Dynamics Chapter 2

Mechanical Engineering
CHAPTER DYNAMICS
2
Dynamics
 R.C. Hibbeler Kinetics of Particles:
 Ferdinand P. Beer
Newton’s Second Law
E. Russell Johnston, Jr.
Lecture Notes:
Prof. Dr.
O. Ersel Canyurt
Gazi University
Prof. Dr. Ersel Canyurt 2-1
Introduction
The equation of motion F=ma will be examined.
m mass (m)
v2 Force (F)
a
v1 velocity (v)
F
and acceleration(a)
Section 2 establishes the relationship among m, F, v, and a.
Prof. Dr. O. Ersel CANYURT

Newton’s First Law
If the resultant force acting on a particle is zero.
Σ Fi=0
At the beginning, The particle is motionless
Σ F =0
The particle stays motionless
v=0
The particle has a motion
Σ F =0 v2=v1= constant
v1
Keeps moving at a constant speed on a straight line.

Newton’s Second Law of Motion
• If the resultant force acting on a particle is not zero
Σ Fi≠0
The particle
a
ΣF
The particle will have an acceleration proportional to the magnitude
of resultant and in the direction of the resultant.
F=ma
F : Resultant force [N]
m : mass [kg]
a : acceleration [m/s2]

Newton’s Third Law of Motion
• Objects affect each other
r F2
Between action and reaction forces
F1
m
• Effect line M
• The same magnitude as a mutual,
| F1 | = | F 2 |
• on the effect line,
• in reverse direction, F1 = – F2
• Magnitude
M.m G :Gravitational constant
F=G.
r2 M, m : Mass of particles
r : Distance between two
Prof. Dr. Ersel Canyurt particles
2-5
A mass effect on the Earth
r m mass on the Earth F = G . M .2 m
r
G : Gravitational constant = 6.673 x 10-11 [m3/kg.s2]
M : mass of Earth = 5.976 x 1024 [kg]

r : radius of Earth =6.371 x 106 [m]
M, Earth Ecuador, the sea level
Gravitational acceleration Values are substituted

M
g=G. g ≈ 9.81 [m/s2]
r2
At Earth, a mass, will move with gravitational acceleration of g=9.81 [m/s2]
At earth, action force F=m.g

can be found

Systems of Units
• International System of Units (SI)
m : mass [kg]
formula
s : length [m]
t : time [s] F=ma = kg m2 = Newton [N]
a : acceleration [m/s2] s
F : Force [N]
m= 1 [kg] mass of the object,
will gain a= 1 [m/s2] acceletation with F = 1 [N]
+ve Motion Direction
Acceleration View of a pilot
Rocket has a constant velocity Rocket has +ve acceleration (speed up)
Rocket -ve acceleration (slow down, deceleration)

Equation of Motion F=ma y
• Cartesian coordinate system ,
F2 x
• Forces • Acceletation
ma
F3 y y
Fy = ma
F1 Fx y
m ax
x x
x- direction  Fx = m ax
y- direction  Fy= m ay
z- direction  Fz = m az
• With separate components,
• Vector components are converted to scalar components.
Equation of Motion F=ma
• Object that moves in the circular path
• tangential and normal components
• Forces Acceleration
F1
n n t n t
t
F3 =
Fn Ft m an m at
F2
 Fn = m an v2
n- direction an =
r
t- direction  Ft = m at
Prof. Dr. Ersel Canyurt 2 - 10

Dynamic Equilibrium
 
• Alternate expression of Newton’s second law  F  ma  0
motion

m  a  inertial (Atalet) vector
• With the inclusion of the inertial vector, the system
of forces acting on the particle is equivalent to
zero.
• The particle is in dynamic equilibrium.
• Inertia vectors are often called inertial forces as

• At circular motion they measure the resistance that particles offer
to changes in motion,
• Ex: changes in speed or direction.
• Inertial forces (Atalet Kuvveti) may be

conceptually useful
 but are not like the contact and gravitational
forces found in statics.
PROCEDURE FOR ANALYSIS
• Free-Body Diagram (always critical!!)
Establish your coordinate system and draw the particle’s free-body

diagram showing only external forces.
These external forces usually include the weight, normal forces, friction
forces, and applied forces.
Show the ‘ma’ vector (sometimes called the inertial force) on a separate
diagram.
Make sure any friction forces act opposite to the direction of motion!
If the particle is connected to an elastic linear spring, a spring force (kx )
should be included on the FBD.
Prof. Dr. Ersel Canyurt

Problem 2.1
100 N
A 100 N block rests on a horizontal plane.

Find the magnitude of the force P required to give the block
an acceleration 3 m/s2 to the right?
The coefficient of kinetic friction between the block and plane
is mk = 0.25.
Problem 2.1 • Applied forces to the object
W=100 N
y P
30o
O Fs
x
N
• Resolve the equation of motion for the block into two rectangular component
equations
m. ay Px =P. cos 30
Py W=100 N
Py =P. sin 30
Px = m. ax
Fs
N
NO change in vertical direction
 Fy= m.ay =0
– Py – W + N = 0
N = P. sin 30 + 100 1

Problem 2.1 y W=100 N m. ay
Py
W=100 N Px
P m. ax
O
x Fs =
30o
Fs
N
N From Equation 1
 Fx= m.ax
Mass of Block + P x – Fs = m . a x
W 100
m 
g 9.81
m=10.19 [kg]
Friction Force :
Fs=mk . N
Fs=0.25 . N
Prof. Dr. Ersel Canyurt P = 75 [N]
2 - 15
Problem 2.2
v0 =3 m/s
30o
A 500 N block starts with initial velocity of 2m/s. Variable

force of P = 200 t was applied to the block.
Find the velocity of the block after 2 sec?
The coefficient of kinetic friction between the block and plane
is µs =0.3.

Problem 2.2 W=500 N
30o m. ay
Fs
P m. ax
N
No displacement change in y - direction
Mass of the Block  Fy = m • ay
W 500
m 
g 9.81
N = 433 [N]
m = 51 [kg]
Friction Force
Prof. Dr. Ersel Canyurt Fs=129.9 [N]

2 - 17
Problem 2.2 W=500 N
30o m. ay
Fs
P
m. ax
N
 Fx = m • a x
P + W • cos 60 – Fs = m • ax
v t
ʃ dv = ʃ ( 3.92 t + 2.35) dt time t=2 s
3 0
Prof. Dr. Ersel Canyurt v = 15.54 [m/s] 2 - 18

Problem 2.3
The two blocks shown start from rest. The horizontal plane
and the pulley (Makara) are frictionless, and the pulley is
assumed to be of negligible mass.
Determine the acceleration of each block and the tension in
each cord?
Problem 2.3 • Forces acting on mass A
y WA mA • aAy
O T1
x A mA • aAx
=
N
aAy= 0
 Fy= mA • aAy = 0 NO change in vertical direction
– WA + N = 0 N = WA
• Motion of block A in x- direction

 Fx= mA • aAx
1
• aAy = 0 therefore, aAx can be expressed as aA

10

Problem 2.3 • Forces acting on mass B
T2 aBx= 0
O
x B =
y
WB mB. aB
WB= mB . g = 300 • (9.81)

 Fy= mB.aB WB=2940 [N]
WB – T2 = mB • aB
T2 = 2940 – 300 aB 2
O T1 • Pulley C (mass was neglected)

x T1
y  Fy= mC • a C
T2 – 2 T1 = 0 3
T2
Problem 2.3 • The length between block A and B is constant.
aA • Combine kinematic relationships with equations of
xA motion to solve for accelerations and cord tension
xA = 2 y B
aB
yB
1 x 1 a
yB = A aB = A 4
2 2
11

T1 = 100 . aA 1 T2 – 2 .T1 = 0 3
T2 = 2940 – 300 aB 2 aB = 1 aA 4
2
To find acceleration aA Put Eqn. 4  into Eqn. 2
T2 = 2940 – 300 aB
T2 = 2940 – 150 aA 2b
Put Eqn. 1 and 2b  into Eqn. 3

T2 – 2 • T1 = 0
aA = 8.4 [m/s2]
aB = (½) aA aB = 4.2 [m/s2]
T1 = 100 . aA T1 = 840 [N]

Problem 2.4
The block A (WA=50 N)and the block B (WB =20 N) shown in

Figure are released from rest.
The masses of the pulleys and the cord are neglected.
a) Determine the speed of the block A in 5 seconds?
b) Determine the distance of the block A, until the speed reach
2.5 m/s?
12

Problem 2.4
• Applied forces to the block A
• The coordinate system
T1 aAx= 0
O
x
y A = mA • aAx
WA=50 mA • aAy
aA= aAy
 Fy = mA • aAy WA
mA = g = 5.09 [kg]
WA – T1 = mA • aA
1
Problem 2.4
O T2 • Pulley C (makara) (mass is neclected)
x T2
y  Fy= mC • a C
T1 – 2 T2 = 0 2
T1
• Forces acting on mass B
T2
O
aBx= 0
x B =
y mB • aB WB
WB=20
mB = g = 2.04 [kg]
 Fy= mB • aB
WB – T2 = mB • aB
3
13

Problem 2.4
• Length of cable between Block A and B is constant
• Kinamatic Relation between block A and B
2 sA + sB = constant
sA
2 aA + aB = 0
sB
A aB = – 2 aA 4
T1 = 50 – 5.09 aA 1 T2 = 20 – 2.04 aB 3
T1 – 2 T 2 = 0 2 aB = – 2 aA 4
To find acceleration aA Put Eqn. 4  into Eqn. 3

T2 = 20 – 2.04 aB
T2 = 20 + 4.08 aA 3b
Put Eqn. 1 and 3b  into Eqn. 2

T1 – 2 • T2 = 0
aA = 0.75 [m/s2]
aB = – 2 aA aB = – 1.5 [m/s2]
14

Problem 2.4
Uniformly Accelerated Rectilinear Motion (UARM)
a) Velocity at time 5 sec

vA = v0 + aA • t
vA = 3.75 [m/s]
Uniformly Accelerated Rectilinear Motion (UARM)

b) At vA=2. 5 [m/s]
v2 = v02 + 2 • aA • (s – so)
s – so = 4.17 [m]
Problem 2.5
The 12 N block B starts from rest and slides on the 30 N

wedge (takoz) A, which is supported by a horizontal
surface.
Neglecting friction, determine
(a) the acceleration of the wedge, and
(b) the acceleration of the block relative to the wedge?
15

Problem 2.5 • The block B is constrained to slide down the wedge A.
Therefore, their motions are dependent.
• Wedge A slides in horizontal direction. aA
• Block B slides with slope of 30o aB/A
 Acceleration of Block B
  
aB  a A  aB A
• Forces on Block B
• Write equations of motion for block B.

 Fx = mB • a x
– WB • sin 30 = mB • aA cos 30 – mB • aB/A
1
• The block B is constrained to slide down the wedge A.
Problem 2.5 Therefore, their motions are dependent.
• Wedge A slides in horizontal direction. aA
• Block B slides with slope of 30o aB/A
 Acceleration of Block B
  
aB  a A  aB A
• Forces on Block B
• Write equations of motion for block B.

 Fy = mB • a y
– WB • cos 30 + N1 = – mB • aA sin 30
2
16

Problem 2.5 • N1 i bileşenlerine ayıralım.
y
N1 sin 30
x
30o
N1
• Write equations of motion for wedge A
 Fx = mA • a x
Problem 2.5 aB/A = aA • cos 30 + g • sin 30 1
N1= mB • g • cos 30 – mB • aA • sin 30 2
N1 =2 mA • aA 3
• Put Eqn. 3  into Eqn 2

2 mA • aA = mB • g • cos 30 – mB • aA • sin 30
aA = 1.54 [m/s2]
• Using Eqn. 1
aB/A = aA • cos 30 + g • sin 30
aB/A = 6.24 [m/s2]
17

Problem 2.6
A smooth 2-kg collar (bilezik) C,

shown in Figure, is attached to a
spring having a stiffness k = 3
N/m and an unstretched length 1m
of 0.75 m.
Friction can be neglected.
If the collar is released from rest at A,

determine its acceleration and the normal force of the rod on
the collar at point C ?
Problem 2.6 O 0.75 m
A
x
O
• Coordinate System
y 1m
• Force acting on a collar
F • sin  tan  = (1/0.75)
Fspring spring
C
WA =53.1o
NC 
=
Fspring• cos  |OC| = 0.752 + 1
m.a
Components
|OC| =1.25 [m]
 Fx= 0 Extension on the spring

Fspring • cos 53 – NC = 0 x = | OC | – | OA |
Force on the spring
Fspring = k •  x
NC = 0.9 [N]
Fspring = 1.5 [N]
18

Problem 2.6 O 0.75 m
A
x
O
• The Coordinate System
y 1m
• Force acting on a collar
F • sin 
Fspring spring
C
WA
NC  W= m • g = 2 • (9.81)
=
Fspring• cos  W=19.62 [N]
m.a
 Fy = m • a
W – Fspring • sin 53 = 2 • a
Prof. Dr. Ersel Canyurt a = 9.21 [m/s2]

2 - 37
Problem 2.6b
A
Load car
30o
Smooth load car is moving downward with acceleration of

a=2 m/s2 .
Find the normal component of the force occured from the 10
kg Box A.
19

A
Problem 2.6b W =
O
x Load car m . ay
y
N
a=2 m/s2
ax 30o
30o
ay
a=2 Acting forces on Box and load car
ay =a • sin 30
 Fy = m • ay
ay =1.0 [m/s2]

N = 88.1 [N]
2 - 39
Problem 2.7
The 3-kg disk D is attached to the end of a cord as shown in

Figure. The other end of the cord is attached to a ball-and-
socket joint located at the center of a platform.
If the platform rotates rapidly, and the disk is placed on it and
released from rest as shown,
determine the time it takes for the disk to reach a speed great
enough to break the cord.
The maximum tension the cord can sustain is 100 N, and the
coefficient of kinetic friction between the disk and the platform
is µk = 0.1 .
20

Problem 2.7
• Forces acting on the disc
z
No displacement change on z direction
W
z- direction
 Fz = m • az
n
t –W+N =0
N
N = 29.43 [N]
W=m • g
= 3 • 9.81
= 29.43 [N]
Problem 2.7 • Forces acting on the disc Fs = µ • N
=
z
Fs m. at m. an
T
W
t n t n
n
t n- normal direction
N
 Fn = m an
T = m • an
t- tangential direction  Ft = m at
Fs = m • at
vcr= 5.77 [m/s]

at= 0.98 [m/s2] Critical Velocity
21

Problem 2.7
• Coordinate system
z
n
t
N
vkr = v0 + at • t

t = 5.89 [s]
2 - 43
Problem 2.8
2m 30o A
v
Ball
The ball of a 2 m pendulum (sarkaç) describes an arc of a

circle in a vertical plane. If the tension in the cord is 2.5
times the weight of the ball for the position shown,
find the velocity and acceleration of the ball in that position?
22

Problem 2.8
• Resolve the equation of motion for the ball into
tangential and normal components.
O n n
2m 30o A T = m. an
Wn
t Wt t m. at
• Applied forces
n
n- direction  Fn = m an
30o T=2.5 m g
an= 16 [m/s2]
t
2
Wt=m . g . sin 30 W=m.g an = v v = ±5.66
Wn=m . g. cos 30 r
Problem 2.8
• Tangential and normal components.
O n n
2m 30o A T = m. an
Wn
t Wt t m. at
t- direction  Ft = m at
Wt=m • g • sin 30
Wn=m • g • cos 30
at= 4.9 [m/s2]

23

24

Dynamics Chapter 2

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Dynamics Chapter 2

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Mechanical Engineering

The equation of motion F=ma will be examined.

Section 2 establishes the relationship among m, F, v, and a.

Prof. Dr. Ersel Canyurt 2-2

Prof. Dr. O. Ersel CANYURT

The particle has a motion

Keeps moving at a constant speed on a straight line.

• If the resultant force acting on a particle is not zero

Prof. Dr. Ersel Canyurt 2-4

Prof. Dr. O. Ersel CANYURT

M : mass of Earth = 5.976 x 1024 [kg]

Gravitational acceleration Values are substituted

At earth, action force F=m.g

Prof. Dr. O. Ersel CANYURT

m= 1 [kg] mass of the object,

will gain a= 1 [m/s2] acceletation with F = 1 [N]

Prof. Dr. Ersel Canyurt 2-7

Rocket -ve acceleration (slow down, deceleration)

Prof. Dr. Ersel Canyurt 2-8

Prof. Dr. O. Ersel CANYURT

Prof. Dr. O. Ersel CANYURT

• Inertia vectors are often called inertial forces as

• Inertial forces (Atalet Kuvveti) may be

PROCEDURE FOR ANALYSIS

• Free-Body Diagram (always critical!!)

Establish your coordinate system and draw the particle’s free-body

Prof. Dr. Ersel Canyurt

Prof. Dr. O. Ersel CANYURT

A 100 N block rests on a horizontal plane.

Prof. Dr. Ersel Canyurt 2 - 13

Prof. Dr. O. Ersel CANYURT

A 500 N block starts with initial velocity of 2m/s. Variable

Prof. Dr. O. Ersel CANYURT

Prof. Dr. Ersel Canyurt Fs=129.9 [N]

Prof. Dr. Ersel Canyurt v = 15.54 [m/s] 2 - 18

Prof. Dr. O. Ersel CANYURT

 Fy= mA • aAy = 0 NO change in vertical direction

• Motion of block A in x- direction

• aAy = 0 therefore, aAx can be expressed as aA

Prof. Dr. O. Ersel CANYURT

WB= mB . g = 300 • (9.81)

O T1 • Pulley C (mass was neglected)

Prof. Dr. Ersel Canyurt 2 - 22

Prof. Dr. O. Ersel CANYURT

Put Eqn. 1 and 2b  into Eqn. 3

aB = (½) aA aB = 4.2 [m/s2]

T1 = 100 . aA T1 = 840 [N]

The block A (WA=50 N)and the block B (WB =20 N) shown in

Prof. Dr. O. Ersel CANYURT

Prof. Dr. O. Ersel CANYURT

• Kinamatic Relation between block A and B

Prof. Dr. Ersel Canyurt 2 - 27

To find acceleration aA Put Eqn. 4  into Eqn. 3

Put Eqn. 1 and 3b  into Eqn. 2

Prof. Dr. Ersel Canyurt 2 - 28

Prof. Dr. O. Ersel CANYURT

a) Velocity at time 5 sec

Uniformly Accelerated Rectilinear Motion (UARM)

The 12 N block B starts from rest and slides on the 30 N

Prof. Dr. Ersel Canyurt 2 - 30

Prof. Dr. O. Ersel CANYURT

• Write equations of motion for block B.

• Write equations of motion for block B.