-half lap

It travels around a circular track that has a

radius of 200 meters. Calculate the velocity
of the car after it has travelled halfway
around the track. What is the car’s
maximum possible speed?

Engineering Mechanics II: Dynamics : Lecture Slides

Given: a  3  0.001v 2 Find: v after ½ lap
vo = 0, r = 200 m Maximum speed
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 dv
v  a v x dx  v a  v 
dx
0 0

Determine total distance travelled

x   r  3.14(200)  628.32 m

Engineering Mechanics II: Dynamics : Lecture Slides

Determine the full integral, including limits

x v
v dv 628.32 v
v
x dx  v a  v   dx  
3  0.001v 2
dv
0 0 0 0

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  0.001v 2  e 0.15802

Engineering Mechanics II: Dynamics : Lecture Slides

Solve for v 3  0.001v 2  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  0.001v 2

This occurs when 0.001v 2  3

vmax  3
0.001 vmax  54.772 m/s

Engineering Mechanics II: Dynamics : Lecture Slides