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# Engineering Systems in

Motion: Dynamics of
Particles and Bodies in Planar
Two Dimensional (2D) Motion
Dr. Wayne Whiteman
Director of the Office of Student Services
School of Mechanical Engineering

## This course is an introduction to the study of bodies in motion as

applied to engineering systems and structures.

## School of Mechanical Engineering

Module 2 Learning Outcomes
 Explain the concept of reference frames as
applied to vector derivatives
 Describe the particle kinematic relationships
of position, velocity and, acceleration
 Define rectilinear motion

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Reference Frames and Vector Derivatives

dR  A vector can change in both
R magnitude and direction
dt

For a constant
 magnitude
vector, R Used with permission from “Engineering
Mechanics: Dynamics,” McGill/King, 4th Ed, 2003
Vinyl Reference Frame Earth Reference Frame

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So we need to specify the appropriate reference
frame

when taking vector derivatives!
R  R1eˆ1  R2 eˆ2  R3eˆ3

unit vectors
F  F
dR dR1  deˆ  Used with permission from “Engineering
 eˆ1  R1  1  Mechanics: Dynamics,” McGill/King, 4th Ed, 2003

dt dt  dt 
F
Identifies the dR2  deˆ 
reference  ˆ2  R2  2 
e
dt  dt 
frame in which F
dR  deˆ 
the derivative  3 eˆ3  R3  3 
is being taken dt  dt 
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Particle Kinematic Relationships
Position
d
dt  dt
Velocity Used with permission from “Engineering
Mechanics: Dynamics,” McGill/King, 4th Ed, 2003

d
dt  dt
Acceleration

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Rectilinear Motion
Straight line motion
One component of acceleration

rOP  xiˆ

v P  xiˆ
Used with permission from “Engineering
Mechanics: Dynamics,” McGill/King, 4th Ed, 2003

a P  xiˆ
No change in direction:
Therefore work with scalars!
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