Department of Mechanical Engineering

Inha University

Dynamics I

Sang-Hee Yoon (shyoon@inha.ac.kr) 1

Contents

Chapter 11 Kinematics of Particles

Chapter 12 Kinetics of Particles: Newton’s Second Law

Chapter 13 Kinetics of Particles: Energy and Momentum Methods

Chapter 14 Systems of Particles

Chapter 15 Kinematics of Rigid Bodies

Chapter 16 Plane Motion of Rigid Bodies: Forces and Accelerations

Chapter 17 Plane Motion of Rigid Bodies: Energy and Momentum Methods

2
 Introduction

□ Newton’s first and third laws are sufficient for the study of bodies at rest (statics) or
bodies in motion with no acceleration.

□ When a body accelerates (changes in velocity magnitude or direction), Newton’s

second law is required to relate the motion of the body to the forces acting on it.

□ Newton’s second law:

○ A particle will have an acceleration proportional to the magnitude of the resultant force acting on
it and in the direction of the resultant force.
○ The resultant of the forces acting on a particle is equal to the (time) rate of change of linear
momentum of the particle.
○ The sum of the moments about O of the forces acting on a particle is equal to the (time) rate of
change of angular momentum of the particle about O.

3
Newton’s Second Law of Motion

□ Newton’s second law

○ If the resultant force acting on a particle is not zero,
the particle will have an acceleration proportional to
the magnitude of resultant and in the direction of the
resultant.
□ Consider a particle subjected to constant forces,
F1 F2 F3
= = =  = constant = mass, m
a1 a2 a3
□ When a particle of mass m is acted upon by a
force F ,the acceleration of the particle must
satisfy F = m a .
□ Acceleration must be evaluated with respect to a
Newtonian frame of reference, i.e., one that is not
accelerating or rotating.
□ If force acting on particle is zero, particle will not
accelerate, i.e., it will remain stationary or
continue on a straight line at constant velocity.
4
Linear Momentum of a Particle

□ Replacing the acceleration by the derivative of

the velocity yields
 
dv
∑F = m
dt

d  dL
= (m v ) =
dt dt

L = linear momentum of the particle

□ Linear Momentum Conservation Principle:

If the (external) resultant force on a particle is
zero, the linear momentum of the particle
remains constant in both magnitude and direction.

5
Systems of Units

□ Of the units for the four primary dimensions

(force, mass, length, and time), three may be
chosen arbitrarily. The fourth must be
compatible with Newton’s 2nd Law.

□ International System of Units (SI Units) – MKS

○ Base unit: length (m), mass (kg), and time (second)
○ The unit of force is derived,
 m kg⋅ m
1N = (1kg ) 1 2  = 1 2 .
 s  s

□ U.S. Customary Units

○ Base unit: force (lb), length (ft), and time (second)
○ The unit of mass is derived,
1lb 1lb lb⋅ s 2
1lbm = 1slug = =1 .
32.2ft s 2 1ft s 2 ft

6
Equations of Motion

□ Newton’s second law provides .


∑ F = ma
□ Solution for particle motion is facilitated by
resolving vector equation into scalar component
equations, e.g., for rectangular components,
     
∑( ) ( )
Fx i + Fy j + Fz k = m a x i + a y j + a z k
∑ Fx = ma x ∑ Fy = ma y ∑ Fz = ma z
∑ Fx = mx ∑ Fy = my ∑ Fz = mz

□ For tangential and normal components,

∑ F t = mat ∑ F n = man
dv v2
∑ t
F = m ∑Fn = m
dt ρ

7
Dynamic Equilibrium

□ Alternate expression of Newton’s second law,

 
∑ F − ma = 0

− ma ≡ inertia vector
□ With the inclusion of the inertial vector, the
system of forces acting on the particle is
equivalent to zero. The particle is in dynamic
equilibrium.
□ Methods developed for particles in static
equilibrium may be applied, e.g., coplanar forces
may be represented with a closed vector polygon.
□ Inertia vectors are often called inertia forces as
they measure the resistance that particles offer to
changes in motion, i.e., changes in speed or
direction.
□ Inertia forces may be conceptually useful but are
not like the contact and gravitational forces
found in statics. 8
Sample Problem 12.1

□ A 80-kg block rests on a horizontal

plane. Find the magnitude of the force
P required to give the block an
acceleration or 2.5 m/s2 to the right.
The coefficient of kinetic friction
between the block and plane is mk =
0.25.

□ SOLUTION:
○ Resolve the equation of motion for the block into two rectangular component equations.
○ Unknowns consist of the applied force P and the normal reaction N from the plane. The two
equations may be solved for these unknowns.

9
Sample Problem 12.1

□ Resolve the equation of motion for the block into

two rectangular component equations.
∑ Fx = ma :
(
P cos 30° − 0.25 N = (80kg ) 2.5 m s 2 )
= 200 N
y
∑ Fy = 0 :
O
x N − P sin 30° − 785 N = 0

= mg
W = 80 kg⋅ 9.81m/ s 2 □ Unknowns consist of the applied force P and the
= 785 N normal reaction N from the plane. The two
F = µk N
equations may be solved for these unknowns.
N = P sin 30° + 785 N
= 0.25 N
P cos 30° − 0.25(P sin 30° + 785 N ) = 200 N
P = 535 N

10
Sample Problem 12.2

□ The two blocks shown start from rest.

The horizontal plane and the pulley are
frictionless, and the pulley is assumed
to be of negligible mass. Determine the
acceleration of each block and the
tension in the cord.

□ SOLUTION:
○ Write the kinematic relationships for the dependent motions and accelerations of the blocks.
○ Write the equations of motion for the blocks and pulley.
○ Combine the kinematic relationships with the equations of motion to solve for the accelerations
and cord tension.

11
Sample Problem 12.2

□ Write the kinematic relationships for the

dependent motions and accelerations of the
O blocks.
x y B = 12 x A a B = 12 a A
y
□ Write equations of motion for blocks and pulley.
∑ Fx = m A a A :
T1 = (100 kg )a A

∑ Fy = m B a B :
m B g − T2 = m B a B
(300 kg )(9.81 m s 2 )− T2 = (300 kg )a B
T2 = 2940 N - (300 kg )a B

∑ Fy = mC aC = 0 :
T2 − 2T1 = 0
12
Sample Problem 12.2

□ Combine kinematic relationships with equations

of motion to solve for accelerations and cord
O tension.
x ∆yB =12 ∆x A aB =12 a A
y
T1 = (100 kg )a A
T2 = 2940 N - (300 kg )a B
(
= 2940 N - (300 kg ) 12 a A )
T2 − 2T1 = 0
2940 N − (150 kg )a A − 2(100 kg )a A = 0

a A = 8.40 m s 2
a B = 12 a A = 4.20 m s 2
T1 = (100 kg )a A = 840 N
T2 = 2T1 = 1680 N 13
Sample Problem 12.3

□ The 6-kg block B starts from rest and

slides on the 15-kg wedge A, which is
supported by a horizontal surface.
Neglecting friction, determine
○ the acceleration of the wedge
○ the acceleration of the block relative to the
wedge

□ SOLUTION:
○ The block is constrained to slide down the wedge. Therefore, their motions are dependent.
Express the acceleration of block as the acceleration of wedge plus the acceleration of the block
relative to the wedge.
○ Write the equations of motion for the wedge and block.
○ Solve for the accelerations.

14
Sample Problem 12.3

□ The block is constrained to slide down the wedge.

Therefore, their motions

are dependent.
aB = a A + aB A

□ Write equations of motion for wedge and block.

∑ Fx = m A a A :
N1 sin 30° = m A a A
0.5 N1 = (W A g )a A
y

∑ Fx = mB a x = mB (a A cos 30° − a B A ) :
x − WB sin 30° = (WB g )(a A cos 30° − a B A )
a B A = a A cos 30° + g sin 30°

∑ Fy = mB a y = mB (− a A sin 30°) :
N1 − WB cos 30° = −(WB g )a A sin 30°
15
Sample Problem 12.3

□ Solve for the accelerations.

0.5 N1 = (W A g )a A

N1 − WB cos 30° = −(WB g )a A sin 30°

2(WA g )a A − WB cos 30° = −(WB g )a A sin 30°
gWB cos 30°
aA =
2WA + WB sin 30°
(6kg )(9.81m/s 2 )cos 30°
aA =
2(15 kg ) + (6 kg )sin 30°
a A = 1.545 m s 2

aB A = a A cos 30° + g sin 30°

( ) ( )
aB A = 1.545 m s 2 cos 30° + 9.81 m s 2 sin 30°
aB A = 6.24 m s 2
16
Sample Problem 12.4

□ The bob of a 2-m pendulum describes

an arc of a circle in a vertical plane. If
the tension in the cord is 2.5 times the
weight of the bob for the position
shown, find the velocity and
acceleration of the bob in that position.

□ SOLUTION:
○ Resolve the equation of motion for the bob into tangential and normal components.
○ Solve the component equations for the normal and tangential accelerations.
○ Solve for the velocity in terms of the normal acceleration.

17
Sample Problem 12.4

□ Resolve the equation of motion for the bob into

tangential and normal components.
□ Solve the component equations for the normal
and tangential accelerations.
∑ Ft = mat : mg sin 30° = mat
at = g sin 30°
at = 4.9 m s 2

∑ Fn = man : 2.5mg − mg cos 30° = man

an = g (2.5 − cos 30°)
an = 16.03 m s 2

□ Solve for velocity in terms of normal acceleration.

an =
v2
v = ρan = (2 m )(16.03 m s 2 )
ρ
v = ±5.66 m s
18
Sample Problem 12.5

□ Determine the rated speed of a highway

curve of radius ρ = 120 m banked
through an angle θ = 18o. The rated
speed of a banked highway curve is the
speed at which a car should travel if no
lateral friction force is to be exerted at
its wheels.

□ SOLUTION:
○ The car travels in a horizontal circular path with a normal component of acceleration directed
toward the center of the path. The forces acting on the car are its weight and a normal reaction
from the road surface.
○ Resolve the equation of motion for the car into vertical and normal components.
○ Solve for the vehicle speed.

19
 Sample Problem 12.5

□ Resolve the equation of motion for the car into

vertical and normal components.
∑ Fy = 0 : R cosθ − W = 0
W
R=
cosθ
W
∑ Fn = man : R sin θ = an
g
W W v2
sin θ =
□ The car travels in a horizontal cosθ g ρ
circular path with a normal
component of acceleration directed □ Solve for the vehicle speed.
toward the center of the path. The
forces acting on the car are its v 2 = gρ tan θ
weight and a normal reaction from
the road surface.
( )
= 9.81 m s 2 (120 m ) tan 18°
v = 19.56 m s = 70.4 km h
20
Angular Momentum of a Particle

□ Moment of momentumor angular momentum of


the

particle about O, H = r × mV 
O

□ H O is perpendicular to plane containing r and mV
  
H O = rmV sin φ i j k

= rm vθ HO = x y z
= mr 2θ mv x mv y mvz
□ Derivative of angular momentum w.r.t. time,
        
H O = r × mV + r × mV = V × mV + r × ma

= r×∑F

= ∑ MO

□ It follows from Newton’s second law that the

sum of the moments about O of the forces acting
on the particle is equal to the rate of change of
the angular momentum of the particle about O.21
Eqs. of Motion in Radial & Transverse Components

□ Consider particle at r and θ, in polar coordinates,

∑ Fr = mar = m(r − rθ 2 )
∑ Fθ = maθ = m(rθ + 2rθ )

□ This result may also be derived from

conservation of angular momentum,
H O = mr 2θ
d
(
r ∑ Fθ = mr 2θ
dt
)
(
= m r 2θ + 2rrθ )
∑ Fθ = m(rθ + 2rθ )

22
Conservation of Angular Momentum

□ When only force acting on particle is directed

toward or away from a fixed point O, the particle
is said to be moving under a central force.

□ Since the line of action

 of the central force passes
through
 O,∑ M= H= 0 and

O O

r × mV = H O = constant .

□ Position vector and motion


of particle are in a
plane perpendicular to H O .

□ Magnitude of angular momentum,

= =
H O rmV sin φ constant
= r0 mV0 sin φ0
2 
or =
H O =
mr θ constant
HO angular momentum
= r 2θ= h= 23
m unit mass
Conservation of Angular Momentum

□ Radius vector OP sweeps infinitesimal area

dA = 12 r 2 dθ
dA 1 2 dθ 1 2 
□ Define = r = r θ= areal velocity
dt 2 dt 2
□ Recall, for a body moving under a central force,
h = r 2θ = constant

□ When a particle moves under a central force, its

areal velocity is constant.

24
Newton’s Law of Gravitation

□ Gravitational force exerted by the sun on a planet

or by the earth on a satellite is an important
example of gravitational force.

□ Newton’s law of universal gravitation

○ Two particles of mass M and m attract each other with
equal and opposite force directed along the line
connecting the particles,
Mm
F =G
r2
G = constant of gravitation
−12 m3 −9 ft
4
=×
66.73 10 =
34.4 × 10
kg⋅ s 2 lb⋅ s 4

□ For particle of mass m on the earth’s surface,

MG m ft
=W m= =
mg g =
9.81 32.2
R2 s2 s2 25
Sample Problem 12.6

□ A block B of mass m can slide freely on

a frictionless arm OA which rotates in a
horizontal plane at a constant rate θ0 .
Knowing that B is released at a distance
r0 from O, express as a function of r
○ The component vr of the velocity of B
along OA
○ The magnitude of the horizontal force
exerted on B by the arm OA.

□ SOLUTION:
○ Write the radial and transverse equations of motion for the block.
○ Integrate the radial equation to find an expression for the radial velocity.
○ Substitute known information into the transverse equation to find an expression for the force on
the block.

26
 Sample Problem 12.6

□ Integrate the radial equation to find an expression

for the radial velocity.
dvr dvr dr dv
r = vr = = = vr r
dt dr dt dr
vr dvr = rθ 2 dr = rθ02 dr
vr r
∫ vr dvr = θ0 ∫ r dr
2

□ Write the radial and transverse 0 r0

equations of motion for the block. vr2 θ02 ( r 2 − r02 )
=
∑ F = m a : =0
r r (
r − rθ 2
m  )
∑ F θ = m aθ =
: F (
m rθ + 2rθ ) □ Substitute known information into the transverse
equation to find an expression for the force on
the block.
=F 2mθ 0 ( r − r0 )
 2 2 2 12

27
Sample Problem 12.7

□ A satellite is launched in a direction

parallel to the surface of the earth with
a velocity of 30,000 km/h from anθ0 .
altitude of 400 km. Determine the
velocity of the satellite as it reaches it
maximum altitude of 4000 km. The
radius of the earth is 6370 km.

□ SOLUTION:
○ Since the satellite is moving under a central force, its angular momentum is constant. Equate the
angular momentum at A and B and solve for the velocity at B.

28
Sample Problem 12.7

□ Since the satellite is moving under a central force,

its angular momentum is constant. Equate the
angular momentum at A and B and solve for the
velocity at B.
rm v sin φ = H O = constant
rA m v A = rB m vB
rA
vB = v A
rB

= (30,000 km h)
(6370 + 400 )km
(6370 + 4000)km
vB = 19.590 km h

29
 Trajectory of a Particle Under a Central Force

□ For particle moving under central force directed towards force center,
m(r − rθ 2 ) = ∑ Fr = − F m(rθ + 2rθ ) = ∑ Fθ = 0

□ Second expression is equivalent to r 2θ= h= constant from which,

h h2 d 2  1 
θ = and r = − 2 2  r 
r2 r dθ

□ After substituting into the radial equation of motion and simplifying,

d 2u F 1
+u = where u =
dθ 2 mh 2u 2 r

□ If F is a known function of r or u, then particle trajectory may be found by

integrating for u = f(θ), with constants of integration determined from initial
conditions.

30
Application to Space Mechanics

□ Consider earth satellites subjected to only gravitational pull

of the earth,
d 2u F 1 GMm
+u = where u = F= = GMmu 2
dθ 2 mh 2u 2 r r2
d 2u GM
+u = = constant
dθ 2
h 2

□ Solution is equation of conic section,

1 GM Ch2
u = = 2 (1 + ε cosθ ) ε= = eccentricity
r h GM

□ Origin, located at earth’s center, is a focus of the conic section.

□ Trajectory may be ellipse, parabola, or hyperbola depending

on value of eccentricity.
31
Application to Space Mechanics

□ Trajectory of earth satellite is defined by

1 GM Ch2
= 2 (1 + ε cosθ ) ε= = eccentricity
r h GM

○ Hyperbola, e > 1 or C > GM/h2: the radius vector becomes infinite for
 1  GM 
1 + ε cosθ1 =
0 θ1 =
± cos −1  −  =
± cos −1  − 2 
 ε  Ch 

○ Parabola, e = 1 or C = GM/h2: the radius vector becomes infinite for

1 + cosθ 2 =
0 θ2 =
180°

○ Ellipse, e < 1 or C < GM/h2: the radius vector is finite for q and is
constant, i.e., a circle, for e < 0.

32
Application to Space Mechanics

□ Integration constant C is determined by conditions

at beginning of free flight, q =0, r = r0 ,
1 GM Ch 2 
=2
1 + cos 0° 
r0  GM
h 
1 GM 1 GM
C=− 2 =−
r0 h r0 ( r0 v0 )2
□ Satellite escapes earth orbit for
GM ( r0 v0 )
ε ≥ 1 or C ≥ GM h 2 =
2

2GM
vesc= v=
0
r0
□ Trajectory is elliptic for v0 < vesc and becomes
circular for e = 0 or C = 0,
GM
vcirc =
r0
33
Application to Space Mechanics

□ Recall that for a particle moving under a central

force, the areal velocity is constant, i.e.,
dA
= 1
2 θ
r 2= 1
2=
h constant
dt

□ Periodic time or time required for a satellite to

complete an orbit is equal to area within the orbit
divided by areal velocity,
π ab 2π ab
τ= =
h2 h
where=
a 1
2 ( r0 + r1 )
b = r0 r1

34
Sample Problem 12.8

□ A satellite is launched in a direction

parallel to the surface of the earth with
θ0 .
a velocity of 36,900 km/h at an altitude
of 500 km.
○ The maximum altitude reached by the
satellite
○ The periodic time of the satellite

□ SOLUTION: 1 GM
○ Trajectory of the satellite is described by=r h2
+ C cosθ . Evaluate C using the initial
conditions at θ = 0.
○ Determine the maximum altitude by finding r at θ = 180o.
○ With the altitudes at the perigee and apogee known, the periodic time can be evaluated.

35
 Sample Problem 12.8

□ Trajectory of the satellite is described by

1 GM
= 2
+ C cosθ .
r h
Evaluate C using the initial conditions at θ = 0.
1 GM
C= − 2
r0 h
r0 ( 6370 + 500 ) km
= 6.87 × 10 m 1 398 × 1012 m3 s 2
= −
6

6.87 × 10 m ( 70.4 m s )
6 2
km 1000 m/km 2
v 0 36900 ×
h 3600 s/h
= 10.25 × 10 m s3 = 65.3 × 10−9 m-1
h= (6.87 × 106 m )(10.25 ×103 m s )
r0 v0 =
= 70.4 × 109 m 2 s

( 9.81m s 2 )( 6.37 ×106 m )

2
= gR
GM = 2

= 398 × 1012 m3 s 2

36
Sample Problem 12.8

□ Determine the maximum altitude by finding r1 at

θ = 180o.
1 GM 398 × 1012 m3 s 2 −9 1
= − C= − 65.3 × 10
( 70.4 m s )
2
r1 h2 2 m

r1 =66.7 × 106 m =66700 km

=
Max altitude (66700-6370 ) km 60300 km
=

□ With the altitudes at the perigee and apogee

known, the periodic time can be evaluated.
a= 1
2 ( r0 + r1 ) = 1
2 ( 6.87 + 66.7 ) × 106 m = 36.8 × 106 m
b = r0 r1 = 6.87 × 66.7 × 106 m = 21.4 × 106 m

2π ab 2π ( 36.8 × 10 m )( 21.4 × 10 m )
6 6

=τ =
h 70.4 × 10 9 m 2 s
τ = 70.3 × 103 s = 19 h 31 min
37
 Kepler’s Laws of Planetary Motion

□ Results obtained for trajectories of satellites around earth may also be applied to
trajectories of planets around the sun.

□ Properties of planetary orbits around the sun were determined astronomical

observations by Johann Kepler (1571-1630) before Newton had developed his
fundamental theory.
○ Each planet describes an ellipse, with the sun located at one of its foci.
○ The radius vector drawn from the sun to a planet sweeps equal areas in equal times.
○ The squares of the periodic times of the planets are proportional to the cubes of the semimajor
axes of their orbits.

38