E Presentation Slides 01 ST Week

• ME2211E
• Prof.Dr. Dinh Van Phong

• Dept.of Applied Mechanics, School of
Mechanical Engineering
Engineering • C3/307-308 (C1/224)
Mechanics: • Hanoi University of Science and
Technology
Dynamics • Email: phong.dinhvan@hust.edu.vn
• 0903200960/ (024) 36230949
Chapter 1. Introduction to Dynamics -2-
1.1 Introduction
WHAT IS MECHANICS?
Study of what happens to a “thing” (the technical name is

“BODY”) when FORCES are applied to it
(relationship: Motion-Force)
Either the body or forces can be large or small.
Department of Applied Mechanics-SME

Review: Content of Engineering Mechanics -3-
Mechanics
Considered objects
rigid-body deformable-body Gas & fluid

mechanics mechanics mechanics
Classification Statics Dynamics
Kinematics Kinetics
Applied Mechanics-Department of Mechatronics-SME

Contents of Engineering Mechanics
• Statics: deals with the equilibrium of bodies
(either at rest or move with a constant velocity), Mechanics
hence the equilibrium of force systems
• Dynamics: dealing with the motions of material

bodies under the action of given forces. The Statics Dynamics
force acts on a body with its properties as mass
and inertia moment.
- Kinematics: examines geometrically the
motion of particles / bodies/ mechanical
systems, regardless of the cause of motion. Kinematics Kinetics
- Kinetics: examines the relationship between
the motion of the bodies/systems and the
force acting on the system

Contents of Dynamics
Classification of Dynamics: Kinematics and Kinetics
DYNAMICS
KINETICS
KINEMATICS
Theory of interaction between
Theory of motion, regardless of
forces and motion of a mechanical
force - causes a change in motion.
systems

BRANCHES OF MECHANICS
Mechanics
Rigid Bodies Deformable Bodies Fluids

(Things that do not change shape) (Things that do change shape)
Statics Dynamics Incompressible Compressible

Motion of some mechanical systems in engineering

v

Relationship between motor
speed and vehicle velocity?
Relationship between motion of
particles and bodies in a system ?
B
l2 A
A l
r
2 l3
O  
l1 3 B
O 1 l0 C x


sewing machine Model of a sewing machine
belt transmission
belt
r1
transmission 2
1
 r2
Crankshaft mechanism
(Slider crank mech.)
A
needle
r l
Four-link mechanism B
l2 O  
A B
2 l3 x
l1 3 Pedal
O 1 l0 C
…..


E 
D E D
C C
h
0
0
O A O A
 h 
 u  u
B
B
x D
E x
Metalworking
C D 
machine
0 C
O A

 u
 
B
B B


Kinematics in robot design elevator, conveyor,…
2 1
r 1
B
r1
r2

1. How to determine the shaft diameter?
2. Relationship between motor speed and motion of links, of load?
3. Motion of the link/load when knowing the motor torque? Ref. William J. Palm III. System Dynamics-
McGraw-Hill, 2009



Chapter 1. Introduction to Dynamics-12-
1.2 Basic concepts of Dynamics

Fundamental physical quantities.
• Space: the geometric region occupied by bodies whose positions are described
by linear and angular measurements
• Length: needed to locate the position of a point in space and thereby describe
the size of a physical system.
• Mass: a quantitative measure of the inertia of matter which is its resistance to a
change in velocity.
• Time: a measure of the succession of events and is considered an absolute
quantity in Newtonian mechanics.
• Force: the vector action of one body on another

1.2 Basic concepts of Dynamics

Fundamental physical quantities.
• Particle: a body which has a mass but its size can be neglected
• Rigid body: a combination of a large number of particles in which all the
particles remain at a fixed distance from one another both before and after
applying a load
• Mechanical system: consists of particles and rigid bodies. The interaction
between the components of the mechanical systems is expressed only by
forces. In constrained mechanical system the motion of particles and rigid
bodies are restricted by constraints in positions and velocities.

Two models using in Kinematics: Particle and Rigid body
Particle model Rigid body model B

z z
P
rP rA A
O O
y x y
x
Motion of a rigid body:
• Translation
Motion of a particle: • Rotation about a fixed axis / fixed point
• Motion in plane, motion in space • General spatial motion
• Rectilinear & Curvilinear motion • General planar motion
• Velocity and Acceleration of a • Helical motion (screw motion)
particle • Velocity and Acceleration of a point and angular
• Maximum 3 position parameters (3 velocity vector, angular acceleration vector
Degree of Freedom) • Maximum 6 position parameters (6 Degree of
Freedom)
Some kind of motion of a particle
Rectilinear motion
Curvilinear motion
Motion of a particle :
P • Path (Trajectory)
• Velocity vector
• Acceleration vector
• Constraints on motion of a particle.

Some kind of motion of a rigid body
B Motion of a rigid body:

• Position of one point and the body’s
orientation
rA A
• Types of motion: translation, rotation
O about a fixed axis (fixed point), general
planar motion, helical, spatial motion, ..
• Velocity vector and acceleration vector
of a point belong to the body,
• Angular velocity vector and angular
acceleration vector,
Translation • Relationship between velocity and
D D C acceleration of points belong to the
body
B
A B • Constraints on motion of bodies in the
A
system.

Some kind of motion of a rigid body
Translation
General planar motion
Rotation about a
fixed axis
B
rA A
z(t ) O
Rotation about a fixed

Helical motion point General spatial motion

1.3 Basic Laws in Dynamics

First dynamic axiom F3
When the sum of the forces acting on a particle F2
is zero, its velocity is constant. In particular if (F1, F2 , F3 ) 0
the particle is initially stationary, it will remain
stationary. v const
F1
Second dynamic axiom

When the sum of the forces acting on a particle F =  Fk
is not zero, the sum of the forces is equal to the
rate of change of the linear momentum of the
ma F Fk
particle. If the mass is constant, the sum of the
d
dt
(mv)
forces is equal to the product of the mass of the
particle and its acceleration
Force of A Force of B
Third dynamic axiom on B on A
The forces of action and reaction between
interacting bodies are equal in magnitude,
Body A Body B
opposite in direction and collinear.
Action = reaction

Basic Laws in Dynamics

F2
m a
Fourth dynamic axiom
The acceleration of a particle acted upon by several
forces is the sum of accelerations which each force F1
gives the particle individually
(commonly known as the principle of superposition)
a1 F1 / m, a2 F2 / m
a (F1 F2 ) / m a1 a2
Fifth dynamic axiom

The constrained body can be considered as a
free body when it is released from constraints
and subjected by corresponding reactive
forces instead.
constrained body
free body

1.4 Inertia Coordinate System
2nd dynamic axiom: In inertia system d
dt
(mv ) Fk
What does the inertia system means:
In this system the 1st dynamics axiom is valid.

A free particle under action of no force is at rest or moves with
constant velocity (rectilinear motion with constant velocity)
(No inertial forces)
In the Earth: Inertia system is fixed with the earth (we neglect the
influence of the motion of the earth.
Other example?
https://en.wikipedia.org/wiki/Earth-centered_inertial

1.5 UNITS OF MEASUREMENT
Four fundamental physical quantities (or dimensions).

• Length
• Mass
• Time
• Force
Newton’s 2nd Law relates them: F = m a

Hence only 3 quantities are independent.
We use this equation to develop systems of units.

UNIT SYSTEMS
Force, mass, time and acceleration are related by Newton’s

2nd law. Three of these are assigned units (called base units)
and the fourth unit is derived. Which one is derived varies by
the system of units.
We will work with 2 unit systems in statics:
• International System (SI)
• U.S. Customary (USCS or FPS)

Chapter 1. Introduction to Dynamics
Summary of the unit systems.
Chapter 1. Introduction to Dynamics
Prefix of Units
1.6 NUMERICAL CALCULATIONS
Homogeneity: Dimensions have to be the same on both sides

of the equal sign, (e.g. distance = speed  time.)
Use an appropriate number of significant figures (3 for

answer, at least 4 for intermediate calculations). Why?
Be consistent when rounding off.

- greater than 5, round up (3528  3530)
- smaller than 5, round down (0.03521  0.0352)
- equal to 5, see your textbook for an explanation.

1.7 Basic Problems of Dynamics
Both the forces applied to a body and its motion must be taken
into account, hence We can distinguish two basic problems of
dynamics:
1. Forward problem: in such problem the motion of the body

is known and the task is to determine the forces causing that
motion
2. Inverse problem: in this case the forces acting on the body

and the initial condition of the body motion are known and the
task is to specify the motion of the body.

Textbooks -27-
Applied Mechanics-Department of Mechatronics-SME

Three kinematical concepts, when
dealing with the motion of point, will
be of interest. Each is represented by
a vector:
Review: (i). Position represented by a

position vector
Particle
Kinematics (ii). Rate of change of position
represented by a velocity vector
(iii). Rate of change of rate of change

of position represented by an
acceleration vector.
-29- Particle Kinematics
Motion of a particle
Rectilinear motion
Motion of a particle :
• r = r(t) => Path (Trajectory) and s =s(t)
• Velocity vector v(t)
• Acceleration vector a(t)
Curvilinear motion
P
Rectilinear Kinematics
The average velocity approaches the instantaneous velocity of the particle:
r dr
v = lim = =r
t →0 t dt
Representing v as an algebraic scalar:
ds
v = =s
dt
We do the same for the acceleration:
dv d 2s
a = = v or also a = 2
= s
dt dt
We get also
a ds = v dv
Method of Cartesian Coordinates: rectilinear motion
Equations of motion x
x x (t ), r (t ) x (t )ex
O M x
Velocity
v xex v x Uniform motion
Acceleration v const, x x0 vt
a xex a x.
Motion with constant
Faster / slow down motion accelleration
0 Faster a const, v v0 at
v a xx
0 Slow down x x0 v 0t 1
2
at 2
• For coupling 4 quantities: a(t), v(t), s(t)
we have 3 expressions (or 4)
• However, only 2 are independent
• Using which ones? It depends on the
specifical cases (which quantities are
Rectilinear under consideration)
• Examples: (text book)
Kinematics • a= const
• a=f(t)
• a=f(v)
• a=f(s)
Rectilinear
Kinematics
v
• The car imoves in a straight line such that

for a short time its velocity is defined by v =
(3t2 + 2t) m/s, where t is in seconds. When t =
0, s = 0. Determine its position and
acceleration when t = 3 seconds.
Hint: v(t), s (and a)

Solution
Given v(t) of a car. Determine the
acceleration and traveled v = 3t 2 + 2t [m/s]
distance after 3 second.
d
a(t ) = v(t ) = 6t + 2, m/s2 a(t = 3) = 20, m/s2
dt
d
v(t ) = s(t ) = (3t 2 + 2t ), ds(t ) = v(t )dt = (3t 2 + 2t )dt
dt
s(t ) − s0 = t 3 + t 2  s(t ) = t 3 + t 2
s(t = 3) = 27 + 9 = 36 m
General Curvilinear Motion
r , v ,a
◼ The particle moves along a curved path

◼ Vector presentation: r , v, a
◼ 3 types of coordinate systems
• Cartesian coordinate systems (Rectangular components)
• Normal and tangential components (Natural coordinates)
• Cylindrical components (special case for 2D: Polar coordinates)
General Curvilinear Motion
◼ Velocity represented by a vector

r d
v = lim = r=r
t →0 t dt
(tangent to the path)
◼ Vector acceleration (not tangent to the path):

v dv
a = lim = =v
t →0 t dt
d 2r
a =
dt 2
Velocity and acceleration
d d d d
v= r= (x i) + (y j) + (z k)
dt dt dt dt
Rectangular d dx di
(xi) = i+x
component of dt dt dt
d
velocity and v =
dt
r = xi +y j+zk
acceleration a=
dv
= a x i + ay j + a z k
dt
Since i,j,k are constant

EXAMPLE
The motion of a box B moving along the spiral
conveyor is defined by the position vector r = (0.5
sin(2t)i + 0.5 cos(2t)j - 0.2t k) m, where t is in
seconds and the arguments for sine and cosine
are in radians (rad). Determine the location of the
box when t = 0.75 s and the magnitudes of its
velocity and acceleration at this instant.
Solution
Evaluating r when t = 0.75 s yields

r = (0.5 sin (1.5 rad)i + 0.5 cos (1.5 rad)j - 0.2(0.75)k
= (0.499i + 0.0354j - 0.150k) m
r = (0.499)2 + (0.0354)2 + (−0.150)2 = 0.522 m
The direction of r is obtained from the components of the unit vector ur = r/r
ur = (0.499i + 0. 0354j - 0.150k)/0.522 = 0.955i + 0.0678j - 0.287k
Hence:
α = cos-1(0.955) = 17.2° β = cos-1 (0. 0678) = 86.1o γ = cos-1 (-0.287) = 107°
The velocity:
dr
v = = [0.5sin(2t )i + 0.5 cos(2t)j − 0.2tk =
dt
= (1 cos(2t )i − 1 sin(2t ) j − 0.2k) m/s
The velocity is tangent to the path and (when t = 0.75 s) the magnitude (or the speed), is
v= [(1 cos (1.5 rad)]2 + [l sin (1.5 rad)]2 + (-0.2)2 = 1.02 m/s
The acceleration a:
dv
a = = [-2sin(2t )i − 2 cos(2t )j] m/s 2
dt
Review: • Velocity of particle: vector tangent to
the path
Normal and • (But acceleration vector: not tangent to
the path)
Tangential • Possibility of description of the motion
Components along the path
Natural coordinates
On the osculating plane at P: e

• Tangential axis  (unit vector ) e n
• Normal axis n (unit vector ) en en 
and outside the plane: e
• Binormal axis b (unit vector) eb s
eb
eb = et  en
Remark: Right handed coordinate system (axes): t,n,b (12312312….)
Description of the motion:
Motion with • Curve

tangential, normal • Equation of motion s = s(t)
and binormal Veloctity: tangent to the path
components (natural
coordinates)
Acceleration: with components
Genenal curvilinear motion
Equation of motion of P eb
s = s(t )
s(t) P ds et
Velocity of P P0 r+dr
r
dr ds en
v = = et = set , v =s O
dt dt
dr = etds
Acceleration of P
dv d det dr / ds = et
a = = (set ) = set + s
dt dt dt
P et
det P‘
= ??? en et '
dt
Acceleration of point P (cont.)
det det P et
a = set + s = ???
dt dt d P‘
et '
a = set + (s 2 /  )en en det
det = et  − et
a = at + a n
= 1den
at = set ,
det d d ds 1
an = (s /  )en
2
= en = en = sen
dt dt ds dt 
at = s = v,
an = s 2 / , ab = 0 P
at
a
an
Example v
et
The motion of point P, moving on an arc
of a circle of radius R, governed by s(t) = P
at2/2. Determine the velocity and R
acceleration of P at t = 2 s. s(t)
Solution en
P0
v = set = atet ,
v (t = 2) = 2aet m/s at
s2 (at )2
a = v = set + en = aet + en , P
R R R
4a 2
a (t = 2) = aet + en , m/s2
R P0
an
• Some time is convenient to express
the path of motion in terms of
cylindrical coordinates r,  , z
Cylindrical • They are called : radial, transverse
components component and height (z)
• For planar motion: r and  are used
(polar coordinates)
d
Polar coordinate system
Coordinates r = r(t ),  = (t )

M
Unit vectors er , e r
e er
Position vector r = r (t )er 
O x
Velocity vector
de = −1der der = 1de
d d
v = r = [r (t )er ] e
dt dt
der d er
= rer + r d
dt O
der d
v = rer + re = vr + v , = e = e
dt dt
d
Polar coordinate system (cont’)
d de = −1der der = 1de

er = e = e
dt e
d er
e = − er = −er d
dt d
O
Acceleration vector v
d
a = v = (rer + r e )
dt a
M
= rer + rer + r e + r e + r e e e r

r

= (r − r  2 )er + (r  + 2r  )e O x
Cylindrical Coordinate System

Coordinates zM
r = r (t ),  = (t ), M
z = z (t ) r
ez
Position vector
e z 
r = rer + zez O r yM
xM  er
Velocity vector
v =r er = e ,
= rer + rer + zez + zez e = −er ,
= rer + re + zez ez = 0
Acceleration vector
a = v = (r − r 2 )er + (r + 2r)e + zez
EXAMPLE
Given: The platform is rotating such

that, at any instant, its angular
position is  = (4t3/2) rad, where
t is in seconds.
A ball rolls outward so that its
position is r = (0.1t3) m.
Find: The magnitude of velocity and acceleration of the ball when t = 1.5 s.
Hint: Use a polar coordinate system and related kinematic equations.

EXAMPLE (continued)
Solution:
𝑟 = 0.1𝑡 3 , 𝑟ሶ = 0.3 𝑡 2 , 𝑟ሷ = 0.6 𝑡
𝜃 = 4 t3/2, 𝜃ሶ = 6 t1/2, 𝜃ሷ = 3 t−1/2
At t=1.5 s,
r = 0.3375 m, 𝑟ሶ = 0.675 m/s, 𝑟ሷ = 0.9 m/s2
𝜃 = 7.348 rad, 𝜃ሶ = 7.348 rad/s, 𝜃ሷ = 2.449 rad/s2
Substitute into the equation

.
for velocity
.
v = 𝑟u ሶ r + r 𝜃ሶ uθ = 0.675 ur + 0.3375 (7.348) uθ
= 0.675 ur + 2.480 uθ
v = (0.675)2 + (2.480)2 = 2.57 m/s

EXAMPLE (continued)
Substitute in the equation for acceleration:

.. . .. . .
a = (𝑟ሷ – r 𝜃ሶ 2)ur + (r 𝜃ሷ + 2 𝑟ሶ 𝜃)ሶ uθ
a = [0.9 – 0.3375(7.348)2] ur
+ [0.3375(2.449) + 2(0.675)(7.348)] uθ
a = – 17.33 ur + 10.75 uθ m/s2
a = (– 17.33)2 + (10.75)2 = 20.4 m/s2

• Join the group on TEAMS
• Follow instructions
• Do exercises and recheck examples
• See you soon

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• ME2211E

• Prof.Dr. Dinh Van Phong

Study of what happens to a “thing” (the technical name is

Department of Applied Mechanics-SME

rigid-body deformable-body Gas & fluid

Classification Statics Dynamics

Applied Mechanics-Department of Mechatronics-SME

• Dynamics: dealing with the motions of material

Department of Applied Mechanics-SME

Department of Applied Mechanics-SME

Rigid Bodies Deformable Bodies Fluids

Statics Dynamics Incompressible Compressible

Department of Applied Mechanics-SME

Motion of some mechanical systems in engineering

Department of Applied Mechanics-SME

Motion of some mechanical systems in engineering

Department of Applied Mechanics-SME

Motion of some mechanical systems in engineering

Department of Applied Mechanics-SME

Motion of some mechanical systems in engineering

Relationship between motion of

Department of Applied Mechanics-SME

Motion of some mechanical systems in engineering

Relationship between motion of

Department of Applied Mechanics-SME

1.2 Basic concepts of Dynamics

Department of Applied Mechanics-SME

1.2 Basic concepts of Dynamics

Department of Applied Mechanics-SME

Two models using in Kinematics: Particle and Rigid body

Particle model Rigid body model B

Some kind of motion of a particle

Department of Applied Mechanics-SME

Some kind of motion of a rigid body

B Motion of a rigid body:

Department of Applied Mechanics-SME

Some kind of motion of a rigid body

Rotation about a fixed

Department of Applied Mechanics-SME

1.3 Basic Laws in Dynamics

Second dynamic axiom

Department of Applied Mechanics-SME

Basic Laws in Dynamics

Fifth dynamic axiom

Department of Applied Mechanics-SME

What does the inertia system means:

In this system the 1st dynamics axiom is valid.

Department of Applied Mechanics-SME

1.5 UNITS OF MEASUREMENT

Four fundamental physical quantities (or dimensions).

Newton’s 2nd Law relates them: F = m a

Department of Applied Mechanics-SME

Force, mass, time and acceleration are related by Newton’s

Department of Applied Mechanics-SME

Homogeneity: Dimensions have to be the same on both sides

Use an appropriate number of significant figures (3 for

Be consistent when rounding off.

Department of Applied Mechanics-SME

1. Forward problem: in such problem the motion of the body

2. Inverse problem: in this case the forces acting on the body

Department of Applied Mechanics-SME

Applied Mechanics-Department of Mechatronics-SME

Review: (i). Position represented by a