ESci 124n

Engineering Mechanics II
Dynamics of Rigid Bodies

Prepared by:
Ruel C. Lamberte
Department of Agricultural and Biosystems Engineering
Course Instructor
 Module 2
Rectilinear Translation
Learning Outcomes:

After completing module no. 2, the students must be able to:

1. Explain the concepts of rectilinear motion with constant and variable
acceleration and free falling bodies.

2. Apply the concepts to solve problems related on rectilinear translation

and free falling bodies.
Lesson 2.1:
Rectilinear Motion: Constant Acceleration

• kinematics of a particle that moves along a rectilinear or straight-line path.

• kinematics of a particle is characterized by specifying, at any given instant, the particle’s

position, velocity and acceleration.
Lesson 2.1:
Rectilinear Motion: Constant Acceleration

• Position
- the distance of the particle from the origin or fixed point.
- a vector quantity (has both magnitude and direction).
Lesson 2.1:
Rectilinear Motion: Constant Acceleration

• Displacement
- the change of position of the particle.

∆𝑠 = 𝑠 ′ − 𝑠
Lesson 2.1:
Rectilinear Motion: Constant Acceleration

• Velocity
- the change of position of the particle per unit time.
Lesson 2.1:
Rectilinear Motion: Constant Acceleration

• Velocity
a. Average velocity
- particle moves through a displacement Δs during the time
interval Δt.

∆𝑠
𝑣𝑎𝑣𝑔 = ∆𝑡
Lesson 2.1:
Rectilinear Motion: Constant Acceleration

• Velocity
b. Instantaneous velocity
- a vector that is found by taking smaller and smaller values of Δt and the
corresponding smaller and smaller values of Δs.

𝑑𝑠
𝜐= 𝑑𝑡
(2.1)
Lesson 2.1:
Rectilinear Motion: Constant Acceleration

• Velocity
 Speed
- the magnitude of the velocity and generally expressed in units of m/s or
ft/s.

 Average speed
- sometimes used to refer the magnitude of velocity.
- always a scalar quantity (magnitude only).
- the total distanced traveled by a particle (sT) divided by the elapsed time
(Δt).
𝑠𝑇
(𝑣𝑠𝑝 )𝑎𝑣𝑔 = ∆𝑡
Lesson 2.1:
Rectilinear Motion: Constant Acceleration

• Average velocity vs average speed

Average Speed: Average Velocity:

𝑠𝑇 −∆𝑠
𝑣𝑠𝑝 = 𝑣𝑎𝑣𝑔 =
𝑎𝑣𝑔 ∆𝑡 ∆𝑡
Lesson 2.1:
Rectilinear Motion: Constant Acceleration

• Acceleration
- the change of velocity (Δv) of the particle during the time interval (Δt).

∆𝑣
𝑎𝑎𝑣𝑔 = ; ∆𝑣 = 𝑣 ′ − 𝑣
∆𝑡
Lesson 2.1:
Rectilinear Motion: Constant Acceleration

• Acceleration
 Instantaneous acceleration
- a vector that is found by taking smaller and smaller values of Δt and the
corresponding smaller and smaller values of Δv.

𝑑𝑣
𝑎= (2.2)
𝑑𝑡
Lesson 2.1:
Rectilinear Motion: Constant Acceleration

• Acceleration
 Instantaneous acceleration

Substituting the instantaneous velocity equation (2.1) to instantaneous acceleration

equation (2.2):
𝑑𝑠
𝑑𝑣 𝑑
𝑑𝑡
𝑎= =
𝑑𝑡 𝑑𝑡

𝑑2 𝑠
𝑎= ; in m/s2 or ft/s2
𝑑𝑡 2
Lesson 2.1:
Rectilinear Motion: Constant Acceleration

• Acceleration
 Both average and instantaneous acceleration can be either positive or negative.

 If the particle is slowing down or its speed decreases, the particle is said to be
decelerating and therefore will act to the left, opposite sense to velocity (v).

 Constant velocity means zero acceleration (Δv = v – v = 0).

Lesson 2.1:
Rectilinear Motion: Constant Acceleration

• Important differential relation involving the displacement, velocity and acceleration:

𝑑𝑠 𝑑𝑠
1. 𝑣 =  𝑑𝑡 =
𝑑𝑡 𝑣

𝑑𝑣 𝑑𝑣
2. 𝑎 =  𝑑𝑡 =
𝑑𝑡 𝑎

Equating the time differential (dt) equations:

𝑑𝑠 𝑑𝑣
𝑑𝑡 = =
𝑣 𝑎
𝒂 𝒅𝒔 = 𝒗 𝒅𝒗 (2.3)
Lesson 2.1:
Rectilinear Motion: Constant Acceleration

• Constant Acceleration (a = ac)

- when the acceleration is constant, each of the three kinematic equations (2.1, 2.2
and 2.3) can be integrated to obtain formulas that relate ac, v, s and t.

 Velocity as a Function of Time

- integrate equation (2.2), ac = dv/dt, assuming that initially v = vo when t = 0.
Derivation:
𝑑𝑣
𝑎=  𝑑𝑣 = 𝑎𝑐 𝑑𝑡 (𝑣 − 𝑣𝑜 ) = 𝑎𝑐 (𝑡 − 0)
𝑑𝑡
𝑣 𝑡 𝑡 𝒗 = 𝒗𝒐 + 𝒂 𝒄 𝒕
න 𝑑𝑣 = න 𝑎𝑐 𝑑𝑡 = 𝑎𝑐 න 𝑑𝑡 (2.4)
(Constant Acceleration)
𝑣𝑜 0 0
Lesson 2.1:
Rectilinear Motion: Constant Acceleration
 Position as a Function of Time
- integrate equation (2.3), v = ds/dt, assuming that initially s = so when t = 0.

Derivation:
𝑑𝑠 𝑡−0 2
𝑣=  𝑑𝑠 = 𝑣𝑑𝑡 (𝑠 − 𝑠𝑜 ) = 𝑣𝑜 (𝑡 − 0) + 𝑎𝑐
𝑑𝑡 2
𝑣 = 𝑣𝑜 + 𝑎𝑐 𝑡 (from eq. 2.4) 1
(𝑠 − 𝑠𝑜 ) = 𝑣𝑜 (𝑡 − 0) + 𝑎𝑐 𝑡 2
2
𝑑𝑠 = (𝑣𝑜 + 𝑎𝑐 𝑡)𝑑𝑡
1
(𝑠 − 𝑠𝑜 ) = 𝑣𝑜 𝑡 + 𝑎𝑐 𝑡 2
𝑠 𝑡 2
න 𝑑𝑠 = න 𝑣𝑜 + 𝑎𝑐 𝑡 𝑑𝑡 𝟏
𝑠𝑜 0
𝒔 = 𝒔𝒐 + 𝒗𝒐 𝒕 + 𝒂𝒄 𝒕𝟐 (2.5)
𝟐
(Constant Acceleration)
𝑠 𝑡 𝑡
න 𝑑𝑠 = න 𝑣𝑜 𝑑𝑡 + න (𝑎𝑐 𝑡)𝑑𝑡
𝑠𝑜 0 0
Lesson 2.1:
Rectilinear Motion: Constant Acceleration
 Velocity as a Function of Position
- integrate equation (2.3), vdv = ac ds, assuming that initially v = vo at s = so or solve for t in
equation (2.4) and substitute into equation (2.5).
Derivation using equation 2.3:
𝑣𝑑𝑣 = 𝑎𝑐 𝑑𝑠 𝑣 2 − 𝑣𝑜2 = 2𝑎𝑐 𝑠 − 𝑠𝑜
𝑣 𝑠
න 𝑣𝑑𝑣 = න 𝑎𝑐 𝑑𝑠 𝒗𝟐 = 𝒗𝟐𝒐 + 𝟐𝒂𝒄 𝒔 − 𝒔𝒐 (2.6)
𝑣𝑜 𝑠𝑜 (Constant Acceleration)
(𝑣 2 −𝑣𝑜2 )
= 𝑎𝑐 𝑠 − 𝑠𝑜
2
Lesson 2.1:
Rectilinear Motion: Constant Acceleration
 Velocity as a Function of Position
- integrate equation (2.3), vdv = ac ds, assuming that initially v = vo at s = so or solve for t in
equation (2.4) and substitute into equation (2.5).
Derivation using equations 2.4 and 2.5:
𝑣𝑣𝑜 −𝑣𝑜2 𝑣 2 −2𝑣𝑣𝑜 +𝑣𝑜2
𝑣 = 𝑣𝑜 + 𝑎𝑐 𝑡 (from eq. 2.4) 𝑠 − 𝑠𝑜 = + (2𝑎𝑐 )
𝑎𝑐 2𝑎𝑐
𝑣−𝑣𝑜
𝑡= (substitute to eq. 2.5) 2𝑎𝑐 𝑠 − 𝑠𝑜 = 2𝑣𝑣𝑜 − 2𝑣𝑜2 + 𝑣 2 − 2𝑣𝑣𝑜 + 𝑣𝑜2
𝑎𝑐
1 2𝑎𝑐 𝑠 − 𝑠𝑜 = −𝑣𝑜2 + 𝑣 2
𝑠 = 𝑠𝑜 + 𝑣𝑜 𝑡 + 𝑎𝑐 𝑡 2 (from eq. 2.5)
2
2 𝒗𝟐 = 𝒗𝒐𝟐 + 𝟐𝒂𝒄 𝒔 − 𝒔𝒐
𝑣−𝑣𝑜 1 𝑣−𝑣𝑜 (2.6)
𝑠 − 𝑠𝑜 = 𝑣𝑜 + 𝑎𝑐 (Constant Acceleration)
𝑎𝑐 2 𝑎𝑐

𝑣𝑣𝑜 −𝑣𝑜2 1 𝑣 2 −2𝑣𝑣𝑜 +𝑣𝑜2

𝑠 − 𝑠𝑜 = + 𝑎
𝑎𝑐 2 𝑐 𝑎𝑐2
Lesson 2.1:
Rectilinear Motion: Constant Acceleration
Example 1
The car moves in a straight line such that for a short time its velocity
is defined by 𝑣 = 3𝑡 2 + 2𝑡 ft/s, where t is in seconds. Determine
the position and acceleration when t = 3s. When t = 0, s = 0.

Source: Hibbeler, R.C. (2016). Engineering Mechanics: Dynamics. 14th Edition. Pearson Prentice Hall. Pearson Education Inc. Hoboken, New
Jersey 07030.
Lesson 2.1:
Rectilinear Motion: Constant Acceleration
Example 1

Given:
v = (3t2 + 2t) ft/s t = 3 seconds
t=0 s=0

Req’d:
a. Car’s position when t = 3 seconds.
b. Car’s acceleration when t = 3 seconds.
Lesson 2.1:
Rectilinear Motion: Constant Acceleration
Example 1
Sol’n:
a. Solving position (s) when t = 3s using instantaneous velocity formula v = ds/dt
(where t = 0 and s = 0):
𝑑𝑠
𝑣 = 𝑑𝑡
𝑑𝑠
𝑑𝑡
= (3𝑡 2 + 2𝑡) Note that the car’s direction is to the right (+)

ds = 3𝑡 2 + 2𝑡 𝑑𝑡
𝑠 𝑡
‫׬‬0 𝑑𝑠 = ‫׬‬0 3𝑡 2 + 2𝑡 𝑑𝑡
Lesson 2.1:
Rectilinear Motion: Constant Acceleration
Example 1
Sol’n:
𝑡3 𝑡2
𝑠−0=3 +2
3 2
𝑠 = 𝑡3 + 𝑡2

When t = 3s:
𝑠 = 3𝑠 3 + 3𝑠 2

𝒔 = 𝟑𝟔𝒇𝒕 → Ans.
Lesson 2.1:
Rectilinear Motion: Constant Acceleration
Example 1
Sol’n:
b. Solving acceleration (a) when t = 3s using instantaneous acceleration formula a =
dv/dt:
𝑑𝑣 𝑑
𝑎= 𝑑𝑡
= 𝑑𝑡 (3𝑡 2 + 2𝑡)
𝑎 = 6𝑡 + 2

When t = 3s:
𝑎 = 6(3) + 2
𝒂 = 𝟐𝟎𝒇𝒕/𝒔𝟐 → Ans.
Lesson 2.1:
Rectilinear Motion: Constant Acceleration
Example 2
A small projectile is fired vertically downward into a
fluid medium with an initial velocity of 60m/s. Due to
the drag resistance of the fluid, the projectile experiences
a deceleration of a = (- 0.4v3), where v is in m/s.
Determine the projectile’s velocity and position 4 s after
it is fired.

Source: Hibbeler, R.C. (2016). Engineering Mechanics: Dynamics. 14th Edition.

Pearson Prentice Hall. Pearson Education Inc. Hoboken, New Jersey 07030.
Lesson 2.1:
Rectilinear Motion: Constant Acceleration
Example 2

Given:
a = -0.4v3 t = 4 seconds

Req’d:
a. Projectile’s velocity 4 seconds after it is fired.
b. Projectile’s position 4 seconds after it is fired.
Lesson 2.1:
Rectilinear Motion: Constant Acceleration
Example 2
Sol’n:
Coordinate System.
The position coordinate, with respect to the origin located at O, is positive
downward since the motion of the projectile is downward.

a. Solving velocity (v) using instantaneous acceleration formula a = dv/dt when vo =

60m/s and ti = 0:
𝑑𝑣 𝑑𝑣
𝑎= → −0.4𝑣 3 =
𝑑𝑡 𝑑𝑡

𝑑𝑣 = −0.4𝑣 3 𝑑𝑡

𝑑𝑣
= 𝑑𝑡
−0.4𝑣 3
Lesson 2.1:
Rectilinear Motion: Constant Acceleration
Example 2
Sol’n:
𝑑𝑣 1 𝑣 −3+1 𝑣
= 𝑑𝑡 =𝑡−0
−0.4𝑣 3 −0.4 −3+1 60

𝑣 𝑑𝑣 𝑡 1 1 𝑣
‫𝑣׬‬ = ‫𝑡𝑑 𝑡׬‬ ( )(𝑣 −2 ) 60 =𝑡
𝑜 −0.4𝑣 3 𝑖 −0.4 −2

𝑣 𝑑𝑣 𝑡 1 1 1
‫׬‬60𝑚/𝑠 −0.4𝑣 3 = ‫׬‬0 𝑑𝑡 − =𝑡
0.8 𝑣2 60 2

1 𝑣 −3 𝑑𝑣) 𝑡 1 1 𝑡
‫׬‬ (𝑣 = ‫׬‬0 𝑑𝑡 − = 1
−0.4 60 𝑣2 60 2
0.8
Lesson 2.1:
Rectilinear Motion: Constant Acceleration
Example 2
Sol’n:
1 1 1 1/2
= 0.8𝑡 + 𝑣=
𝑣2 60 2 1
0.8𝑡+
60 2
1/2
1 1 −1
1= 𝑣2 0.8𝑡 + 𝑣= 0.8𝑡 +
60 2 60 2

1 1
𝑣2 = 1 1 −
2
0.8𝑡+
60 2 𝑣= 0.8𝑡 +
60 2
When t = 4s:
1
1 1 −
𝑣= 1 𝑣= 0.8(4𝑠) +
2
0.8𝑡+ 60 2
60 2

v = 0.559 m/s → Ans.

Lesson 2.1:
Rectilinear Motion: Constant Acceleration
Example 2
Sol’n:
b. Solving position (s) using instantaneous velocity formula v = ds/dt when vo = 60m/s
and s = 0 when ti = 0:
𝑑𝑠
𝑣= substitute the v formula obtained from (a.)
𝑑𝑡

1
𝑑𝑠 1 −
2
= 0.8𝑡 +
𝑑𝑡 60 2

1
1 −
2
𝑑𝑠 = 0.8𝑡 + (𝑑𝑡)
60 2
Lesson 2.1:
Rectilinear Motion: Constant Acceleration
Example 2
Sol’n:
1 1
− +1
𝑠 𝑡 − 1 𝑢 2
1 2
𝑠= 𝑡
න 𝑑𝑠 = න 0.8𝑡 + 2
(𝑑𝑡) 0.8 1
− +1 0
0 0 60 2

1
1 𝑡
Let u = 0.8𝑡 + 𝑠 = 2.5 𝑢2
60 2 0
1 1
du = (0.8 + 0) dt 1 2 1 2
𝑑𝑢 𝑠 = 2.5{ 0.8𝑡 + − 0.8 0 +
dt = 60 2 60 2
0.8
then:
𝑡 1 1
−
1 𝑑𝑢
𝑠−0=න 𝑢 2 1 2 1 2
0 0.8 𝑠 = 2.5 0.8𝑡 + 2
− 2
60 60
Lesson 2.1:
Rectilinear Motion: Constant Acceleration
Example 2
Sol’n:
1
1 2 1
𝑠 = 2.5 0.8𝑡 + 2
−
60 60

When t = 4s:
1
1 2 1
𝑠 = 2.5 0.8 4𝑠 + 2
−
60 60

𝒔 = 𝟒. 𝟒𝟑 𝒎 → Ans.