You are on page 1of 6

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
and Senior Academic Professional
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

2
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

3
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 
4
Particle Kinematic Relationships
Position
d
dt  dt
Velocity Used with permission from “Engineering
Mechanics: Dynamics,” McGill/King, 4th Ed, 2003

d
dt  dt
Acceleration

5
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!
6