Ch.

6: Intro to Dynamics 306

6.0 Outline 306

Basic Concepts 307

Newtons Laws 311
Gravitational Law 314

6.0 Outline
 Ch. 6: Intro to Dynamics 307

6.1 Basic Concepts

Space The region occupied by bodies. Their absolute

positions and orientations can be described by linear
and angular measurements relative to inertial (fixed)
reference frame.

On earths engineering problems, where the magnitude

of the velocity is small compared to that of the earth, can
be calculated using the earths frame with negligible
errors. And we can assume those measurements
absolute.

6.1 Basic Concepts

 Ch. 6: Intro to Dynamics 308

6.1 Basic Concepts

Time The measure of the succession of events. Often,

the change in the physical quantities are described with
respect to time, e.g.,
dr
v=
dt

Mass The measure of the inertia of a body, which

indicates the resistance to a change in its velocity. It
also causes the gravitational attraction force.

Force The measure of the attempt to move a body. It is

a fixed vector.
6.1 Basic Concepts
 Ch. 6: Intro to Dynamics 309

6.1 Basic Concepts

Particle A body of negligible dimensions. This is a

relative matter to the surrounding effect. Hence, rotation
effect is insignificant.

Rigid body A body whose relative movement between its

parts are negligible relative to the gross motion of the
body.

Nonrigid body A body whose relative movement

between its parts are significant relative to the gross
motion of the body. Mechanics of the deformable
material.

6.1 Basic Concepts

 Ch. 6: Intro to Dynamics 310

Particles Objects
differential element analysis
Molecular effects in the body
of the body
Yawing, pitching motion of
Flight speed of the airplane
the plane

Rigid bodies Nonrigid bodies

Material for constructing the
Tension in the truss structure
truss
A stiff linkage of the robot An n-joint robot arm
The body-fixed inertia of the nonrigid body
is not constant.
6.1 Basic Concepts
 Ch. 6: Intro to Dynamics 311

6.2 Newtons Laws

1st Law: A particle remains at rest or continues to move

in a straight line with a uniform velocity if there is no
unbalanced force acting on it.

F= 0a=0

6.2 Newtons Laws

 Ch. 6: Intro to Dynamics 312

6.2 Newtons Laws

2nd Law: The absolute acceleration of a particle is

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

F = ma
a = absolute acceleration

6.2 Newtons Laws

 Ch. 6: Intro to Dynamics 313

6.2 Newtons Laws

3rd Law: The forces of action and reaction between

interacting bodies are equal in magnitude, opposite
in direction, and collinear.

action force = -(reaction force)

-F F
F F

FBD

6.2 Newtons Laws

 Ch. 6: Intro to Dynamics 314

6.3 Gravitational Law governs mutual attraction

between bodies

m1m2
F F F= G
m1 m2 r2
G = 6.673 10-11 m 3 / ( kg s 2 )

6.3 Gravitational Law

 Ch. 6: Intro to Dynamics 315

Gravitational acceleration
Calculate from the gravitational force between the earth
and the object. This attractive force is called the weight
of the body.
Gme
W= m 2
= mg
r
g = free falling acceleration observed on the moving earth
= 9.81 m/s 2 can be considered the absolute acceleration
at sea level in the engineering problem on earth

6.3 Gravitational Law