Module 1: Mechanics

Vectors and coordinate system

Vectors and coordinate system
Vectors and coordinate system
Vectors and coordinate system
Frame of refrence
Vectors and coordinate system
Vectors and coordinate system
Vectors and coordinate system
Newtons laws of motion
Newtons laws of motion
Newton’s second law of motion
Newtons laws of motion
Newton’s third law of motion
Fundamental forces
Fundamental forces
The strong force is the force that holds a nucleus together against the repulsion of
the protons.

It is a very strong force at short range but when it is further than 10 -15 m away it
has no effect.

It has a range of around 10-18 m this is about 1% of the diameter of a proton.

The electro-magnetic force holds atoms and molecules together.

Friction
Friction is the force resisting the
relative motion of objects sliding
against each other
Circular motion
dS dθ
v= =R =r ω
dt dt
2 2
dv d S d θ
= 2 =r 2 =ra c
dt dt dt
Angular dθ
ω=
speed dt
2
Angular d θ
2
=a c
acceleration dt
Circular motion
Centripetal 2
a=r ω
acceleration

Centripetal F=ma=mr ω
2
Force
Torque
Λ =r x F
Ω=m(r x v)=r x p
dΩ
Λ=
dt
For Λ = 0

dΩ
=0
dt
m(r x v)=constant Conservation of angular momntem
Gradient, divergence and curl

f is scalar
Gradient, divergence and curl
φ = x3yz3 and A = xz i – y2 j + 2x2y k

Evaluate

(a) 𝛻φ

(b) 𝛻. A

(c) 𝛻x A
Line integral
F=F x i + F y j + F z k
d r=dx i +dy j +dz k
∫ F . d r=∫ F x dx + F y dy+ F z dz
c c
For F = (2xy+z3)i + (x2+2y)j + (3xz2-2)k,

Calculate ∫ F.d r
c
C is the path joining (1,-1,1), and (2,1,2)
Work, power and impulse
W =∫ F . d r

If F is force and dr is the displacement, then W is the work done

dW
P=
dt
P is the power

Impulse, I, is defined as
t2

I =∫ F . dt=m v 2 −m v 1
t1
Conservative force
A force is said to be conservative if, work done by the force is
independent of the path taken
P2

W =∫ F . d r=V ( P2 )−V ( P 1 )
P1

W =∮ F . d r=0

F=−∇ V

∇ x F=0
Gravity
Gravity
Gravity Gravitational potential enrgy
GMm
−U =− =∫ F . d r
r
W =∫ F . d r
Gravitational potential energy is the
work done in bringing two particles at
a distance r

Gravitational potential
F = mg1 + mg2 + mg3 + mg4 +mg5 GM
V =−
g = g 1 + g2 + g3 + g 4 r
Gravity

m1 m2 m1 m 3 m2 m 3
U =−G −G −G
r 12 r 13 r 23
Projectile motion
v ox =v o cos(θ )
v x=v o cos( θ )

v oy =v o sin( θ )
v y =v o sin( θ )−g t

Calculate the time of flight,

maximum hight H, range R, and
relation between H and R.
Conservation of energy
P2

Work W =∫ F . d r
P1

P2
Kinetic 1 2 2
W =∫ F . d r= m( v 2−v 1 )=T 2 −T 1
energy P 1
2
P2
Potential
W =−∫ F . d r=U 1−U 2
energy P 1

For a conservative force field W =U 1−U 2 =T 2 −T 1

U 1 +T 1 =U 2 +T 2 =constant
Conservation of linear momentum
If F = 0, then

d(m v )
=0
dt
m v=constant
linear momnetum of the particle is unchanged. This is equivalent to
Newton’s first law of motion
Inertial frame of references
An inertial frame of reference is a set of coordinates, for which Newtons
law’s of motions are valid.
If, O’{x’,y’,z’} is moving at a constant velocity
v, with respect to O{x,y,z} then

x’ = x+ vt
y=y Galilean transformations
z=z

dx ' dx du x ' du x
= +v = i.e., Force or rate of change of
dt dt dt dt momentum is same for both
u x '=u x + v a x ' =a x
Velocity Acceleration
Non-inertial frame of references
However, if a frame of reference is accelerated with respect to the intertial
frame of reference then
dx ' dx dv
= +t + v
dt dt dt
u x ' =u x +at + v Velocity

du x ' du x da dv
= +t +
dt dt dt dt
a ' =a+a 0 Acceleration
x’ = x+ v(t)t
y=y ma=ma+ma 0
z=z F ' =F + F 0 Even if F =0, F’ = F0

F0 is Pseudo force
Pseudo forces

Rotating frame of reference

Here, frame S’ is rotating along the z-axis

g’ = g – a Position vector of point P is r and r’ is S and
mg’ = mg – ma S’ respectively
Rotating frame of reference
r=x e^x + y e^y + z e^z e^x ' =cos ϕ e^x +sin ϕ e^y
r ' =x ' e^x ' + y ' e^y ' + z ' e^z ' e^y ' =−sin ϕ e^x +cos ϕ e^y

d r ' dx ' dy ' dz ' d e^x ' d e^y ' d e^z '
V=
dt
=
dt (
e^x ' +
dt
e^y ' +
dt )(
e^z ' + x '
dt
+ y'
dt
+z '
dt )
dϕ
V ═ V' + ω x r' ω= e^z '
dt
Must solve it
Then acceleration will be
2
d ϕ
a=a ' +2 ω x V ' + ω x ( ω x r ' )+ α x r ' α = 2 e^z '
dt
Must solve it
Rotating frame of reference
m a=m a ' +2 m ω x V ' +m ω x( ω x r ' )+m α x r '

m ω x ( ω x r ' ) Cetrifugal force

2mω xV ' Coriolis forces
Rigid body dynamics

A body is regarded as rigid if the distance between any set of two points
in it is always constant.
Rigid body dynamics
Rigid body dynamics
Change in the momentem of indiviual mass
m i a i =f i + F i
fi is internal force & Fi is external force
n n n

∑ mi a i =∑ f i + ∑ F i
i=1 i=1 i=1
2 n n n
d
2∑
mi r i =∑ f i + ∑ Fi
dt i=1 i=1 i=1
2 n n
d
2
(M Rcm )=∑ f i + ∑ Fi
dt i=1 i=1
n 2 n
d
∑ f i =0 dt
2
(M Rcm )=∑ F i
i=1 i=1
Rigid body dynamics
Let us consider the rotation of the rigid body
about a fixed point
p i =mi v i
Ω i =m i (r i x v i )
n n

∑ Ω i =∑ mi (r i x v i )
i=1 i=1
n n
Ω=∑ m i (r i x v i )=∑ mi (r i x ( ω x r i ))
i=1 i=1
n n

Solve this Ω=∑ mi (r i . r i ) ω −∑ mi (r i . ω )r i

i=1 i=1
Ω=I ω
Rigid body dynamics
n n
Ω=∑ m i (r i . r i ) ω −∑ m i (r i . ω ) r i
i=1 i=1
n n
2 2 2
Ωa=∑ m i r i ω −∑ mi r i cos θ
i=1 i=1
n n
2 2
Ωa =∑ mi (r i sin θ ) =ω ∑ mi R i
i=1 i=1
n
2
I =∑ mi R i Moment of inertia
i=1
Rigid body dynamics
Rigid body dynamics
n
2 2
I =∑ mi R i =MK If a body is composed of continious mass
i=1 n
2 2
I I =∑ mi R i =∫ r dm
K=
√M
K is called the radius of gyration
i=1

z’ z

I z =I x + I y I z ' =I z + Mb2
Rigid body dynamics
Moment of inertia of a rod
Rigid body dynamics
Moment of inertia of a rectangular plate
Rigid body dynamics
Moment of inertia of a cirular ring Moment of inertia of a disc
Rigid body dynamics
Moment of inertia of cylinder Moment of inertia of cylindrical tube
Rigid body dynamics
Moment of inertia of sphere Moment of inertia of spherical shell