[

Dynamics
for Engineers
Springer
New York
Berlin
Heidelberg
Barcelona
Budapest
Hong Kong
London
Milan
Paris
Santa Clara
Singapore
Tokyo
B.B. Muvdi
A.W. AI-Khafaji
lW. McNabb
Bradley University

Dynamics
for Engineers
With 1118 Illustrations

Springer
Bichara B. Muvdi
Amir W. Al-Khafaji
lW. McNabb
Civil Engineering and Construction
Bradley University
Peoria, IL 61625
USA

The original illustration depicting an object impacting the Earth (Chapter 16)
courtesy of William K. Hartmann of the Planetary Science Institute, Tucson,
AZ.

Library of Congress Cataloging-in-Publication Data

Muvdi, B.B.
Dynamics for engineers / B.B. Muvdi, A.W. Al-Khafaji, J.W. McNabb.
p. cm.
Includes bibliographical references and index.
ISBN 0-387-94798-1 (hardcover: alk. paper)
1. Dynamics. 2. Mechanics, Applied. 3. Kinematics. I. Al-Khafaji,
Amir Wadi. II. Title.
TA352.M88 1996
620. 1'04-dc20 96-13159

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© 1997 Springer-Verlag New York, Inc.

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ISBN 0-387-94798-1 Springer-Verlag New York Berlin Heidelberg SPIN 10539336

To my wife, Gladys, children, B. Charles, Diane, Katherine, Patti, and
George, and grandchildren, Valerie, Christopher, and Richard, as well
as my close friends, for their patience and continued support and
encouragement during the preparation of the manuscripts.

B.B. Muvdi

To my children, Ali, Laith, and Elise, for keeping me young and happy.

A.W. Al-Khafaji

To Ada Spring McNabb, our children, their spouses, and young

writers: Amy Chloe, Nicholas, and Phoebe.

l.W. McNabb
Preface
" Mechanics is one of the branches of physics in which the number of principles is at once
very few and very rich in useful consequences. On the other hand, there are few sciences
which have required so much thought - the conquest of a few axioms has taken more
than 2000 years."- Rene Dugas, A History of Mechanics

Introductory courses in engineering mechanics (statics and dynamics)

are generally found very early in engineering curricula. As such, they
should provide the student with a thorough background in the basic
fundamentals that form the foundation for subsequent work in engi-
neering analysis and design. Consequently, our primary goal in writing
Statics for Engineers and Dynamics for Engineers has been to develop
the fundamental principles of engineering mechanics in a manner that
the student can readily comprehend. With this comprehension, the
student thus acquires the tools that would enable him/ her to think
through the solution of many types of engineering problems using logic
and sound judgment based upon fundamental principles.

Approach We have made every effort to present the material in a concise but
clear manner. Each subject is presented in one or more sections fol-
lowed by one or more examples, the solutions for which are presented
in a detailed fashion with frequent reference to the basic underlying
principles. A set of problems is provided for use in homework assign-
ments. Great care was taken in the selection of these problems to
ensure that all of the basic fundamentals discussed in the preceding
section(s) have been given adequate coverage. The problems in a given
set are organized so that the set begins with the simplest and ends with
the most difficult ones. A sufficient number of problems is provided in
each set to allow the use of both books for several semesters without
having to assign the same problem more than once. Also, each and
everyone of the twenty three chapters in both books contains a set of
review problems which, in general, are a little more challenging than
the homework set of problems. This feature allows the teacher the
freedom to choose homework assignments from either or from both
sets. The two books have a total number of problems in excess of 2,600.
All of the examples and problems were selected to reflect realistic situa-
tions. However, because these two books were written for beginning
courses in statics and dynamics, the principal objective of these exam-
viii Preface

pies and problems remains to demonstrate the subject matter and to

illustrate how the fundamental principles of mechanics may be used in
the solution of practical problems.

Math The prerequisite mathematical background needed for mastery of the

Background material in both books consists primarily of high school courses in
algebra and trigonometry and a beginning course in differential and
integral calculus. We have made occasional use of vector analysis in
the development of some concepts and basic principles and in the
solution of some problems. The needed background in vector opera-
tions, however, is introduced and developed as needed throughout the
books, particularly, in Chapters 3, 5, and 13. It should be emphasized,
however, that the vector approach is used only when it is judged to offer
distinct advantages over the scalar method. Such is the case, for example,
in the solution of three-dimensional problems.

Free-Body The very important concept of the free-body diagram is introduced in

Diagram Chapters 2 and 4 but is used extensively throughout. It is our firm belief
that the free-body diagram greatly enhances the understanding of the
fundamental principles of mechanics. Thus, the free-body diagram is
used not only in the solution of statics problems but also in the solu-
tion of dynamics problems whether Newton's second law, the energy
method, or the impulse-momentum technique is used in their solution.

Organization We have organized the material in both books to enable us to present

the simple concepts before embarking on more difficult ones. Thus, the
treatment of the mechanics of particles is dealt with before considering
the mechanics of rigid bodies. Also, two-dimensional mechanics is pre-
sented separately, and before, three-dimensional mechanics. This ap-
proach allows the instructor to focus on simple concepts early in the
semester and to postpone the more complex concepts until a later date
when the student has had a chance to develop some maturity in the
principles of mechanics. Furthermore, the separation between two- and
three-dimensional mechanics in both Statics for Engineers and Dynamics
for Engineers, provides the instructor flexibility in selecting topics to
teach during a given semester.

Nontraditional In addition to the traditional topics found in existing books, we have

Topics included several new topics that we felt may be . of interest to some
teachers. These include: Axial Force and Torque Diagrams, General
Theorem for Cables, a brief treatment of the Six Fundamental Machines
and the use of Lagrange's Equations in the formulation of the equa-
tions of motion. It should be stated, however, that among the topics
covered (both traditional and new) are some that are judged to be not
essential for an understanding of the basic concepts of mechanics of
 Preface ix

rigid bodies. These topics are identified by asterisks in the Table of

Contents.

Units In view of the fact that the international system of units, referred to as
SI (System International), is now beginning to gain acceptance in this
country, it was decided to use it in this book. However, it is realized
that a complete transition from the U.S. Customary to SI units will be
a slow and costly process that may last as long as 20 years and possibly
longer. Some factors that will playa significant role in slowing down
the transformation process are the existing literature of engineering
research and development, plans, and calculations, as well as structures
and production machinery, that have been conceived and built using
largely the U.S. Customary system of units. Thus, the decision was
made to use both systems of units in this book. Approximately one-half
of the examples and one-half of the problems are stated in terms of the
U.S. Customary system whereas the remainder are given in terms of the
emerging SI system of units.

Special In addition to the features described under APPROACH, these two

Features textbooks contain some special features that may be summarized as
follows:
1. Many of the example and homework problems are designed to
obtain general symbolic solutions that allow the student to view
engineering problems from a broad point of view before assigning
specific numerical data.
2. Each of the twenty-three chapters in both books is prefaced by a
carefully written vignette designed to motivate the student prior to
undertaking the study of the chapter.
3. The two books contain over 350 examples carefully worked out
in sufficient detail to make the solutions easily understood by the
student.
4. The two textbooks are characterized by the extensive use of free-
body diagrams as well as impulse-momentia and inertia-force dia-
grams. Each of these diagrams is accompanied by a right-handed
coordinate system that establishes the sign convention being used.
With a few exceptions, three-dimensional, right-handed, x-y-z coor-
dinate systems are shown with the x axis coming out of the paper.
However, all of the two-dimensional, right-handed, x-y coordinate
systems are shown with the x axis pointing to the right.
5. Each of the two volumes, Statics for Engineers and Dynamics for
Engineers have a companion Solutions Manual.
In addition to providing complete solutions to all of the homework
problems, each Solutions Manual contains suggested outlines for courses
in statics and in dynamics.
x Preface

Appendices Six Appendices containing information useful in the solution of many

problems have been included at the end of each of the two books.
Appendix A contains information about a selected set of areas, Appen-
dix B, information about a selected set of masses, Appendix C, useful
mathematical relations, Appendix D, selected derivatives, Appendix E,
selected integrals, and Appendix F, information about supports and
connections.

Acknowledg- We acknowledge with much gratitude the assistance we received in the

ments typing of the manuscript by Ms. Sharon McBride, Ms. Janet Maclean,
and Wilma AI-Khafaji. We also acknowledge with thanks the help
given by Dr. Farzad Shahbodaghlou and Dr. Akthem AI-Manaseer in
the typing of the Solutions Manuals. The authors are grateful to the
many colleagues and students who have contributed significantly and
often indirectly to their understanding of statics and dynamics. Contri-
butions by many individuals are given credit by reference to their
published work and by quotations. The source of photographs is indi-
cated in each case. These books have been written on the proposition
that good judgment comes from experience and that experience comes
from poor judgment. We certainly feel that the books are a real contri-
bution to our profession, but we have miscalculated the enormous
sacrifices they required. The quality of these books has been and will
continue to be judged by our students and colleagues whose comments
and suggestions have contributed greatly to the successful completion
of the final manuscript. We would not have been able to complete this
project without the help and support of our families. We apologize for
any omissions.

The authors appreciate the efforts of the reviewers, who, by their criti-
cisms and helpful comments, have encouraged us in the preparation
and completion of the manuscript.

Our thanks to our editor Mr. Thomas von Foerster. All the people at
Springer-Verlag who were involved with the production of this book
deserve special acknowledgment for their dedication and hard work.

B.B.M.
A.W.A.
J.W.M.
Contents: Dynamics for Engineers
Preface VII

13 Kinematics of Particles
Rectilinear Motion 2
13.1 Position, Velocity and Acceleration 2
13.2 Integral Analysis of Rectilinear Motion 16
13.4 Rectilinear Motion at Constant Acceleration 33
13.5 Relative Motion of Two Particles 39

Curvilinear Motion 50
13.6 Position, Velocity, and Acceleration 50
13.7 Curvilinear Motion- Rectangular Coordinates 52
13.8 Curvilinear Motion- Tangential and
Normal Coordinates 64
13.9 Curvilinear Motion- Cylindrical Coordinates 78
13.10 Relative Motion- Translating Frame of Reference 93

14 Particle Kinetics: Force and Acceleration 110

14.1 Newton's Laws of Motion 111
14.2 Newton's Second Law Applied to a System of Particles 114
14.3 Newton's Second Law in Rectangular Components 116
14.4 Newton's Second Law in Normal and
Tangential Components 135
14.5 Newton's Second Law in Cylindrical Components 153
14.6* Motion of a Particle Under a Central Force 166
14.7* Space Mechanics 168
14.7.1 Governing Equation 168
14.7.2 Conic Sections 169
14.7.3 Determination of K and C 171
14.7.4 Initial Velocities 172
14.7.5 Determination of Orbital Period 174
14.7.6 Kepler's Law 175
xii Contents: Dynamics for Engineers

15 Particle Kinetics: Energy 191

15.1 Definition of Work 192
15.2 Kinetic Energy- The Energy of Motion 210
15.3 Work-Energy Principle for a Single Particle 210
15.4 Work-Energy Principle for a System of Particles 220
15.5 Work of Conservative Forces 227
15.6 Gravitational and Elastic Potential Energy 232
15.7 Principle of Conservation of Mechanical Energy 235

16 Particle Kinetics: Impulse-Momentum 250

16.1 Definition of Linear Momentum and Linear Impulse 252
16.2 The Principle of Linear Impulse and Momentum 261
16.3 System of Particles- Principle of Linear Impulse
and Momentum 269
16.4 Conservation of Linear Momentum 270
16.5 Impulsive Forces and Impact 271
16.6 Definition of Angular Momentum and Angular Impulse 289
16.7 The Principle of Angular Impulse and Momentum 291
16.8 Systems of Particles: The Angular Impulse-Momentum
Principle 299
16.9 Conservation of Angular Momentum 300
16.10 Applications of Energy and Impulse-Momentum
Principles 309
16.11 * Steady Fluid Flow 323
16.12* Systems with Variable Mass 331
16.13* Space Mechanics 341

17 Two-Dimensional Kinematics of
Rigid Bodies 356
17.1 Rectilinear and Curvilinear Translations 358
17.2 Rotation About a Fixed Axis 369
17.3* Absolute Motion Formulation- General Plane Motion 385
17.4 Relative Velocity- Translating Nonrotating Axes 396
17.5 Instantaneous Center of Rotation 409
17.6 Relative Acceleration- Translating Nonrotating Axes 416
17.7* Relative Plane Motion- Rotating Axes 425

18 Two-Dimensional Kinetics of Rigid Bodies:

Force and Acceleration 452
18.1 Mass Moments of Inertia 454
18.2 General Equations of Motion 474
 Contents: Dynamics for Engineers xiii

18.3 Rectilinear and Curvilinear Translation 475

18.4 Rotation About a Fixed Axis 496
18.5 General Plane Motion 515
18.6 Systems of Rigid Bodies 527

19 Two-Dimensional Kinetics of Rigid

Bodies-Energy 551
19.1 Definition of Work 552
19.2 Kinetic Energy 554
19.3 The Work-Energy Principle 557
19.4 The Conservation of Mechanical Energy Principle 576
19.5 Power and Efficiency 588

20 Two-Dimensional Kinetics of Rigid Bodies:

Impulse-Momentum 603
20.1 Linear and Angular Momentum 605
20.2 Principles of Impulse and Momentum 609
20.3 Principles of Conservation of Momentum 627
20.4 Eccentric Impact 641

21 Three-Dimensional Kinematics of
Rigid Bodies 657
21.1 * Motion About a Fixed Point 659
21.2* General 3-D Motion (Translating, Nonrotating Axes) 664
21.3* Time Derivative of a Vector with Respect
to Rotating Axes 670
21.4* General 3-D Motion (Translating and Rotating Axes) 683

22 Three-Dimensional Kinetics of
Rigid Bodies 699
22.1 * Moments of Inertia of Composite Masses 700
22.2* Mass Principal Axes and Principal Moments of Inertia 702
22.3* The Work-Energy Principle 718
22.4* Principles of Linear and Angular Momentum 723
22.5* General Equations of Motion 735
22.6* General Gyroscopic Motion 749
22.6* Gyroscopic Motion with Steady Precession 752
22.7* Gyroscopic Motion with Zero Centroidal Moment 755
xiv Contents: Dynamics for Engineers

23 Vibrations 769
23.1 * Free Vibrations of Particles- Force and Acceleration 770
23.2* Free Vibrations of Rigid Bodies- Force and Acceleration 787
23.3* Free Vibrations of Rigid Bodies- Energy 798
23.4* Lagrange's Method-Conservative Forces 808
23.5* Forced Vibrations-Force and Acceleration 814
23.6* Damped Free Vibrations-Force and Acceleration 825
23.7* Damped Forced Vibrations-Force and Acceleration 832
23.8* Lagrange's Method-Nonconservative Forces
and MDOF 838

Appendices
Appendix A. Properties of Selected Lines and Areas 852
Appendix B. Properties of Selected Masses 855
Appendix C. Useful Mathematical Relations 859
Appendix D. Selected Derivatives 861
Appendix E. Selected Integrals 863
Appendix F. Supports and Connections 866

Answers 872

Index 895
Contents: Statics for Engineers
1 Introductory Principles
1.1 Review of Mechanics
1.2 Idealizations and Mathematical Models
1.3 Newton's Laws
1.4 Newton's Law of Universal Gravitation
1.5 Systems of Units and Conversion Factors
1.6 Dimensional Analysis
1.7 Problem Solving Techniques
1.8 Accuracy of Data and Solutions

2 Equilibrium of a Particle in Two Dimensions

2.1 Scalar and Vector Quantities
2.2 Elementary Vector Operations
2.3 Force Expressed in Vector Form
2.4 Addition of Forces Using Rectangular Components
2.5 Supports and Connections
2.6 The Free-Body Diagram
2.7 Equilibrium Conditions and Applications

3 Equilibrium of Particles in Three Dimensions

3.1 Force in Terms of Rectangular Components
3.2 Force in Terms of Magnitude and Unit Vector
3.3 Dot (Scalar) Product
3.4 Addition of Forces Using Rectangular Components
3.5 Equilibrium Conditions and Applications

4 Equilibrium of Rigid Bodies in Two Dimensions

4.1 Concept of the Moment - Scalar Approach
4.2 Internal and External Forces- Force Transmissibility
Principle
4.3 Replacement of a Single Force by a Force and a Couple
4.4 Replacement of a Force System by a Force and a Couple
xvi Contents: Statics for Engineers

4.5 Replacement of a Force System by a Single Force

4.6 Replacement of a Distributed Force System by a Single Force
4.7 Supports and Connections
4.8 The Free-Body Diagram
4.9 Equilibrium Conditions and Applications

5 Equilibrium of Rigid Bodies in Three Dimensions

5.1 Definition of the Cross (Vector) Product
5.2 The Cross-Product in Terms of Rectangular Components
5.3 Vector Representation of the Moment of a Force
5.4 Varignon's Theorem
5.5 Moment of a Force about a Specific Axis
5.6 Vector Representation of a Couple
5.7 Replacement of a Single Force by a Force and a Couple
5.8 Replacement of a General Force System by a Force and
a Couple
5.9 Equilibrium Conditions and Applications
5.10 Determinacy and Constraints

6 Truss Analysis
6.1 Analysis of Simple Trusses
6.2 Member Forces Using the Method of Joints
6.3 Members Carrying No Forces
6.4 Member Forces Using the Method of Sections
6.5* Determinacy and Constraints
6.6 Compound Trusses
6.7* Three-Dimensional Trusses- Member Forces Using the
Method of Joints

7 Frames and Machines

7.1 Multiforce Members
7.2 Frame Analysis
7.3 Machine Analysis

8 Internal Forces in Members

8.1 Internal Forces
8.2 Sign Conventions
8.3 Axial Force and Torque Diagrams
8.4 Shear and Moment at Specified Cross-Sections
8.5 Shear and Moment Equations
 Contents: StoHes tor Engineers xvii

8.6 Load, Shear, and Moment Relationships

8.7 Shear and Moment Diagrams
8.8* Cables under Concentrated Loads
8.9* General Cable Theorem
8.10* Cables under Uniform Loads
8.11 Frames- Internal Forces at Specified Sections
8.12 Internal Force Diagrams for Two-Dimensional Frames

9 Friction
9.1 Nature and Characteristics of Dry Friction
9.2 Angles of Static and Kinetic Friction
9.3 Applications of the Fundamental Equations
9.4 The Six Fundamental Machines
9.5* Friction on V-Belts and Flat Belts
9.6* Friction on Pivot and Collar Bearings and Disks
9.7* Friction on Journal Bearings
9.8 Problems in Which Motion May Not Be Predetermined

10 Centers of Gravity, Centers of Mass,

and Centroids
10.1 Centers of Gravity and of Mass
10.2 Centroid of Volume, Area, or Line
10.3 Composite Objects
10.4 Centroids by Integration
10.5* Theorems of Pappus and Guldinus
10.6* Fluid Statics

11 Moments and Products of Inertia

11.1 Concepts and Definitions
11.2 Parallel Axis Theorems
11.3 Moments of Inertia by Integration
11.4 Moments of Inertia of Composite Areas and Masses
11.5* Area Product of Inertia
11.6* Area Principal Axes and Principal Moments of Inertia
11.7* Mohr's Circle for Area Moments and Products of Inertia
11.8* Mass Principal Axes and Principal Moments ofInertia

12 Virtual Work and Stationary Potential Energy

12.1 Differential Work of a Force
12.2 Differential Work of a Couple
xviii Contents: Statics tor Engineers

12.3 The Concept of Finite Work

12.4 The Concept of Virtual Work
12.5* Work of Conservative Forces
12.6* The Concept of Potential Energy
12.7* The Principle of Stationary Potential Energy
12.8* States of Equilibrium
13 _ _ _ _ __
Kinematics of Particles
As you begin the study of dynamics, you should be filled with
excitement, interest, and a craving to discover new principles, con-
quer new frontiers, and develop new insights. This is a necessary
step to establishing a solid foundation for your future develop-
ment as an engineer. At times you may question the benefits of
some topics and their real engineering value. This is not an un-
expected reaction for a beginning engineering student whose sense
of the profession is yet to be developed.
As we write this book, NASA is busy developing plans for a
space station that will serve as a base from which future space-
craft will be launched to Mars and other planets. Using only
existing materials and technology, permanent habitats in space
could be established before the end of this century. Such colonies
would help alleviate the problems of overcrowding, pollution,
drought, and energy shortages on Earth. The contemplation of
such a future is ancient and has been a subject of scientific speculation
for several decades. Among the surprises to develop during the recent
past was the realization that space possesses unique qualities of definite
advantage to future colonists. Sunlight is available in a continuous stream
to provide power 24 hours per day , to grow crops throughout the year,
and to provide light and warmth constantly. Furthermore, the lack of
gravity makes it easier to move materials between points with energy
needed to change speed and direction , rather than to maintain them. This
is precisely what Newton's laws state.
The scientific contributions made over the centuries by giants, such as
Isaac Newton, form the foundation upon which dynamics principles are
based. Undoubtedly, you have already been exposed to the wonders of
dynamics through the gigantic scientific marvels, such as the space shut-
tle. Additionally, you must have been exposed to the serious challenges
facing mankind from pollution on Earth to the depletion of the ozone
layer in space. The topics that follow illustrate the need for competent
engineers who will be able to tackle, in space, the challenges facing
Earth. Just remember that you may be the first astronaut who will land
on Mars or the scientist who will make the next great discovery.
14-------1
Particle Kinetics:
Force and Acceleration
The design of machines to achieve maximum pe
formance is one of humanity's oldest engineerir.
challenges. The design of sailing vessels and so~
understanding of the wind's propulsive force go J.
back in history. The first sailing ship may have ber
designed by the Egyptians some 5000 years ago. TI
Egyptians learned about sail forces, as they ajfecl~
steering, and placed the single mast well forward }
sailing down the Nile before a constant southl1
breeze. For use on the Mediterranean, the masa.
located nearly amidships. Such vessels were follow,
by Homeric Greek ships which became more speda
ized and larger.
Newton's laws of motion are valid here on Although the physical and applied sciences Ita:
Earth as well as in space. The study of experienced tremendous leaps over the ages, II
dynamics involves the geometry of motion essence of engineering problems, as they pert
and the forces involved. to forces and motion geometry, have not chang
Presently, engineering systems from sailing shipH
spacecraft are designed more efficiently and precisely than ever beiol,
This is made possible because of the cumulative knowledge and expel
ence gained over the years. Insofar as it is a study of dynamic systerr.
one needs theoretical, observational, and experimental findings. This
precisely what Newton's laws are based on. It is remarkable that Iso:
Newton's laws of motion were found to be accurate despite the fact t~
he had no access to computers.
I n this chapter, we learn about concepts pertaining to forces and rr..
tion. We will also learn that the logical standards and methods of rellSOl
ing, which have been pursued for over two thousand years, are evoiuti&
ary rather than stationary. Despite the rigor of some concepts, we sho~
not overlook the real importance of the subject. The basic princip~
covered have made it possible for us to secure a remarkable grip on IJ
universe.
15 _ _ _ _ _ __
Particle Kinetics: Energy
As a youngster, you may have visited an amusement
park where you were captivated by the variety of
entertainment, diversions, rides, and contests. You
may have since wondered about the engineering mar-
vels ranging from the stupefying Ninga challenge
roller coaster to the pleasurable Ferris wheel. As
an adult, you have undoubtedly been exposed to the
technological wonders of space exploration and to
the stunning accuracy of modern weapons systems.
The analysis and design of such systems of peace
and combat require experimentation, innovative ap-
proaches, unique experience, and much insight. The
examination of many such kinetic problems is often
The elegance of work-energy techniques for made easier using energy principles.
solving problems in dynamics can be matched As a student, you should know that there are
only by the beauty of systems they help us different solution techniques for analyzing the same
analyze. problem. Some solution techniques are easier to im-
plement than others. For you to succeed in practice,
you need to develop special engineering skills, common sense, and that
special gift we call instinct. Remember that good engineering judgment
can be developed from experience and that experience comes by learning
from your mistakes. As Louis Pasteur once said, "Chance favors the
prepared mind." Therefore , you can add to your reservoir of talent
through initiative and independence when solving problems.
As an engineer, you may be called upon to tackle problems dealing with
systems that are varied in their application and complex in their use.
Consequently, you should be adequately prepared to select the appropri-
ate solution technique to achieve the desired results. Irrespective of the
problems being solved, you are expected to design and build systems that
are both safe and economical. In this chapter, you will learn about the
versatility of adapting different solution techniques for efficiently solving
complex engineering problems. The energy principles are introduced for
a single particle and systems of particles. Their use in the solution of
complex engineering problems is demonstrated through several practical
examples.
16- - -- - - - 1

Kinetics of Particles:
Impulse-Momentum
Since the beginning of time, the principles of impaa
and momentum have influenced our daily lives herr
on Earth and in the depth of space. There is stroll!
evidence that the universe exploded from an infinitelj
dense primal seed, possibly 8 to 18 billion years ago,
and that it will continue to expand forever. In theS(
respects, this event inaugurated an eternal potentia
for collisions between debris and planet Earth. In
fact, it is now believed that the collision of a large
comet with Earth is the reason for the extinction 1
the dinosaurs from the face of our planet.
Engineers have always sought to understand tne
forces and the physical laws affecting the inner
This is an artistic rendering of an object structure of systems from the small atom to the ex·
impacting the Earth. Illustration by William traordinary galaxies. The most powerful conserva·
K. Hartmann tion principle of quantum theory relates to the mllJS,
energy, and momentum of particles. Physicists observed that mass allii
energy are always conserved in chemical reactions until 1905 when
Einstein proposed that the energy of a system is equal its mass times tne
square of the velocity of light (E = mc 2 ). The implication is that, in a
particle collision or an annihilation, mass and energy can be transformel
into each other or exchanged among particles, but not lost.
M ore recently, scientists have discovered that the classical laws Newton
introduced to describe the behavior of our macroscopic universe fail to
account for the data gathered in subatomic experiments. One may ques·
tion, therefore, whether the presumably finite structure of matter is basel
on an endlessly layered quantum world whose innermost secrets, like tne
most distant objects in the universe, constantly retreat from the inquiring
human mind. Perhaps, there is a symmetry in our universe between its
largest and smallest dimensions that intertwines the infinite and the finite.
In this chapter, you will learn about the macroscopic world in which we
live. You will learn how Newton's laws of motion can be extended to tne
17 _ _ _ _ _ __
Two-Dimensional
Kinematics of
Rigid Bodies
When dealing with the kinematics of a rigid body,
we are concerned with the geometric relationships
that exist among displacements, velocities, and ac·
celerations of various particles in a body in motion
without regard to the forces causing the motion or
caused by it.
A rigid body is said to be in plane motion if aU of
its particles move in parallel planes. Three types of
plane motion are identified in this chapter. The first
type is known as translation which could be either
rectilinear or curvilinear. The second type deals
with rotation about a fixed axis. The third type
is referred to as general plane motion which is a
A picture showing the Hubble Telescope. combination of a translation and a rotation.
Engineering is a challenging and a rewarding Outer space provides one of many areas where
profession in spite of occasional setbacks. kinematics plays a primary role. While on Earth, a
force is required to maintain a body at a constant
velocity because of friction ; in outer space, no such force is required.
However, basic kinematics applies equally well here on Earth and in
space. The implication is that, irrespective of your engineering discipline,
the knowledge of basic kinematics of rigid bodies will provide you with
the basic foundations upon which dynamic principles are based.
In a society where technology is pervasive, there is a need for under·
standing basic concepts and training of the individuals who design and
organize the production of much of that technology. This chapter should
enhance your enthusiasm for and the pleasure you derive from problem
solving and reducing concepts to solid expression. The case study accom·
panying this chapter provides a clear illustration of the joys and frustra·
tions of being an engineer.
18------- 1

Two-Dimensional Kinetics
of Rigid Bodies: Force
and Acceleration
Automobile and aircraft manufacturers perform wil1li
tunnel tests to determine resisting forces applied by
the air to their models. Recent developments rna)'
enable engineers to replace wind tunnels with com·
puter simulation packages similar to the one shown
on the cover page of this chapter. The substantial
saving in time and money make simulation an attrac·
tive alternative to traditional wind tunnel testing,
This fact reflects the incredible evolution of the en·
gineering fields and manifests the relentless efforts
and genius of engineers from years past. Future en·
gineers need to be exposed to, and learn more about,
emerging technologies.
An F-15 Fighter jet thundering into the sky. The focus of many new engineering research cen·
ters worldwide is graphic simulation of fields, that is,
the flow of water around a submarine, air around vehicles, or tempera·
ture distribution in an air-conditioned room. Simulation requires the solu·
tions of thousands and even millions of equations. The visual representa·
tion of data involves both engineers and artists whose sense of color al1li
composition has helped make new developments possible. Hence, students
in art have a chance to learn more about geometry and mechanics al1li
engineering students have something to learn about color and perspective,
Moreover, many of today's consumer products incorporate electronics
and computer control. This change means a new role for engineers: they
must consider how electronics can be incorporated into the products they
design. Consequently, a new discipline called Mechatronics Engineering
was born at the Rensselaer Polytechnic Institute which may pave thl
way for an overhaul of current engineering curricula everywhere. The
emerging disciplines blur the lines among traditional engineering fields
for the betterment of mankind.
19 _ _ _ _ _ __
lwo-Dimensional Kinetics
of Rigid Bodies: Energy
In 1893, George Washington Ferris was the cham-
pion of u.s. technology, the engineer whose vision
and relentless pursuit of his dream proved that
America could top the Elfiel Tower. That magnifi-
cent structure which could carry 2,160 passengers
at a time to a height equivalent to 26 story building
was a significant engineering triumph in an era when
most people had never seen a skyscraper. His reputa-
tion quickly grew as the press recounted his struggle
to build the machine that other engineers had said
could not be built.
The daring of engineers from years past is equaled
only by the remarkable giants of today. This con-
George W.G. Ferris built his magnificent tinuing journey of triumphs and setbacks illustrates
Iheel in 1893. His daring and vision reflect the unyielding commitment of the engineering pro-
il't spirits of a co nfident and an inspired fession to helping mankind. It is truly phenomenal to
\merica.
note that, when Armstrong set foot on the moon, he
commanded a ship with a computer that had 64k of
memory! Today, hand held computers can have ten times that capacity.
The evolution of engineering technology has inspired and challenged
engineers to be more creative and seek alternative solutions to problems.
20 _ _ _ _ _ __
Two-Dimensional Kinetics
of Rigid Bodies:
Impulse-Momentum
Mars has always been a cause of fascination to
scientists and a source of inspiration to poets. The
remarkable and vivid pictures sent back to Earth by
Vikings 1 and 2 spacecraft revealed that Mars was
once a living planet with water flowing freely and
possibly a civilization that no longer exists. Despite
the preliminary nature of these conclusions, Mars
has become a case study of how to prevent this from
happening to Earth.
The remarkable engineering feat of sending space-
craft to distant planets and our ability to precisely
control their movements demonstrate .one of the
many contributions engineers have made to reach the
Mars Observer is the first U.S. probe to visit unreachable stars and conquer the most distant fron-
Mars since Viking 1 and 2 in 1976. tier. Your ability to comprehend the most difficult
concepts of kinetics starts with the most elementary
principles and understanding the fundamental relationships between force
and motion. This chapter provides an alternative technique for solving
kinetics problems involving systems encountered here on Earth as well as
in outer space.
One common theme running through all of these chapters dealing with
kinetics is the uncommon elegance and beauty of the mathematical devel-
opment of the basic principles relating force to motion. In Chapter 16,
you learned how to solve problems dealing with the motion of particles by
using the principles of impulse and momentum. In this chapter, you will
apply these principles to the planar motion of rigid bodies. Thus , the
concept of momentum is developed for a rigid body undergoing three
types of plane motion: translation, rotation about a fixed axis through
the mass center and rotation about a fixed axis through an arbitrary
21 _ _ _ _ _ __
Th ree-Dimensional
Kinematics of Rigid
Bodies
Engineers are increasingly challenged to develop
the technology necessary for faster , smaller, lighter,
cheaper, and more efficient systems. Modern engi-
neering systems, such as cars, airplanes, buildings,
bridges, space stations, and others, require expertise
offered by different disciplines and especially by me-
chanical, civil, and electrical engineering. With so
many technical disciplines involved and shrinking
resources, the solution is partnering for success.
Consequently, future engineers are faced with the
daunting but exciting task of having to work as
teams rather than individuals.
As student, you are exposed to the latest techno-
Picture of a radar station logical advances and taught to compete as an indi-
vidual. As an engineer, you must learn to compete in
a new environment as a member of a team. These contrasting themes
continue to embroil the engineering profession worldwide. The new cli-
mate reflects the sophistication and evolution of engineering technology.
The need to excel and effectively compete in a new world economy makes
it imperative that future engineers are properly equipped in the areas of
analysis, design, and manufacturing. Furthermore, the engineer must pos-
sess the proper awareness of the need for teamwork and have the appro-
priate technical background needed to meet the challenges facing our
society and others around the world.
The radar station shown on the cover page is one of several sophisti-
cated engineering systems examined in this chapter. Although the basic
theory is fundamentally understandable, you will learn that the applica-
tions are quite varied and arduous. Because of their increased uses and
applications, the presentations of numerous examples and problems deal-
ing with robots should be useful to engineers in all disciplines. We believe
22 _ _ _ _ _ __
Th ree-Dimensional
Kinetics of Rigid Bodies
On the occasion of its 25th anniversary, the Na-
tional Academy of Engineering selected the Moon
landing as the single most impressive engineering
achievement in the past 25 years. That event, which
was witnessed on television in 1969 by six hundred
million people marked the pinnacle of engineering
vision and daring . When Neil Armstrong set the first
earthling foot onto that celestial body, human con-
sciousness leaped into space to a degree unequaled
since the discovery of the New World. That small
step by Armstrong was a triumph for humankind and
a fulfillment of the hopes and aspirations of people
everywhere without regard to race and national ori-
The Lunar Lander the Apollo 11 Spacecraft gin. The Moon landing illustrated the vitality and
heads for a landing on the Moon. importance of teamwork while eloquently emphasiz-
ing the essence of a great nation.
The landing of astronauts on the Moon and returning them safely to
Earth ranks with the Egyptian pyramids, the Panama Canal, and the
Hanging Gardens of Babylon as the outstanding engineering achieve-
ments of all time. It stands alone for the advances and technological
sophistication over prior technology. Apollo 11 required a rocket 15 times
more powerful, a unique Lunar Lander, and special electronic gear not
available at the time the Apollo program was conceived. Engineers were
required to break different practical and theoretical barriers and develop
modern technologies to meet these challenges. The Apollo program de-
manded a modern approach to ensure that thousands of government and
industrial organizations worked together effectively so that millions of
parts would fit their intended function . This was accomplished with
utmost precision and unequalled productivity.
I n this chapter, you will learn about the interrelationships between
forces and the resulting motion they produce in rigid bodies. You will also
learn the basic theoretical principles involved in the analysis of space-
ships, satellites, and other complex engineering systems. We hope that the
topics covered herein will inspire you and ignite the fire that will consume
the uncertainty that resides within. The world yearns for another Neil
Armstrong and a new Apollo program to meet the challenges facing
humankind in the depth of space and here on Earth.
23 _ _ _ _ _ __
Vibrations
Natural and man-made vibrations are widespread on
I+F r"- <, I_
X, Earth and in the depths of space. Vibrations affect
our lives in a variety of ways ranging from the de-

B"lFl"J m, . x,
structive forces of hurricanes and earthquakes to the
modest forces involving machines with rotating parts.
We usually think of vibratory motions as harmful but
they can be used constructively to screen substances
k, and to drive piles. Mechanical, aerospace and struc-
m, - - Xl
tural engineers are often concerned with high fre-
quency vibrations of metallic parts of aircraft that
k,
could lead to premature fatigue failures with cata-
strophic consequences. Civil engineers are required
to design buildings, dams, and bridges capable of
Schematic view of an idealized model withstanding both man-made and natural forces.
corresponding to a two story building. The These challenging tasks are just a few of the many
resulting mathematical model helps engineers examples where vibrational principles play a vital
to assess structural behavior when such role. Frequently, engineers are required to creatively
structures are subjected to earthquakes,
idealize and predict the response of engineering sys-
hurricanes, and other forces.
tems irrespective of the forces involved and before
the systems are built.
Mathematical models can often be developed to study the dynamic
behavior of mechanical systems using mass, shock absorber damping, and
spring stiffness. Such models may be more difficult to formulate when
dealing with a multistory building because the required physical parame-
ters can not be adequately assessed. Furthermore, the forces involved are
unknown or may not be well defined as is the case with earthquakes and
hurricanes. This introductory chapter on vibration deals primarily with
systems with a single degree of freedom where mass, damping, and stiff-
ness are combined in one location. Time-Dependent coordinate axes are
required to properly define the resulting displacement, velocity, and accel-
eration of single and two degree-of-freedom systems. Both undamped and
damped vibration models are covered.
The model shown on the cover page is an illustration of a practical
application of vibrational principles and how engineering models are de-
veloped. As a student you learn how to solve problems, but as an engineer
you will often be required to formulate as well as solve them. We hope
that your interest in this important area of Dynamics is enhanced and
that the desire to seek more knowledge is invigorated.
AppendixA
Properties of
Selected Lines
and Areas
Length Centroidal Centroidal
or Centroid Moments of Radii of
Shape Area Location Inertia Gyration

Arc of a circle

y
L= 2f3R x =o
c~ R sin f3

~V
1y Y= -
f3
I x

Arc of a quarter circle

~
nR 2R
L= - x=Y= -n
2
T
y
~
x
~ x~
Appendix B
Properties of
Selected Masses
Center Centroidal Moments
Body and dimensions Volume of mass of Inertia

Solid circular cylinder

z
1
V = nR2L x=o 1 =1 = _ m(3R2+L2)
x z 12
y y=o
1y = -2 mR
1 2
z=o
L
x

Thin cylindrical shell

V = 2nRtL x=o 1x =1z = -41 m ( 2R 2+ -31 L 2)

Y
y=o
Iy = mR2
z=o
L
x
R: Mean radius
AppendixC
Useful Mathematical
Relations
y
Approxima-
tions of
Areas

Trapezoidal Rule

Simpson's Rule (Note that n must be even)

. B = -b ; 1
Trigonomet- Sill
c
esc B = --:---e
Sill
ric Functions
a 1
cose = - ; secB = - e
c cos ~b
a
b 1
tan B = - ; cote= -
a tanB
Appendix D
Selected Derivatives
d du
du (au) = a dx

d dv du
- (uv) = u - + v-
dx dx dx

_d (un) = nu n- 1 (dU)
_
dx dx

d [f(u)] = du
dx d [f(u)] (dU)
dx

~(lnu)
dx
= ~(dU)
u dx

~ (eU) = eU(dU)
dx dx

:x(Sinu) = cosuG:)

d (cos u) = - Sill
dx . U(dU)
dx

d (tan u) = sec 2 u (dU)

dx dx

d
d)csc) = -(cscu)(cotu) (dU)
dx

ddx (sec) = (sec u)(tan u) (~:)

:x(cotU) = - (csc 2 U)G:)

:x (sinh u) = cosh u (~:)

Appendix E
Selected Integrals
f sinxdx = -cosx +c

f cosxdx = sinx +c

f tan x dx = In sec x +c

f G)
csc x dx = In tan +c

f i ~)
sec x dx = In tan ( + +c

f cotxdx = Insinx +c

f ~sin(ax) ~cos(ax)
XSin(aX)dX =
a
-
a
+c

f !~ (a2x~3- 2)
x 2 sin (ax) dx = sin (ax) - cos(ax) +c

f xcOS(aX)dX = ~cos(ax)
a
+ ~sin(ax) + c
a

fx 2 cos (ax) dx =
2x cos(ax)
a2 +
(a 2x2 - 2) .
a3 sm(ax) + c

fsinhxdx = cosh x +c

fcosh x dx = sinh x +c

ftanh x dx = In (cosh x) +c

fcschxdx = In [tanh G)]+ c

Appendix F
Supports and
Connections
Type of Connection or Support Reactive Force Components Special Features

The force F in a deformed

spring is directed along its axis.
I The sense of this force is such
that it is tension if the spring is
Undefonned
length Lu stretched and compression if it
is shortened. Also, F = ks
~ where k is known as the spring
Defonna-
constant, equal to the force
tion s
needed to deform the spring a
unit distance and s is the total
deformation.
Spring with
attached weight

One reactive force component

F of known direction since it
must act along the axis of the

T
F
link or cable. This force F is
unknown only in magnitude.

2
Short
link
Flexible
cable
1
Index
Acceleration, 2, 4, 50, 111 Areal velocity, 168
angular, 137,371 Auxiliary circle, 773
average, 4 Average acceleration, 4,371
components, 52, 64, 78, Average velocity, 3, 371
cylindrical, 78, 82
rectangular, 52, 55 Binormal axis, 68, 136
tangential and normal, 64, 66 Body cone, 663, 757
constant, 33
Corio lis, 430 Center
gravity, 112 instantaneous, of rotation, 409
instantaneous, 4 of curvature, 64, 65
normal, 64, 66 Central force, 166
radial, 79, 82, 154 Central impact, 272, 641
relative, 40, 94 Centrifugal force, 137
tangential, 64, 66 Centripetal force, 137
Acceleration-displacement relation- Centrode,411
ship, 17 body, 411
Acceleration-time relationship, 16, space, 411
17 Characteristic equation, 827
Amplification factor, 817 Circular frequency, 771
Amplitude, 6, 772 Circular trajectory, 170
Angular Coefficient
acceleration, 137,371 critical damping, 827
deceleration, 372 of restitution, 274, 643, 645
displacement, 371 damping, 825
impulse, 289, 290 Complementary solution, 816
momentum, 289 Composite masses, 459, 700, 703
position, 370 moments of inertia, 459, 700
velocity, 371 products of inertial, 703
Angular impulse and momentum, Conic sections, 169
principle of, 291, 609, 723 Conservation
particle, 291 of angular momentum, 300, 627,
rigid-body, 609, 723 628
system of particles, 299 particle, 300
Angular momentum, 289, 605, 606 rigid body, 627, 628
conservation of, 300 of linear momentum, 270, 627
particle, 300 particle, 270
rigid body, 605, 606 rigid body, 627
Angular velocity, 371 of mechanical energy, 235, 576,
Apogee, 173 577
896 Index
Conservative force, 227, 576
Conservative system, 227
Coordinate system, 52, 64, 78, 85,
112
cylindrical, 78
polar, 85
rectangular, 52
tangential and normal, 64
Coriolis acceleration, 430
Coulomb damping, 825
Critical damping, 827
Curl of a vector, 229
Curvature, radius of, 67, 137
Curvilinear motion, 52, 64, 78
Curvilinear translation, 358, 475
Cycle, 6, 772
Cylindrical coordinates, 78
D'Alembert, Jean, 113
D'Alembert's principal, 113
Damped forced vibrations, 832
Damped free vibrations, 825
Damping
coulomb, 825
critical, 827
heavy, 828
internal, 825
light, 828
viscous, 825
Damping coefficient, 825
Dashpot, 825, 826
Deceleration, 5
Dependent motion, 41
Derivative of vector, 426, 427, 670
Diagrams
acceleration, 417, 418
free-body, 119, 136, 154,500
impulse, 262, 611
inertia-force, 119, 136, 154,500
momentum, 262, 611
velocity, 397, 398
Direction angles, 290
Direction cosines, 703
Direct precession, 757
Displacement
curvilinear translation, 50
rectilinear translation, 2
rotation about a fixed axis, 369,
371
rotation about a fixed point, 660,
662
Displacement-time relationship,
17
Distance traveled, 10
Dynamic equilibrium, 113
Eccentric impact, 641
Eccentricity, 169
Efficiency, 588, 590, 591
Eigenproblem, 709
Elastic spring, 197
Elastic potential energy, 232, 234
Elliptic trajectory, 170
Ellipsoid of inertia, 706
Energy
conservation of mechanical, 235,
576, 577
kinetic, 210
potential, 228, 232
Equations of motion for particle
cylindrical coordinates, 153
rectangular coordinates, 116
tangential and normal coordinates,
135
system of particles, 114
Equations of motion for rigid body
Euler equations, 737
gyroscope, 749, 752, 755
plane motion, 475, 478
rotation about a fixed axis, 496
three-dimensional, 735
translation, 475
Escape velocity, 173
Euler's equations, 737
Euler's theorem, 660
Flow rate, volumetric, 323
Fluid flow, 323, 324
Focus, 170
Force
central, 166
centrifugal, 137
centripetal, 137
conservative, 227, 576
damping, 827
external, 116,200
gravitation, 111
impulsive, 271
 Index 897

internal, 114, 200 Impulse diagram, 611

normal, 136 Impulsive force, 271
spring, 198 Inertia
tangential, 136 ellipsoid of, 706
work of, 192, 193, 194 force, 113
Forced vibrations, 814 mass moment of, 454, 455
Forcing frequency, 815 mass principal axes of, 707
Forcing Function, 814 mass principal moments of, 707
Free-body diagram, 119, 136, 154, tensor, 708
500 Independent motion, 39
Frequency Inertial coordinate system, 112
circular, 771 Instantaneous
damped circular, 828 acceleration, 4
forcing, 814 velocity, 3
undamped circular, 771 , 828 Instantaneous axis of rotation, 409
Free vibrations Instantaneous center of rotation, 409
particle, 770 Internal damping, 825
rigid body, 787
Kepler, Johann, 175
General equations of motion, 474 Kepler's laws, 175
General gyroscopic motion, 749 Kilowatt, 590
General motion of a rigid body, 735 Kinematics
General plane motion of a rigid definition, 1, 2
body, 515 particles, 1,2
Gradient operator, 228 rigid bodies, 356
Gravitational force, III three-dimensional, 657
Gravitational potential energy, 232, Kinetic energy
234 of a particle, 210
Gyration, radius of, 456 of a rigid body, 554
Gyroscope, 749 plane motion, 554, 556
Gyroscopic effect, 754 rotation about fixed axis, 556
Gyroscopic motion, 749, 752 translation, 556
Kinetics, definition, III
Harmonic motion, simple, 771 particles, III
Hertz, 782 rigid bodies, 454
Homogeneous solution, 816 three-dimensional, 699
Horsepower, 590
Hyperbolic trajectory, 171 Lagrange's equation, 808
Lagrange's method, 808
Impact, 271 , 641 Lagrangian, 808
central, 272, 641 Line of impact, 272
eccentric, 641 Linear impulse, 255
elastic, perfectly, 275 Linear impulse and momentum,
line of, 272 principle of
oblique, 272 particle, 261
plastic, perfectly, 275 rigid body, 609
Impulse, 252, 255, 289, 290 system of particles, 269
angular, 289, 290 Linear momentum, 252
linear, 252, 255 Logarithmic decrement, 850
898 Index
Mass center, 116
Mass, variable, 331
Mass moment of inertia, 454
composite, 700
principal axis, 702, 707
principal moment, 702, 707
product of inertia, 704
Mechanical
efficiency, 591
energy, 576, 577
Moment of inertia of mass, 454, 700
Momentum
angular, 289, 605
of a particle, 289
of a rigid body, 605
linear, 252, 605, 606
of a particle, 252
of a rigid body, 605, 606
Momentum diagram, 262, 611
Motion
absolute, 39, 40, 385, 397
central force, 166
curvilinear, 52, 64, 78
fixed axis, 369, 660
fixed point, 659
general equations of, 474, 735
general plane, 385
general, 3-D, 664
harmonic, simple, 771
projectile, 55
rotational, 369, 496, 725
rectilinear, 2, 16, 33
relative, 39, 93, 425
dependent, 41
independent, 39
vibratory, 6, 769
Natural frequency, 771
Newtonian coordinate system, 112
Newtonian reference frame, 299,
474
Newton's law, 111
of gravitation, 111
of motion, 111
second law, 111
cylindrical components, 153
rectangular components, 116
tangential and normal compo-
nents, 135
Normal coordinate, 64, 135
Nutation, rate of, 749
Oblique impact, 272
Orbital period, 174
Osculating plane, 68, 136
Parabolic trajectory, 170
Parallel-axis theorem, 457, 700
Particle, 2
Particular solution, 816
path, 2, 50
Pendulum, 782, 785
Perfectly
elastic impact, 275
plastic impact, 275
Perigee, 174
Period
of deformation, 272, 641
ofrestitution, 272, 641
Phase angle, 772, 773
Plane motion, 385,425, 515
Polar coordinates, 85, 155
Position, 2
angular, 370
cylindrical components, 78
rectangular, components, 52
Position vector, 2, 50, 358
relative, 93, 358
Potential energy, 228, 232
elastic, 232, 234
function, 234
gravitational, 232, 234
Power, 588
Precession
direct, 757
retrograde, 757
rate of, 750
steady, 752
Principal axis of inertia, 707
Principal moments of inertia, 707
Principal normal axis, 68
Product of inertia, 703
Projectile, 55
Radial direction, 78, 86
Radius
of curvature, 67, 137
of gyration, 456

Rate
of nutation, 749
of precession, 750
of spin, 749
Rectilinear
motion, 2, 16,33
translation, 358~ 475
Relative acceleration, 40, 94, 416
Relative motion, 39, 93, 425
Relative position vector, 93
Relative velocity, 396
Resonance, 817
Restitution, coefficient of, 274, 641
Retrograde precession, 757
Rigid body
angular momentum, 605, 606, 724
general equations of motion, 735
general plane motion, 385, 515
kinetic energy, 554, 718
linear momentum, 605, 723
motion about a fixed point, 659
rotation about a fixed axis, 369
translation, 358,475
Rotating axes, 425
Rotation
about a fixed axis, 369, 496
about the mass center, 498
centroidal, 499
finite, 659
infinitesimal,661
instantaneous axis of, 409
instantaneous center of, 409
Simple harmonic motion, 771
Space cone, 663, 757
Space mechanics, 168, 341
Speed,4
Spin, rate of, 749
Spring
constant, equivalent, 774
force, 197
in parallel, 774
in series, 774
potential energy, 234
Steady fluid flow, 323
Steady precession, 752
Steady-state component, 816
System of particles
angular momentum, 299
Index 899
conservation of energy, 235
linear momentum, 269
Newton's second law, 114
work-energy principle, 220
Systems of rigid bodies, 527
Tangential coordinates, 64, 135
Tensor, inertia, 708
Thrust, 333
Torsional spring, 554
Trajectory, 169, 170
Transient component, 816
Translation
curvilinear, 358
rectilinear, 358
Transverse coordinate (direction), 78,
79
Unit vector, 2, 52, 64, 79
Universal constant, 111
Vane, 326
Variable mass, 331
Vector
angular impulse, 290
angular momentum, 289
derivative of, 79, 81
inertia-force, 113
linear impulse, 255
linear momentum, 252
product, 373, 374
unit, 2, 52, 64, 79
Velocity
angular, 371
areal, 168
average, 3
cylindrical components, 81
escape, 173
instantaneous, 3
rectangular components, 53
relative, 39, 396
Velocity-displacement relationship,
17
Velocity-time relationship, 16
Vibrations
damped forced, 832
damped free, 825
energy methods, 798
Lagrange's method, 838
900 Index

Vibrations (cont.) rigid body, 718

steady-state, 816 system of pa rticles, 220
transient, 816 Work
forced, 814 conservative force, 227
free, 787 couple, 195, 552
Viscous damping, 825 definition, 192, 552
Volumeric flow rate, 323 force, 193, 552
gravity, 194
Watt, 590 spring, 197, 553
Work-energy principle weight of a body, 553
particle, 210