P3 Dynamics

Mark Cannon

Hilary Term 2012

0-1

Lecture 1

Introduction to Dynamics

1-1

Introduction
Dynamics

(d-n
am0 ks)
from Greek:

o powerful
power, strength

Dynamics concerns the calculation of forces and motion for analysis & design
? For stationary objects, use statics & elasticity,
e.g. bridges, buildings . . .
? For problems involving motion, use the laws of dynamics,
e.g. machines, vehicles, robots . . .

Dynamics is a component of Mechanics, which involves:

Kinematics
Dynamics

motion
forces and moments

1-2

Introduction

Dynamics is essentially about Newtons 2nd law

even gyroscopic forces can be explained using Newtons 2nd law . . .

1-3

Introduction
. . . . . . despite how counter-intuitive they may appear to be

Henry W. Wallaces so-called anti-gravity kinemassic field generator

from U.S. Patent 3,626,605 (1971)
1-4

Lectures & turorials

8 lectures covering:
Force and momentum as applied to particles
Work, power and energy
Circular motion
Gravity and satellite orbits
Rigid body dynamics
Two tutorial sheets:
1P3H dynamics of particles
1P3J dynamics of rigid bodies

1-5

Reading
Favourite books:
Meriam and Kraige Engineering Mechanics Volume 2 Dynamics 5th
edition, SI version, Wiley, 2003.
Meriam Dynamics 2nd edition, SI version, Wiley, 1975.
Other possibilities:
Hibbeler Engineering Mechanics - Dynamics SI edition, Prentice Hall,
1997.
Bedford and Fowler Engineering Mechanics - Dynamics SI edition,
Addison-Wesley, 1996.
..
.
Lecture notes & slides:
For all handouts (lecture notes & these slides), and the tutorial sheets, go
to
http://www.eng.ox.ac.uk/conmrc/dcs
1-6

Things you should know by the end of the course

How to:
use the definitions of velocity and acceleration to analyse straight-line and
curvilinear motion of particles
use Newtons second law to analyse the motion of particles under the
action of a steady or impulsive force
apply the principles of conservation of momentum and conservation of
energy to the motion of a particle
describe planar motion of a particle in rectangular, normal-tangential, and
polar coordinates
calculate the moment of inertia of a planar rigid body from first principles
or from standard cases
apply the principles of conservation of angular momentum and
conservation of energy to the motion of a planar rigid body
analyse the translation and rotation of a planar rigid body under the
action of a steady or impulsive force or moment.

1-7

Force and Motion

A particle is a discrete mass concentrated at a point
treat an object as a particle when considering its translation
e.g. when analysing
? the trajectory of a golf ball
? or the motion of a spacecraft orbiting the earth
? or straight-line motion with variable acceleration

1-8

Force and Motion

A rigid body is a system of particles rigidly connected to each other
treat any object with distributed mass as a rigid body when considering
its rotation
e.g. when analysing
? the motion of gears
? or forces and accelerations of pistons and crankshaft in a car engine

1-9

Force and Motion

A particle moving in a straight line:

Dx

? instantaneous speed and acceleration:

x
dx
=
= x
t0 t
dt

V = lim

? integrate w.r.t. t: Z
t
a(t) dt
V (t) = V0 +

dV
= x
dt

a=

Z
x(t) = x0 +

V (t) dt
0

? If a = constant:
V (t) = V0 + at

1
x(t) = x0 + V0 t + at 2
2

1 - 10

Force and Motion

A particle moving in a straight line:

? Or use a =

Dx

d x
dx d x
d x
=
= x
to get
dt
dt dx
dx
a=V

? integrate w.r.t. x using

dV
d  1 2
V
=
V =a
dx
dx 2
? If a = constant:
1 - 10

1 2
2V

dV
dx

1 2
2V

21 V02 = a(x x0 )

1 2
2 V0

a(x) dx
x0

Force and Motion

Newtons second law
for a particle:
force = rate of change of momentum
where
momentum = mass velocity

Equivalent vector equation:

F=

dV
dm
d
mV = m
+V
dt
dt
dt

1 - 11

Force and Motion

If mass is constant (dm/dt = 0), then
F=m

dV
dt

or

F = ma

i.e.
force = mass acceleration

If force and motion are in only one direction, then use the scalar form:
F =

d
dV
dm
mV = m
+V
dt
dt
dt

and
F =m

1 - 12

dV
dt

or

F = ma

Force and Motion

Some comments on weight . . .
A dropped object accelerates downwards at g = 9.81 m s2
(at earths surface)
The force of gravity causing this acceleration is the weight of the object:
weight = mass gravitational acceleration
The SI unit of force is the Newton: 1 N acting on 1 kg produces 1 m s2
acceleration, so
weight (Newtons) = mass (kg) 9.81 (m s2 )

. . . and on speed
Velocity refers to the vector V
Speed is a scalar quantity V , equal to the magnitude of V

1 - 13

Force and Motion

Example Motion in a straight line
A boat of mass 1500 kg is launched from a trolley on a sloping ramp.
The trolley is allowed to run down the ramp at 1 m s1 until the
boat is just afloat. The trolley then stops and the boat continues to
move at 1 m s1 .
Once afloat, a crew member of mass 70 kg stops the boat by pulling
steadily on a rope with a force equal to 30 % of his own weight.
How long will the boat take to stop, and what length of rope must
be allowed to slip?
1 ms

1 - 14

-1

force

Force and Motion

Solution: use the scalar form of Newtons 2nd law for constant mass:
F = ma

70 9.81 0.3 = 1500 a

gives

so the acceleration is
a=

dv
= 0.137 m s2
dt
? To find the distance: use

? To find the time to stop the boat:

separate variables
dt =

a=

dv
a

separate variables

and integrate
t=

dv ds
dv
dv
=
=v
dt
ds dt
ds

v dv = a ds

v2 v1
01
=
= 7.28 s
a
0.137

and integrate
1 2
(v2 v12 ) = a(s2 s1 )
2
1 02 12
= 3.64 m
s = s2 s1 =
2 0.137

1 - 15

Force and Motion

Example terminal velocity in free fall

A free-fall parachutist has mass m = 75kg and frontal area A = 0.8m2 .

The air density at 2000 m is = 1.007 kg m3 (HLT p.68) and the
aerodynamic drag is
D=

1
CD V 2 A
2

drag coefficient CD = 1.2 .

Find the terminal speed Vt . How far will the parachutist fall before
reaching 90 % of this terminal speed?

1 - 16

Force and Motion

Example terminal velocity in free fall
D

Solution:

mg

? Forces: weight mg downwards and aerodynamic drag D upwards.

? Hence Newtons second law: F = ma gives
mg

1
CD V 2 A = ma
2

? Terminal velocity Vt is reached when a = 0, so

Vt2 =

2mg
2 75 9.81
=
ACD
1.007 0.8 1.2

Vt = 39.01 m s1

1 - 16

Force and Motion

Example terminal velocity in free fall
D

Solution contd:

mg

? To find the variation of V with s, use a = V dV /ds:

dV
mV
= mg 12 CD V 2 A
ds
? Simplify by rearranging and writing this 
in terms ofVt2 :
dV
g
V
= 2 Vt2 V 2
ds
Vt
Separate variables and integrate between limits V = 0 and V = 0.9Vt :
 2

Z 0.9Vt
Vt (0.9Vt )2
Vt2
V
Vt2
dV =
ln
s=
g 0
2g
Vt2 V 2
Vt2 0


1 0.81
= 77.58 ln
= 128.8 m
1
1 - 16

Force and Motion

Highest parachute jump

Joseph Kittinger, Aug 16, 1960
Height:
Terminal velocity:

1 - 17

Impulse and Momentum

What if F is time-varying and the magnitude F (t) is unknown?
This is often true in problems involving collisions
Use the concept of impulse the integral of F(t) over time
The impulse acting on a body is related to its momentum.
Given that
dV
F=m
dt
for a body of mass m, then
2

F dt = m (V2 V1 )
1

In words:
impulse = change in momentum
1 - 18

31.3 km
274 m s1
(988 km h1 )

Impulse and Momentum

The impulse-momentum equation requires no details of the time-variation

of force
An impulse can describe an impact involving large forces over a short time

force
impulse = area under force-time graph

time
0

The area under graph of F(t) gives the magnitude of the impulse

1 - 19

Impulse and Momentum

Example Impulse with unknown force variation
A batsman is struck by a cricket ball of mass 0.15 kg travelling at
40 m s1 . The ball is stopped by the impact. Can you estimate the
force exerted by the ball?

Solution:
? the force variation and duration of the impact is unknown
? but the impulse is mV = 0.15 40 = 6.0 kg m s1
so if the impact lasts t seconds, then the average force is
Fav =

mV
6.0
=
N
t
t

e.g. t = 0.05 s gives an average force of 120 N

? shorter duration = greater force = more painful impact!

1 - 20

Impulse and Momentum

Example Impulse with constant force

Use impulse & momentum to find the time needed to stop the boat
in the first example.
Solution:
The force F is constant, so
Z 2
Z
F dt = F
1

dt = F (t2 t1 ) = m (V2 V1 )

giving
t = t2 t1 = m

V2 V1
01
= 1500
= 7.28 s
F
70 9.81 0.3

1 - 21

Impulse and Momentum

Example Impulse and momentum as vectors
A cannon of mass M is free to roll without friction on horizontal
ground. An explosive charge projects a ball of mass m at speed v
relative to the barrel, which is inclined upward at angle .
v

q
u

At the instant after the ball leaves the muzzle find:

(a) the backward recoil speed u of the gun
(b) the absolute velocity components of the ball
(c) the magnitude and direction of any external impulse acting on the system.
1 - 22

Impulse and Momentum

Solution:
The components of the balls absolute velocity
are:
vx = v cos u

horizontally

vy = v sin

vertically

u
v
v sinq

q
v cos q - u

(a) Consider cannon plus ball together as a single system

theres no external horizontal impulse on the system, so the horizontal
momentum before and afterwards is zero
therefore
0 = m (v cos u) Mu
giving
u=

mv cos
M +m

[Note: the impulse between the cannon and ball is internal to the system]
1 - 23

Impulse and Momentum

Solution contd:
(b) Substituting for u in vx = v cos u gives
vx = v cos

mv cos
M
= v cos
M +m
M +m

and the other component of absolute velocity is just vy = v sin

(c) The only external impulse is vertical: Qy (from the ground)

Qy is equal to the change of upward momentum of the entire system:
Qy = mv sin

1 - 24

Impulse and Momentum

Example Rowing on a sliding seat
Between strokes, the crew of a boat slide a distance d towards the
stern of the boat. If the crew has mass m and the boat has mass M,
what happens to the boat?

Solution: Assume the crew slides distance d at constant speed for time t
theres no external impulse so the momentum of boat plus crew is unchanged
hence the velocity v of the centre of mass G is unchanged
x
d

1 - 25

Impulse and Momentum

Solution contd:

Relative to G:
? the boat moves forward x at speed
x/t

Dx

? the crew move backward d x at speed

(d x)/t

Considering momentum before and after gives

(M + m)v + M

x
d x
m
= (M + m)v
t
t

so the boat surges forward between strokes by an amount x =

1 - 26

md
M +m

Summary
Analyse translational motion of an object
by representing it as a particle concentrated at the centre of mass
Newtons second law
? general case:
force = rate of change of momentum

dV
dm
d
mV = m
+V
dt
dt
dt

F=

F=m

? for objects with constant mass:

force = mass acceleration

dV
dt

Impulse and momentum

2

Z
impulse = change in momentum

F dt = m (V2 V1 )
1

Accelerations are measured in an inertial frame of reference,

i.e. non-accelerating, non-rotating
1 - 27