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Eleventh Edition
CHAPTER VECTOR MECHANICS FOR ENGINEERS:
11 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinematics of Particles
Brian P. Self
Copyright © McGraw-Hill Education. Permission required for reproduction or display.

Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Fall 2017
CE 435–Dynamics of CE Systems
Instructor: Professor Richard Keles, PhD, MS, MS, MS, MS,
ME, MA, MBA, PE
Department of Civil Engineering
Email: rkeles1@ccny.cuny.edu
Office Hours: Friday, 3:00 PM-4:00 PM
Teaching Assistant (TA): Qian CHEN, Ph.D. Student

RM 1/186 Steinman Hall
P: 212-650-8067
Email: chenqian022@hotmail.com
Office hours: T: 3:30 PM-5:00; W 3:30 PM – 5:00 PM (In class) or
anytime by e-mail.
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Eleventh
• Textbook: Engineering Mechanics: Dynamics by

• Beer, Johnson, Cornwell, and Self
• 11nd Edition, McGraw Hill, 2016.
ISBN: 978-0-07-768734-2
Can be purchased from: Online Bookstore:
CCNYbook.com
Range of options: Rent, use, new book, or
3-hole loose papers about $20-30.

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Eleventh

Grove School of Engineering

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What is Engineering Mechanics: Dynamics?

• Mechanics is the branch of physical science which deals with the
state of rest (statics) or motion (dynamics) of bodies under the
action of force.
• More specifically, it focuses on a force causing a particle or a solid
body or to move with constant acceleration or gain acceleration and
move with that external applied force on a particle or a solid body
to move.
• The Second Law of Newton’s tells us by equation: F  ma
• Our approach solution of Dynamics Problems begins with
• 1-Drawing a Free Body Diagram(FBD) of a Given a Dynamic
Problem.
• 2-Indicating all given variables and values on the FBD
• 3- Making simplifying assumptions to obtain reasonable,
approximate (but sometimes exact) models, and equations that
quantify these.
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• Mechanics is the original engineering discipline:
1564 – 1642
Galilei, Galileo - Discorsi e dimostrazioni matematiche, intorno à
due nuoue scienze. 1638.
Galileo proposed who studied particles and did experiments on
Dynamics.

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Isaac Newton, Philosophiæ

Naturalis Principia
Mathematica, Latin for
"Mathematical Principles of
Natural Philosophy, 1687.
1643-1727
The Principia states Newton's laws of motion, forming the foundation

of classical mechanics. Newton’s laws are:
1) First Law about F=0 Statics
2) Second Law about F=ma Dynamics
3) Third Law about F= R Action equal to Reaction

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COURSE ORGANIZATION
BlackBoard Homepage: All lecture notes, powerpoint slides,
homeworks will be posted on Blackboard. You must check it
regularly. Please set your BlackBoard Notifications to alert you
with an email every time something new is posted to the site.
See Edit Notification Settings in BlackBoard.
Homeworks: All home works questions and your solutions online
via Connect of McGraw Hill your solutions and attempts will be
recorded by the Connect. At the end of the semester I will get the
highest score for each of the home works submitted to Connect.
http://connect.meducational.com/class/keles-ce231-001
Participation and Attendance: This course will be taught with a

mixture of lecture and student participation. Class participation and
attendance are mandatory and expected of all students. Please read the
sections of the textbook being covered in the class prior to class time.
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Because practice by working and solving Homework problems
increases your successes on Exams, Quizzes and Asking meaning
questions, thus, increases getting Good to Excellent Grade.
Attendance: Being in attendance with all classes increases

understanding each topics covered in class is Also increases
Do well in the exams including in the Final to get a Good Grade.
Make sure do not miss a class throughout the semester for your own
sake and get 10 point in attendance of 90 % of the time. Thus,
Participation: This course will be taught with a mixture of lecture

and student participation. Class participation and attendance are
mandatory and expected of all students. Please read the sections of
the textbook being covered in the class prior to class time.

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Grade Evaluation Criteria(subject to change):

Attendance/Homework/Instructor Impression 10%
Quizzes (Announced and Surprise) 10%
First Midterm 20%
Second Midterm 20%
Final Exam 35%
Project 5%
Total Score 100%
ABSOLUTELY NO DISCUSSION OF GRADING AT THE
END OF THE SEMESTER!!!
Borderline Grades: Your quiz result and especially final exam
scores will be important in determining a borderline grade.
Late Policy: No late work will be accepted for credits.
There will be no makeup midterm nor final exam, except
medical emergency.
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Eleventh
Homeworks
• All homework solution should be submitted on line via McGraw
Hill CONNECT Engineering. The Connect provides online
personalized interaction with problem solutions.
• The connect will grade your solutions and record them.
• Also, you are required submit each Assigned Homework in hard
Copy and will be collected in class on the week they are due.
• Put your name and student ID number on the front page.
• Begin each homework problem on a separate page of “lined or
calculation” paper (you may use front and back if desired.)
• Put problems in the order they were assigned.
• The HW set must be stapled (no paper clips).
• For each problem you MUST:
• Sketch the original diagram. Free body diagrams, if applicable, must
also be shown.
• Write out all formulas used.
• Use appropriate units in answers and express with the appropriate
number
Copyright of significant
© McGraw-Hill digits.
Education. Permission required for reproduction or display.
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Eleventh
Homework and Projects:
Late homework submission WILL NOT BE accepted via

Connect.
Also, You are required to turn hard copy format all HWs, on the due
date in Class.
Design Project and Reports: A design project/investigative report

will be assigned this semester. Written reports will be required to
explain a topics in detail.

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Quiz, Exam, and Class Behavior:
Quizzes and Exams: There will be two midterm exams quizzes (1hour 50
minutes long during the recitation session) and one final EXAM (during the
exam period). The final exam will be cumulative.
Exams will be closed book. You are allowed to bring:
• 1 page formula sheet of notes for Midterm 1
• 1 page formula sheet of notes for Midterm 2
• 2 page formula sheets for Final Exam
During Exam is not allowed cell phone use, WiFi or Digital Watch connected to
your Cell Phone…
• CALCULATOR USE ALLOWED!
• ON THE ALLOWED FORMULA SHEET NO WORK PROBLEM
SOLUTION IS ALLOWED
• ONLY FORMULAS ALLOWED ON THE FORMULA SHEET
NOTHING ELSE

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Quizzes, Exam, and Class Behavior:
Courtesy During Lectures - PLEASE:

No reading newspapers.
No sleeping or eating.
No working on HW.
No web surfing, e-chatting, e-mail, etc.
Conduct: The instructor and the City College of New York expect
the highest standards of honesty and integrity in the academic
conduct of its students. Any student caught cheating in this course
will receive an F and the case will be reported to the Dean of
Students.

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Vector Mechanics
Class Participation:
for Engineers: Dynamics
Class participation and attendance are expected of all students.

• In-class discussions will be more valuable to you and your
classmates if you come prepared.
• Read the sections of the textbook being covered in the class prior to
class time.
• Lecture and Recitation Attendances and Participation will be taken.

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The Importance and Limitations of Collaboration:
• You are encouraged to discuss homework and course material

with me, the TA, your teammates, and your other classmates.
• However, the submitted individual homework solutions and
exams must involve only your effort.
• Failure to do so will:
– To submit Solution Manual Solution
– Copied homework for getting zero credit any submitted work
– lead to terrible performance on the exams
– more serious problems
– Referral to academic committee for dismissal....
• For an assignment that specifically requires team work, your
contribution to the work of the team will be spelled out.

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Wrap Up:
• Read the outline and syllabus in detail!

• Check out the BlackBoard Web Site and set your
notification alert – make sure you are notified
about all materials posted on the site and all
communications. Ignorance is no excuse!
• For class on Wednesday:
– Chapter 11: Read sections.

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Welcome, good luck, and enjoy the semester!

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Chapter 11
Contents Sample Problem 11.7
Introduction Graphical Solutions
Rectilinear Motion: Position, Curvilinear Motion: Position, Velocity
Velocity & Acceleration & Acceleration
Determining the Motion of a Derivatives of Vector Functions
Particle
Rectangular Components of Velocity
Sample Problem 11.2
and Acceleration
Sample Problem 11.3
Sample Problem 11.10
Uniform Rectilinear-Motion
Motion Relative to a Frame in
Uniformly Accelerated Rectilinear- Translation
Motion
Motion of Several Particles:
Relative Motion Tangential and Normal Components
Sample Problem 11.5 Sample Problem 11.16
Motion of Several Particles: Radial and Transverse Components
Dependent Motion Sample Problem 11.18
Copyright © McGraw-Hill Education. Permission required for reproduction or display. 11 - 19
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Kinematics
Kinematic relationships are used to
help us determine the trajectory of a
snowboarder completing a jump, the
orbital speed of a satellite, and
accelerations during acrobatic flying.

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Introduction
• Dynamics includes:
Kinematics: study of the geometry of motion.
Relates displacement, velocity, acceleration, and time without reference
to the cause of motion.
Fdownforce
Fdrive Fdrag
Kinetics: study of the relations existing between the forces acting on

a body, the mass of the body, and the motion of the body. Kinetics is
used to predict the motion caused by given forces or to determine the
forces required to produce a given motion.
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Introduction
• Particle kinetics includes:
• Rectilinear motion: position, velocity, and acceleration of a

particle as it moves along a straight line.
• Curvilinear motion: position, velocity, and acceleration of a

particle as it moves along a curved line in two or three
dimensions.
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Rectilinear Motion: Position, Velocity & Acceleration
• Rectilinear motion: particle moving
along a straight line
• Position coordinate: defined by
positive or negative distance from a
fixed origin on the line.
• The motion of a particle is known if

the position coordinate for particle is
known for every value of time t.
• May be expressed in the form of a
function, e.g., 2 3
x  6t  t
or in the form of a graph x vs. t.
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• Consider particle which occupies position P
at time t and P’ at t+Dt,
Dx
Average velocity 
Dt
Dx
Instantaneous velocity  v  lim
Dt 0 Dt
• Instantaneous velocity may be positive or

negative. Magnitude of velocity is referred
to as particle speed.
• From the definition of a derivative,
Dx dx
v  lim 
Dt 0 Dt dt
e.g., x  6t 2  t 3
dx
v  12t  3t 2
dt
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• Consider particle with velocity v at time t and
v’ at t+Dt,
Dv
Instantaneous acceleration  a  lim
Dt 0 Dt
• Instantaneous acceleration may be:

- positive: increasing positive velocity
or decreasing negative velocity
- negative: decreasing positive velocity
or increasing negative velocity.
• From the definition of a derivative,
Dv dv d 2 x
a  lim   2
Dt 0 Dt dt dt
e.g. v  12t  3t 2
dv
a  12  6t
dt
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Concept Quiz
What is true about the kinematics of a particle?
a) The velocity of a particle is always positive

b) The velocity of a particle is equal to the slope of
the position-time graph
c) If the position of a particle is zero, then the
velocity must zero
d) If the velocity of a particle is zero, then its
acceleration must be zero

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• From our example,
x  6t 2  t 3
dx
v  12t  3t 2
dt
dv d 2 x
a   12  6t
dt dt 2
• What are x, v, and a at t = 2 s ?

- at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0
• Note that vmax occurs when a=0, and that the

slope of the velocity curve is zero at this point.
• What are x, v, and a at t = 4 s ?
- at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

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Determining the Motion of a Particle
• We often determine accelerations from the forces applied

(kinetics will be covered later)
• Generally have three classes of motion
- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)
• Can you think of a physical example of when force is a

function of position? When force is a function of velocity?
A Spring Drag

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Acceleration as a function of time, position, or velocity
If…. Kinematic relationship Integrate
v t
 dv   a  t  dt
dv
a  a t   a(t )
dt v0 0
dx dv
dt  and a  v x
 v dv   a  x  dx
v dt
a  a  x
v dv  a  x  dx
v0 x0
v t
dv dv
dt
 a (v ) v a  v   0 dt
a  a v
0
x v
dv
v  a v v dv
x dx  v a  v 
dx
0 0

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Sample Problem 11.2
STRATEGY:
• Integrate twice to find v(t) and y(t).
• Solve for t when velocity equals zero

(time for maximum elevation) and
evaluate corresponding altitude.
• Solve for t when altitude equals zero

Ball tossed with 10 m/s vertical velocity (time for ground impact) and evaluate
from window 20 m above ground. corresponding velocity.
Determine:
• velocity and elevation above ground at
time t,
• highest elevation reached by ball and
corresponding time, and
• time when ball will hit the ground and
corresponding velocity.
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Sample Problem 11.2
MODELING and ANALYSIS:
• Integrate twice to find v(t) and y(t).
dv
 a  9.81 m s 2
dt
v t  t
 dv    9.81 dt vt   v0  9.81t
v0 0
m  m
vt   10   9.81 2  t
s  s 
dy
 v  10  9.81t
dt
y t  t
 dy   10  9.81t dt y t   y0  10t  12 9.81t 2
y0 0
 m  m
yt   20 m  10 t   4.905 2 t 2
 s  s 
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Sample Problem 11.2
• Solve for t when velocity equals zero and evaluate
corresponding altitude.
m  m
vt   10   9.81 2  t  0
s  s 
t  1.019 s
• Solve for t when altitude equals zero and evaluate

 m  m
y t   20 m  10 t   4.905 2 t 2
 s  s 
 m  m
y  20 m  10 1.019 s    4.905 2 1.019 s 2
 s  s 
y  25.1 m

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Sample Problem 11.2
• Solve for t when altitude equals zero and evaluate
 m  m
yt   20 m  10 t   4.905 2 t 2  0
 s  s 
t  1.243 s meaningles s 
t  3.28 s
m  m
vt   10   9.81 2  t
s  s 
m  m
v3.28 s   10   9.81 2  3.28 s 
s  s 
m
v  22.2
REFLECT and THINK: s
When the acceleration is constant, the velocity
changes linearly, and the position is a quadratic function of time.
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Sample Problem 11.3
STRATEGY:
a  kv • Integrate a = dv/dt = -kv to find v(t).

• Integrate v(t) = dx/dt to find x(t).
• Integrate a = v dv/dx = -kv to find
v(x).
A mountain bike shock mechanism used
to provide shock absorption consists of a
piston that travels in an oil-filled cylinder.
As the cylinder is given an initial velocity
v0, the piston moves and oil is forced
through orifices in piston, causing piston
and cylinder to decelerate at rate
proportional to their velocity.
Determine v(t), x(t), and v(x).

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Sample Problem 11.3
• Integrate a = dv/dt = -kv to find v(t).
dv
v
dv
t
v t 
a
dt
 kv v v  k 0 dt ln
v0
 kt
0
vt   v0 e kt
• Integrate v(t) = dx/dt to find x(t).

dx
v t    v0e kt
dt
t
 1 
x t
 dx  v0  dt
e  kt
x  t   v0   e  kt 
0 0  k 0
v

xt   0 1  e kt
k

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Sample Problem 11.3
• Integrate a = v dv/dx = -kv to find v(x).
v x
dv
a  v  kv dv  k dx  dv  k  dx
dx v0 0
v  v0  kx
v  v0  kx
• Alternatively,
with
v

xt   0 1  e kt
k

vt 
and vt   v0 e kt or e kt 
v0
v  vt  
then xt   0 1  
k  v0 
v  v0  kx

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Sample Problem 11.3
(checks)

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Group Problem Solving
A bowling ball is dropped from a boat so that it
strikes the surface of a lake with a speed of 15 ft/s.
+y Assuming the ball experiences a downward
acceleration of a =10 - 0.01v2 when in the water,
determine the velocity of the ball when it strikes the
bottom of the lake.
Which integral should you choose?
v t v x
(a)  dv   a  t  dt
v0 0
(c)  v dv   a  x  dx
v0 x0
v t
x v dv
(b)
v dv
x dx  v a  v  (d) v a  v   0 dt
0
0 0

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Concept Question
When will the bowling ball start slowing down?
A bowling ball is dropped from a boat so that it

strikes the surface of a lake with a speed of 15 ft/s.
+y Assuming the ball experiences a downward
acceleration of a =10 - 0.01v2 when in the water,
determine the velocity of the ball when it strikes the
bottom of the lake.
The velocity would have to be high

enough for the 0.01 v2 term to be bigger
than 10.

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STRATEGY:
• Determine the proper kinematic
relationship to apply (is acceleration
a function of time, velocity, or
position?
• Determine the total distance the car
The car starts from rest and accelerates travels in one-half lap
according to the relationship
• Integrate to determine the velocity
a  3  0.001v 2
after one-half lap
It travels around a circular track that has

a radius of 200 meters. Calculate the
velocity of the car after it has travelled
halfway around the track. What is the
car’s maximum possible speed?

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Given: a  3  0.001v2 Find: v after ½ lap
vo = 0, r = 200 m Maximum speed
Choose the proper kinematic relationship
Acceleration is a function of velocity, and
we also can determine distance. Time is not
involved in the problem, so we choose:
x v
dv
v  a v v dv
x dx  v a  v 
dx
0 0
Determine total distance travelled

x   r  3.14(200)  628.32 m

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Determine the full integral, including limits
x v
v dv 628.32 v
x v a  v 
 v
0
dx
0

0
dx  
0
3  0.001v 2
dv
Evaluate the interval and solve for v

1 2 v
628.32   ln 3  0.001v 
0.002 0
628.32(0.002)  ln 3  0.001v2   ln 3  0.001(0)
ln 3  0.001v2   1.2566  1.0986=  0.15802
Take the exponential of each side 3  0.001v2  e0.15802

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Solve for v 3  0.001v2  e0.15802
3  e0.15802
v 
2
 2146.2 v  46.3268 m/s
0.001
How do you determine the maximum speed the car can reach?
Velocity is a maximum when a  3  0.001v2
acceleration is zero
This occurs when 0.001v2  3
vmax  3
0.001 vmax  54.772 m/s

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REFLECT and THINK:
The units for the solution are correct. You can also review
the answers from the two parts. The maximum speed
(part b) should be greater than the speed found for part a.
By inspection, the answers are reasonable.

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Uniform Rectilinear Motion
Once a safe speed of descent for a
For a particle in uniform
vertical landing is reached, a Harrier jet
rectilinear motion, the
pilot will adjust the vertical thrusters to
acceleration is zero and
equal the weight of the aircraft. The
the velocity is constant.
plane then travels at a constant velocity
downward. If motion is in a straight dx
line, this is uniform rectilinear motion.  v  constant
dt
x t
 dx  v  dt
x0 0
x  x0  vt
x  x0  vt
Careful – these only apply to

uniform rectilinear motion!
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Uniformly Accelerated Rectilinear Motion
For a particle in uniformly accelerated rectilinear motion, the
acceleration of the particle is constant. You may recognize these
constant acceleration equations from your physics courses.
v t
dv
dt
 a  constant  dv  a  dt
v0 0
v  v0  at
x t
dx
dt
 v0  at  dx    v0  at  dt
x0 0
x  x0  v0t  12 at 2
v x
dv
v  a  constant  v dv  a  dx v 2  v02  2a  x  x0 
dx v0 x0
Careful – these only apply to uniformly

accelerated rectilinear motion!
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Motion of Several Particles
We may be interested in the motion of several different particles,
whose motion may be independent or linked together.

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Motion of Several Particles: Relative Motion
• For particles moving along the same line, time
should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.
xB  x B  x A  relative position of B
A
with respect to A
xB  x A  xB A
vB  v B  v A  relative velocity of B
A
with respect to A
vB  v A  vB A
aB  a B  a A  relative acceleration of B
A
with respect to A
aB  a A  aB A
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Sample Problem 11.5
STRATEGY:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
• Substitute initial position and constant

velocity of elevator into equation for
uniform rectilinear motion.
Ball thrown vertically from 12 m level
in elevator shaft with initial velocity of • Write equation for relative position of
18 m/s. At same instant, open-platform ball with respect to elevator and solve
elevator passes 5 m level moving for zero relative position, i.e., impact.
upward at 2 m/s.
• Substitute impact time into equation
Determine (a) when and where ball hits for position of elevator and relative
elevator and (b) relative velocity of ball velocity of ball with respect to
and elevator at contact. elevator.
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Eleventh
Sample Problem 11.5
• Substitute initial position and velocity and constant
acceleration of ball into general equations for
uniformly accelerated rectilinear motion.
m  m
v B  v0  at  18   9.81 2 t
s  s 
 m  m
y B  y0  v0t  12 at 2  12 m  18 t   4.905 2 t 2
 s  s 
• Substitute initial position and constant velocity of

elevator into equation for uniform rectilinear motion.
m
vE  2
s
 m
y E  y0  v E t  5 m   2 t
 s

Edition
Eleventh
Sample Problem 11.5
• Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.
yB E  
 12  18t  4.905t 2  5  2t   0
t  0.39 s meaningles s 
t  3.65 s
• Substitute impact time into equations for position of elevator

and relative velocity of ball with respect to elevator.
y E  5  23.65
y E  12.3 m
vB E  18  9.81t   2
 16  9.813.65
m
vB E  19.81
s
Edition
Eleventh
Sample Problem 11.5
REFLECT and THINK:
The key insight is that, when two particles collide, their
position coordinates must be equal. Also, although you
can use the basic kinematic relationships in this
problem, you may find it easier to use the equations
relating a, v, x, and t when the acceleration is constant
or zero.

Edition
Eleventh
Motion of Several Particles: Dependent Motion
• Position of a particle may depend on position of one
or more other particles.
• Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A  2 x B  constant (one degree of freedom)
• Positions of three blocks are dependent.
2 x A  2 xB  xC  constant (two degrees of freedom)
• For linearly related positions, similar relations hold

between velocities and accelerations.
dx A dx dx
2  2 B  C  0 or 2v A  2v B  vC  0
dt dt dt
dv dv dv
2 A  2 B  C  0 or 2a A  2a B  aC  0
dt dt dt
Edition
Eleventh
Sample Problem 11.7
STRATEGY:
• Define origin at upper horizontal surface
with positive displacement downward.
• Collar A has uniformly accelerated
rectilinear motion. Solve for acceleration
and time t to reach L.
• Pulley D has uniform rectilinear motion.
Pulley D is attached to a collar which Calculate change of position at time t.
is pulled down at 3 in./s. At t = 0,
collar A starts moving down from K • Block B motion is dependent on motions
with constant acceleration and zero of collar A and pulley D. Write motion
initial velocity. Knowing that velocity relationship and solve for change of block
of collar A is 12 in./s as it passes L, B position at time t.
determine the change in elevation, • Differentiate motion relation twice to
velocity, and acceleration of block B develop equations for velocity and
when block A is at L. acceleration of block B.
Edition
Eleventh
Sample Problem 11.7
• Define origin at upper horizontal surface with
positive displacement downward.
• Collar A has uniformly accelerated rectilinear

motion. Solve for acceleration and time t to reach L.
v 2A  v A 02  2a A x A   x A 0 
2
 in.  in.
12   2a A 8 in. aA  9
 s  s2
v A  v A 0  a At
in. in.
12 9 2t t  1.333 s
s s

Edition
Eleventh
Sample Problem 11.7
• Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
x D   x D 0  v D t
 in. 
x D   x D 0   3 1.333 s   4 in.
 s 
• Block B motion is dependent on motions of collar
A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A  2 x D  x B   x A 0  2 x D 0   x B 0
x A   x A 0  2xD  xD 0  xB  xB 0   0

8 in.  24 in.  x B   x B 0   0
x B   x B 0  16 in.
Edition
Eleventh
Sample Problem 11.7
• Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A  2 x D  x B  constant
v A  2v D  v B  0
 in.   in.  in.

12   2 3   v B  0 v B  18
 s   s  s
a A  2a D  a B  0
 in.  in.
a B  9 2
 9 2   vB  0
 s  s
REFLECT and THINK:
In this case, the relationship we needed was not between position coordinates,
but between changes in position coordinates at two different times. The key
step is to clearly define your position vectors. This is a two degree-of-freedom
system, because two coordinates are required to completely describe it.
Edition
Eleventh
Slider block A moves to the left with a
constant velocity of 6 m/s. Determine the
velocity of block B.
STRATEGY:
• Sketch your system and choose
coordinate system
• Write out constraint equation
• Differentiate the constraint equation to
get velocity

Edition
Eleventh
Given: vA= 6 m/s left Find: vB
xA This length is constant no
matter how the blocks move
Sketch your system and choose coordinates

yB
Define your constraint equation(s)
xA  3 yB  constants  L
Differentiate the constraint equation to

get velocity
6 m/s + 3vB  0
v B  2 m/s 
Note that as xA gets bigger, yB gets smaller.
Edition
Eleventh
REFLECT and THINK:

Physically it makes sense, by looking at the
system, block B must move upward if block
A is to move to the left.
The velocity of block B should also be less

than that of block A.

Edition
Eleventh
Graphical Solutions
Engineers often collect position, velocity, and acceleration

data. Graphical solutions are often useful in analyzing
these data.
Data Fideltity / Highest Recorded Punch
180
160
140 Acceleration data

from a head impact
Acceleration (g)
120
100 during a round of

80 boxing.
60
40
20
0
47.76 47.77 47.78 47.79 47.8 47.81
Time (s)

Edition
Eleventh
Graphical Solutions
• Given the x-t curve, the v-t curve is

equal to the x-t curve slope.
• Given the v-t curve, the a-t curve is

equal to the v-t curve slope.

Edition
Eleventh
Graphical Solutions
• Given the a-t curve, the change in velocity between t1 and t2 is

equal to the area under the a-t curve between t1 and t2.
• Given the v-t curve, the change in position between t1 and t2 is

equal to the area under the v-t curve between t1 and t2.

Edition
Eleventh
Curvilinear Motion: Position, Velocity & Acceleration
The snowboarder and the train both

undergo curvilinear motion.
• A particle moving along a curve other than a

straight line is in curvilinear motion.
Edition
Eleventh
• The position vector of a particle at time t is defined by a vector between
origin O of a fixed reference frame and the position occupied by particle.

• Consider a particle which occupies position P defined by r at time t

and P’ defined by r  at t + Dt,

Edition
Eleventh
Instantaneous velocity Instantaneous speed
(vector) (scalar)
Dr dr Ds ds
v  lim  v  lim 
Dt 0 Dt dt Dt 0 Dt dt

Edition
Eleventh
 
• Consider velocity v of a particle at time t and velocity v  at t + Dt,
Dv dv
a  lim   instantaneous acceleration (vector)
Dt 0 Dt dt
• In general, the acceleration vector is not tangent

to the particle path and velocity vector.
Edition
Eleventh
Rectangular Components of Velocity & Acceleration
• When position vector of particle P is given by its
rectangular components,
   
r  xi  y j  zk
• Velocity vector,
 dx  dy  dz    
v  i  j  k  xi  y j  zk
dt dt dt
  
 vx i  v y j  vz k
• Acceleration vector,
 d 2 x d 2 y  d 2 z    
a  2 i  2 j  2 k  xi  y j  zk
dt dt dt
  
 ax i  a y j  az k

Edition
Eleventh
Rectangular Components of Velocity & Acceleration
• Rectangular components particularly effective
when component accelerations can be integrated
independently, e.g., motion of a projectile,
a x  x  0 a y  y   g a z  z  0
with initial conditions,
x0  y0  z0  0 v x 0 , v y  , v z 0  0
0
Integrating twice yields

v x  v x 0 v y  v y   gt vz  0
0
x  v x 0 t y  v y  y  12 gt 2 z0
0
• Motion in horizontal direction is uniform.

• Motion in vertical direction is uniformly accelerated.
• Motion of projectile could be replaced by two

independent rectilinear motions.
Edition
Eleventh
STRATEGY:
• Consider the vertical and horizontal motion
separately (they are independent)
• Apply equations of motion in y-direction
• Apply equations of motion in x-direction
• Determine time t for projectile to hit the

A projectile is fired from the edge
ground, use this to find the horizontal
of a 150-m cliff with an initial
distance
velocity of 180 m/s at an angle of
30°with the horizontal. Neglecting • Maximum elevation occurs when vy=0
air resistance, find (a) the horizontal
distance from the gun to the point
where the projectile strikes the
ground, (b) the greatest elevation
above the ground reached by the
projectile.
Edition
Eleventh
Given: (v)o =180 m/s (y)o =150 m

(a)y = - 9.81 m/s2 (a)x = 0 m/s2
Vertical motion – uniformly accelerated:
Horizontal motion – uniformly accelerated:

Choose positive x to the right as shown

Edition
Eleventh
Horizontal distance
Projectile strikes the ground at:
Substitute into equation (1) above
Solving for t, we take the positive root
Substitute t into equation (4)
Maximum elevation occurs when vy=0
Maximum elevation above the ground =

Edition
Eleventh
REFLECT and THINK:
Because there is no air resistance, you can
treat the vertical and horizontal motions
separately and can immediately write
down the algebraic equations of motion.
If you did want to include air resistance,
you must know the acceleration as a
function of speed (you will see how to
derive this in Chapter 12), and then you
need to use the basic kinematic
relationships, separate variables, and
integrate.

Edition
Eleventh
Concept Quiz
If you fire a projectile from 150
meters above the ground (see
Ex Problem 11.7), what launch
angle will give you the greatest
horizontal distance x?
a) A launch angle of 45
b) A launch angle less than 45
c) A launch angle greater than 45
d) It depends on the launch velocity

Edition
Eleventh
STRATEGY:
A baseball pitching machine • Consider the vertical and horizontal motion
“throws” baseballs with a separately (they are independent)
horizontal velocity v0. If you
want the height h to be 42 in., • Apply equations of motion in y-direction
determine the value of v0.
• Apply equations of motion in x-direction
• Determine time t for projectile to fall to 42

inches
• Calculate v0=0
Edition
Eleventh
Given: x= 40 ft, yo = 5 ft,
yf= 42 in.
Find: vo
Analyze the motion in Analyze the motion in
the y-direction the x-direction
1 2
y f  y0  (0)t  gt x  0  (vx )0 t  v0t
2
1 2
3.5  5  gt 40 ft  (v0 )(0.305234 s)
2
1 v0  131.047 ft/s  89.4 mi/h
1.5 ft   (32.2 ft/s2 )t 2
2
REFLECT and THINK:
t  0.305234 s Units are correct and magnitudes
are reasonable

Edition
Eleventh
Motion Relative to a Frame in Translation
It is critical for a pilot to know the relative motion of his helicopter
with respect to the aircraft carrier to make a safe landing.

Edition
Eleventh
Motion Relative to a Frame in Translation
• Designate one frame as the fixed frame of reference.
All other frames not rigidly attached to the fixed
reference frame are moving frames of reference.
• Position vectors for particles A and B with respect to
 
the fixed frame of reference Oxyz are rA and rB .

• Vector B A joining A and B defines the position of
r
B with respect to the moving frame Ax’y’z’ and
  
rB  rA  rB A
• Differentiating twice,
   
vB  v A  vB A vB A  velocity of B relative to A.
   
a B  a A  aB A aB A  acceleration of B relative
to A.
• Absolute motion of B can be obtained by combining
motion of A with relative motion of B with respect to
moving reference frame attached to A.
Edition
Eleventh
STRATEGY:
• Define inertial axes for the system
• Determine the position, speed, and

acceleration of car A at t = 5 s
• Determine the position, speed, and
acceleration of car B at t = 5 s
Automobile A is traveling east at the • Using vectors (Eqs 11.30, 11.32, and
constant speed of 36 km/h. As 11.33) or a graphical approach, determine
automobile A crosses the intersection the relative position, velocity, and
shown, automobile B starts from rest acceleration
35 m north of the intersection and
moves south with a constant
acceleration of 1.2 m/s2. Determine
the position, velocity, and
acceleration of B relative to A 5 s
after A crosses the intersection.
Edition
Eleventh
• Define axes along the road
Given: vA=36 km/h, aA= 0, (xA)0 = 0
(vB)0= 0, aB= - 1.2 m/s2, (yA)0 = 35 m
Determine motion of Automobile A:
We have uniform motion for A so:
At t = 5 s

Edition
Eleventh
Determine motion of Automobile B:
We have uniform acceleration for B so:
At t = 5 s

Edition
Eleventh
We can solve the problems geometrically, and apply the arctangent relationship:
Or we can solve the problems using vectors to obtain equivalent results:

rB  rA  rB/ A vB  v A  vB/ A aB  aA  aB/ A
20 j  50i  rB/ A 6 j  10i  v B/ A 1.2 j  0i  aB/ A
rB/ A  20 j  50i (m) v B/ A  6 j  10i (m/s) aB/ A  1.2 j (m/s 2 )
Physically, a rider in car A would “see” car B travelling south and west.
Edition
Eleventh
REFLECT and THINK:
Note that the relative position and velocity of
B relative to A change with time; the values
given here are only for the moment t =5 s.

Edition
Eleventh
Concept Quiz
If you are sitting in train
B looking out the window,
it which direction does it
appear that train A is
moving?
a) 25o c)
b) 25o d)
Edition
Eleventh
Tangential and Normal Components for circular motion
If we have an idea of the path of a vehicle or object, it is often

convenient to analyze the motion using tangential and normal
components (sometimes called path coordinates).

Edition
Eleventh
Tangential and Normal Components
y
r= the instantaneous
radius of curvature
v  v et
en v= vt et dv v2
et a  e t  en
dt r
x
• The tangential direction (et) is tangent to the path of the
particle. This velocity vector of a particle is in this direction
• The normal direction (en) is perpendicular to et and points
towards the inside of the curve.
• The acceleration can have components in both the en and et directions
Edition
Eleventh
• To derive the acceleration vector in tangential
and normal components, define the motion of a
particle as shown in the figure.
 
• et and et are tangential unit vectors for the
particle path at P and P’. When drawn with
  
respect to the same origin, Det  et  et and
D is the angle between them.
Det  2 sinD 2

Det sinD 2   
lim  lim en  en
D 0 D D 0 D 2

 det
en 
d

Edition
Eleventh
 
• With the velocity vector expressed as v  vet
the particle acceleration may be written as
  
 dv dv  de dv  de d ds
a  et  v  et  v
dt dt dt dt d ds dt
but 
det  ds
 en r d  ds v
d dt
After substituting,
 dv  v 2  dv v2
a  et  en at  an 
dt r dt r
• The tangential component of acceleration
reflects change of speed and the normal
component reflects change of direction.
• The tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
Edition
Eleventh
• Relations for tangential and normal acceleration
also apply for particle moving along a space curve.
 dv  v 2  dv v2
a  et  en at  an 
dt r dt r
• The plane containing tangential and normal unit

vectors is called the osculating plane.
• The normal to the osculating plane is found from
  
eb  et  en

en  principal normal

eb  binormal
• Acceleration has no component along the binormal.

Edition
Eleventh
STRATEGY:
• Define your coordinate system
• Calculate the tangential velocity and

tangential acceleration
• Calculate the normal acceleration
A motorist is traveling on a curved • Determine overall acceleration magnitude

section of highway of radius 2500 ft after the brakes have been applied
at the speed of 60 mi/h. The motorist
suddenly applies the brakes, causing
the automobile to slow down at a
constant rate. Knowing that after 8 s
the speed has been reduced to 45
mi/h, determine the acceleration of
the automobile immediately after the
brakes have been applied.
Edition
Eleventh
• Determine velocity and acceleration in
the tangential direction
et
en
• The deceleration constant, therefore
• Immediately after the brakes are applied,

the speed is still 88 ft/s
a  an2  at2  2.752  3.102

Edition
Eleventh
REFLECT and THINK:
The tangential component of acceleration is
opposite the direction of motion, and the
normal component of acceleration points to
the center of curvature, which is what you
would expect for slowing down on a curved
path. Attempting to do the problem in
Cartesian coordinates is quite difficult.

Edition
Eleventh
In 2001, a race scheduled at the Texas Motor Speedway was
cancelled because the normal accelerations were too high and
caused some drivers to experience excessive g-loads (similar to
fighter pilots) and possibly pass out. What are some things that
could be done to solve this problem?
Some possibilities:
Reduce the allowed speed

Increase the turn radius
(difficult and costly)
Have the racers wear g-suits

Edition
Eleventh
STRATEGY:

• Calculate the tangential velocity and
tangential acceleration
• Calculate the normal acceleration
• Determine overall acceleration

The tangential acceleration of the magnitude
centrifuge cab is given by
at  0.5 t (m/s2 )
where t is in seconds and at is in
m/s2. If the centrifuge starts from
fest, determine the total acceleration
magnitude of the cab after 10
seconds.
Edition
Eleventh
Define your coordinate system
In the side view, the tangential en
direction points into the “page”
Determine the tangential velocity
at  0.5 t
t Top View
vt   0.5 t dt  0.25t 2  0.25t 2
t
0 0
vt  0.25 10   25 m/s

2
et
Determine the normal acceleration en
 vt  252
2
an   2
 78.125 m/s
r 8
Determine the total acceleration magnitude
amag  an2  at2  78.1252 + (0.5)(10)
2
amag  78.285 m/s2
Edition
Eleventh
REFLECT and THINK:
Notice that the normal
acceleration is much higher than
the tangential acceleration.
What would happen if, for a
given tangential velocity and
acceleration, the arm radius was
doubled?
a) The accelerations would remain the same
b) The an would increase and the at would decrease
c) The an and at would both increase
d) The an would decrease and the at would increase

Edition
Eleventh
Radial and Transverse Components
The foot pedal on an elliptical machine
rotates about and extends from a central
pivot point. This motion can be analyzed
using radial and transverse components
Fire truck ladders can rotate as well as
extend; the motion of the end of the
ladder can be analyzed using radial and
transverse components.

Edition
Eleventh
• The position of a particle P is
expressed as a distance r from the
origin O to P – this defines the
radial direction er. The transverse
direction e is perpendicular to er
 
r  rer
• The particle velocity vector is
v  r er  r e
• The particle acceleration vector is
 
a  r  r 2 er  r  2r e  
Edition
Eleventh
• We can derive the velocity and acceleration
relationships by recognizing that the unit vectors
change direction.
• The particle velocity vector is


 d  dr  der dr  d 
v  rer   er  r  er  r e
dt dt dt dt dt
 
 r er  r e
 
r  rer
  • Similarly, the particle acceleration vector is
der  de 
 e  er  d  dr  d  
d d a   er  r e 
dt  dt dt 
   
der der d  d d 2 r  dr der dr d  d 2  d de
  e  2 er   e  r 2 e  r
dt d dt dt dt dt dt dt dt dt dt dt
 
 
de de d  d  r  r 2 er  r  2r e
 
  er
dt d dt dt
Edition
Eleventh
Concept Quiz
If you are travelling in a perfect

circle, what is always true about
radial/transverse coordinates and
normal/tangential coordinates?
a) The er direction is identical to the en direction.

b) The e direction is perpendicular to the en direction.
c) The e direction is parallel to the er direction.

Edition
Eleventh
• When particle position is given in cylindrical
coordinates, it is convenient to express the
velocity and acceleration
 vectors using the unit
 
vectors eR , e , and k .
• Position vector,
  
r  R e R z k
• Velocity vector,
 
 dr   
v  R eR  R e  z k

dt
• Acceleration vector,

 dv
a
dt
 R  2 
  
  R eR  R  2 R  e  z k

Edition
Eleventh
STRATEGY:
• Evaluate time t for  = 30o.
• Evaluate radial and angular positions,
and first and second derivatives at
time t.
Rotation of the arm about O is defined • Calculate velocity and acceleration in
by  = 0.15t2 where  is in radians and t cylindrical coordinates.
in seconds. Collar B slides along the
arm such that r = 0.9 - 0.12t2 where r is • Evaluate acceleration with respect to
in meters. arm.
After the arm has rotated through 30o,

determine (a) the total velocity of the
collar, (b) the total acceleration of the
collar, and (c) the relative acceleration
of the collar with respect to the arm.
Edition
Eleventh
MODELING and ANALYSIS
• Evaluate time t for  = 30o.
  0.15 t 2
 30  0.524 rad t  1.869 s
• Evaluate radial and angular positions, and first

and second derivatives at time t.
r  0.9  0.12 t 2  0.481 m
r  0.24 t  0.449 m s
r  0.24 m s 2
  0.15 t 2  0.524 rad

  0.30 t  0.561 rad s
  0.30 rad s 2

Edition
Eleventh
• Calculate velocity and acceleration.
vr  r  0.449 m s
v  r  0.481m 0.561rad s   0.270 m s
v
v  vr2  v2   tan 1 
vr
v  0.524 m s   31.0
ar  r  r 2
 0.240 m s 2  0.481m 0.561rad s 2
 0.391m s 2
a  r  2r
 
 0.481m  0.3 rad s 2  2 0.449 m s 0.561rad s 
 0.359 m s 2
a
a  ar2  a2   tan 1 
ar
a  0.531m s   42.6
Edition
Eleventh
• Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear
and defined by coordinate r.
a B OA  r  0.240 m s 2
REFLECT and THINK:

You should consider polar coordinates for any
kind of rotational motion. They turn this problem
into a straightforward solution, whereas any other
coordinate system would make this problem much
more difficult. One way to make this problem harder
would be to ask you to find the radius of curvature in
addition to the velocity and acceleration. To do this,
you would have to find the normal component of the
acceleration; that is, the component of acceleration
that is perpendicular to the tangential direction
defined by the velocity vector.
Edition
Eleventh
STRATEGY:
• Calculate the angular velocity after

three revolutions
• Calculate the radial and transverse
accelerations
The angular acceleration of the • Determine overall acceleration
centrifuge arm varies according to magnitude
  0.05 (rad/s2 )
where  is measured in radians. If the

centrifuge starts from rest, determine the
acceleration magnitude after the gondola
has travelled two full rotations.
Edition
Eleventh
Define your coordinate system
er
In the side view, the transverse
direction points into the “page”
Determine the angular velocity
  0.05 (rad/s2 )
Acceleration is a function er Top View
 d  d
of position, so use:
Evaluate the integral e

(2)(2 ) 

0
0.05 d    d
0
2 2(2 )

0.05  2
  0.05 2(2 )
2
 2
2 0
2 0
Edition
Eleventh
Determine the angular velocity
 2  0.05 2(2 )
2
er
  2.8099 rad/s
Determine the angular acceleration

  0.05 = 0.05(2)(2 )  0.6283 rad/s 2
Find the radial and transverse accelerations
  
a  r  r 2 er  r  2r e 
  0  (8)(2.8099)  e   (8)(0.6283)  0  e
2
r 
 63.166 er  5.0265 e (m/s 2 )

Magnitude:
amag  ar2  a2  (63.166)2 + 5.0265
2
amag  63.365 m/s2
Edition
Eleventh
REFLECT and THINK: r
What would happen if you
designed the centrifuge so
that the arm could extend
from 6 to 10 meters?
You could now have additional acceleration terms. This might

give you more control over how quickly the acceleration of the
gondola changes (this is known as the G-onset rate).
a  r  r 2
 e   r  2r  e
r 

Edition
Eleventh
The End of Lecture
a  r  r  2
 e   r  2r  e
r 

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Eleventh Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

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Teaching Assistant (TA): Qian CHEN, Ph.D. Student

• Textbook: Engineering Mechanics: Dynamics by

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Department of Civil Engineering

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What is Engineering Mechanics: Dynamics?

• Mechanics is the original engineering discipline:

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Isaac Newton, Philosophiæ

The Principia states Newton's laws of motion, forming the foundation

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Participation and Attendance: This course will be taught with a

Attendance: Being in attendance with all classes increases

Participation: This course will be taught with a mixture of lecture

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Grade Evaluation Criteria(subject to change):

Homework and Projects:

Late homework submission WILL NOT BE accepted via

Design Project and Reports: A design project/investigative report

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Courtesy During Lectures - PLEASE:

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Class participation and attendance are expected of all students.

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• You are encouraged to discuss homework and course material

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• Read the outline and syllabus in detail!

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Welcome, good luck, and enjoy the semester!

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Copyright © McGraw-Hill Education. Permission required for reproduction or display. 11 - 20

Kinetics: study of the relations existing between the forces acting on

• Rectilinear motion: position, velocity, and acceleration of a

• Curvilinear motion: position, velocity, and acceleration of a

• The motion of a particle is known if

• Instantaneous velocity may be positive or

• Instantaneous acceleration may be:

What is true about the kinematics of a particle?

a) The velocity of a particle is always positive

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• What are x, v, and a at t = 2 s ?

• Note that vmax occurs when a=0, and that the

- at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

• We often determine accelerations from the forces applied

• Can you think of a physical example of when force is a

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Copyright © McGraw-Hill Education. Permission required for reproduction or display. 11 - 29

• Solve for t when velocity equals zero

• Solve for t when altitude equals zero

• Solve for t when altitude equals zero and evaluate

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a  kv • Integrate a = dv/dt = -kv to find v(t).

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• Integrate v(t) = dx/dt to find x(t).

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Which integral should you choose?

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When will the bowling ball start slowing down?