Chapter

1
Introduction
1. What is Mechanics
Statics, dynamics, kinematics and
kinetics
2. Space, Time and Mass
Cartesian and polar coordinate
systems.
3. Motion and Rest.
Reference frame and observer,
position vector, velocity and
acceleration, Relative motion.
4. Translation and Rotation Motion.
5. Particle and Rigid-Body.

1. What is Mechanics? collectively known as terrestrial bodies constitute

The first scientific observation the man had were
indeed the objects surrounding him and their
motion relative to him and relative to objects
themselves and paved the path for systematic study
of such phenomena. Over a period of several
centuries, a course of historical developments
followed by sequence of several discoveries ulti-
mately culminated into a branch of physics now
known as mechanics. The term mechanics was
employed first by Newton in its true sense, the
science of machines and making them.
Motion of planets, stars and other bodies in the
outer space collectively known as celestial bodies,
motion of animals, vehicles or bodies on the earth
area of Mechanics. Principles of Mechanics can also
be extended to some degree of accuracy to describe
motion of atoms and molecules in innate structure
of materials.
Mechanics is defined as the study of nature and
conditions of rest or motion of material bodies.
Here the word nature means the way motion
occurs and the word conditions refer to the causa-
tive interactions – Forces and Energy that are resp-
onsible in one way or other for every kind of motion
of material bodies.
Mechanics is studied, taught and practiced in two
different ways. First one is based on historical
developments from the ages of Archimedes through
Galileo to Newton and Lagrange. In it, force acting
Arvind Tiwari
between one body and another is introduced as the
cause of motion and motion is described in terms of
concepts of space, time and mass. These four
concepts space, time, mass and force are related by
three laws known as Newton’s Laws of Motion. This
methodology is known as Newtonian Mechanics.
The second way is based on concepts of space,
time, mass and energy. In it, concepts of space and
time have purely mathematical character while
mass and energy are introduced as physical entit-
ies. Energy is conceived as determined by position
and motion of material bodies. The four concepts of
space, time, mass and energy are related by
Hamilton's principle.
In every introductory course of mechanics and
hence in this book too, the first way i.e. Newtonian
Mechanics is dealt with. Since its principles are
more close to human intuition and understanding.1
Mechanics is divided into two areas − mechanics
of particle and rigid bodies and mechanics of
deformable bodies. Mechanics of particles and rigid
bodies deals with translation and rotation motion
whereas mechanics of deformable bodies include
study of elasticity and fluid mechanics etc. By the
term mechanics, we generally refer to study of
translation and rotation motion to which this
volume is devoted. Different authors suggest slight-
ly different classifications of this branch of
mechanics but all of them culminate into three
major subdivisions namely Statics, Kinematics and
Kinetics. Old classification suggested by Lord Kelv-
in and P. G. Tait in their famous work "Elements of
Natural Philosophy" is shown in Fig. 1.1 (a).
MECHANICS
KINEMATICS DYNAMICS
STATICS KINETICS
Fig. 1.1 (a)
Kinematics. It is the study of nature of motion
without taking consideration of any causative
interactions involved. It deals with the changing
locations of objects with time and encompasses
concept of spaces and time. The only characteristic
of matter, which is used in describing kinematics, is
its continuous existence in space with time.
1. "This is the path on which great army of students travel and
are introduced into the mysteries of mechanics." –Henerich
Hertz.
Introduction 1.1
Description of kinematics seeks of how fast and
on what path an object moves and relates the
position, velocity, acceleration, and time without
any reference to mass, force and energy. In other
words, it is study of geometry of motion.
Dynamics. Force is considered as cause of motion.
Dynamics investigates action of force.
Action of force is recognized in two ways either to
compel rest by preventing motion or to cause a
change in state of motion. Accordingly, the science
of Dynamics is further subdivided into two cate-
goryies – Statics and Kinetics.
Statics. It is the study of conditions and nature of
rest or equilibrium. In fact, Statics investigates
how several forces operating on or within any
system balance them and maintain state of rest or
equilibrium.
Kinetics. It is the study of conditions of motion and
explains the motion described by kinematics with
due reference to force and energy. Kinematics being
a geometrical description of motion does not involve
any of the laws of mechanics whereas Kinetics deals
with laws of mechanics and seeks to describe how
mutual interaction between bodies affects their
motion.
MECHANICS
STATICS DYNAMICS
KINEMATICS KINETICS
Fig. 1.1 (b)
In new approach of classification, the science of
Mechanics is divided into Statics and Dynamics and
Dynamics is further divided into Kinematics and
Kinetics as shown in Fig. 1.1 (b). Here Statics deals
with rest or equilibrium and Dynamics deals with
motion. Kinematics is concerned with study of
nature of motion and Kinetics is concerned with
study of motion with due reference to cause
affecting motion.
2. Space, Time and Mass.
Developments in mechanics started back in the era
of Aristotle (384-322 B.C.) and Archimedes (287-212
Arvind Tiwari Introduction 1.2

B.C.) but the subject remained primarily of z

philosophical interest. It was Sir Isaac Newton
(1642-1727), who first satisfactorily formulated the
fundamental principles of the subject and made
them available for use analytically in practices.
y
The basic reason for this delay was that until O
Newton the fundamental concepts used in mech-
anics - space, time, and mass were not defined pro-
perly as physical quantity. These concepts were
defined because of our intuition and long
experience. x

Fig. 1.2 (a)

2.1. Space.
The absolute space may be conceived as what In Fig. 1.2(a) x-y plane (z = 0), y-z plane (x = 0),
remains if all the material bodies were removed. It and z-x plane (y = 0) are shown in dark-grey, light-
remains always similar to itself and immovable. grey and white colours respectively. The line of
One part of space cannot be distinguished from intersection of x-z plane and x-y plane, the line of
another. In fact, we identify a part of space with the inter-section of x-y and y-z plane, and the line of
material bodies present there or in some other part. intersection of x-z plane and y-z plane are called x-
Therefore, our knowledge of space is essentially axis, y-axis, and z-axis respectively. The point of
relative. intersection of the three planes or the three axes is
The concept of mathematical space is associated called the origin (O).
with the idea of specifying position of a point with z
respect to some other point. This is accomplished by
y1
measuring some distances in terms of either length y
=
or angle in a coordinate system. These lengths and
angles are known as coordinates of the point under
consideration. z = z1 y
In this book, Cartesian2 coordinate system is O
mostly used to define space in three-dimensions and
Cartesian or polar coordinate system to define space x = x1
in two-dimensions.
x

Space in Three-Dimensions. Fig. 1.2 (b)

A space in three dimensions is a region occupying a
volume. It can be represented by Cartesian, cyli-
ndrical or spherical coordinate systems. Here we
discuss only Cartesian coordinate system. A three-
dimensional Cartesian coordinate system is a set of
three mutually perpendicular planes intersecting
each other at a point. This point is known as the
origin. These planes are called x-y plane, y-z plane
and x-z plane and lines of their intersection are
called the coordinate axes.
A point P (x1, y1, z1) in Cartesian coordinate
system is the intersection of three planes x = x1, y =
y1 and z = z1 as shown in the Fig. 1.2(b). Here x1, y1
and z1 are known as coordinates of the point P and
represents distance of P from the y-z, x-z and x-y
planes.
Space in Two-Dimensions.
A space in two-dimensions is a plane surface. It can
be represented by a two-dimensional Cartesian co-
ordinate system or two-dimensional polar co-
ordinate system.

2. Named after French philosopher and mathematician René

Descartes (1596 – 1650).
Arvind Tiwari
Two-dimensional Cartesian Coordinate system.
The plane under consideration is divided into four
parts called quadrants by set of two mutually
perpendicular lines called axes. The point where
these axes intersect each other is known as the
origin.
y events which occur in them. Similar to space, time
x = x1
y = y1
P (x1, y1)
O x
Fig. 1.3 (a)
In Fig. 1.3(a) a two-dimensional sp-ace is represent-
ed by x-y plane, where x and y-axes with the origin
O are shown. A point P (x1, y1) is located at the inter-
section of two lines x = x1, and y = y1. Here x1 and y1
are the coordinates of the point P and represents
distance of P from the x and y-axes.
Polar Coordinate System. Location of a point P in
a plane is completely defined, if its distance from a
fixed-point O and direction of a line OP is known. In
polar coordinate system, we know the point O as
origin and the line OP as axis or reference direction.
In the Fig. 1.3(b), a point P is shown at distance r
form the origin at an angle  form the axis. The
terms r and  are known as coordinates of the point
P.
P (r, )
r 2.3. Mass.
 quantity of matter in that body. In mechanics, we
O Reference direction
Fig. 1.3 (b)
In all types of coordinate systems, distances are
measured in meter (m), centimetre (cm) and foot (ft)
respectively in SI system, CGS system and FPS
systems of units. In dimensional analysis, the
symbol L is used for length. These units bear the
following relation.
1 m = 100 cm = 3.281 ft
In all system of units, angles are measured in
either degrees or radians. Angle is a dimensionless
quantity.
3. These assumptions have been modified in quantum mechanics
and in special theory of relativity.
Introduction 1.3
2.2. Time.
The notion of time helps us to recognize the
sequence of events and duration between them. We
distinguish one portion of space with another by the
material bodies present there similarly we
distinguish on portion of time with another by the
is also relative. Therefore, to decide when an event
occurs we have to choose time of some other event
as reference. Furthermore, in Newtonian Mecha-
nics or classical physics it is assumed that time
elapses at constant rate, its flow does not depend on
the duration between events, which decide it. We
are aware of inequality of length of days in a year
but it in no way affects duration of 24 hours but it
can only affect duration between event of sunrise
and next sunrise.
In classical physics time is absolute i.e. it is not
relative. It is independent of motion of material
bodies under study. Two observers who have once
synchronized their clocks will always agree about
time of an event irrespective of their motion. Fur-
thermore, there is no limit in accuracy with which
time can be measured.3
In Newtonian mechanics to describe an event
completely only specifications of its location is not
sufficient but the time of the event must also be
specified.
In all systems of units, time is expressed in
seconds abbreviated as ‘s’. In dimensional analysis,
the symbol T is used for time.
In common usage, the term mass of a body refers to
are not concerned at all with quantity of matter in
a material body but with other aspect that is related
to change in its motion by the application of force.
To understand it, consider the following hypo-
thetical experiment.
Let a butterfly and a stone both are traveling
towards you with the same speed and you have no
alternative but to be hit by any one of them. With
which one would you like to be hit? You obviously
answer the butterfly. Can you answer why chose
the butterfly rather than the stone? Both have the
same speed; it is the quantity of matter that makes
the difference. This idea led the Parisian physicist
Arvind Tiwari
Jean Buridan (ca. 1300-1385) to combine the
concept of quantity of matter with motion to explain
the answer.
Before Galileo Galilei (1564-1642), it was a
common belief that the sustained motion of an
object requires sustained action of a force and every
matter has a natural tendency to be in rest.
Challenging this Galileo suggested that an object
once set into motion will continue its motion forever
until an external force acts on it, and conceived
inertia as a fundamental property of matter due to
which every matter opposes any change in its state
of motion or rest. Thus, to stop the stone and the
butterfly both having the same velocity, greater
effort is required with the stone.
Buridan’s observation well explained by Galileo’s
idea of inertia indicates that the quantity of matter,
which was known as mass from ages, can be used as
a measure of inertia. In fact, it the property of a
material body with which mechanics is concerned.
Mass of a body is the quantity of matter and is
used as a measure of inertia to translational motion.
Mass is measured in kilogram (kg), gram (g), and
pound (lb) in SI, CGS, and FPS systems of units
respectively. In dimensional analysis, the symbol M
is used for mass. These units bear the following
relation.
1 kg = 1000 g = 2.205 lb
3. Motion and Rest.
Motion of a body can only be detected by comparing
its position with respect to some other body.
Everyone easily distinguish bodies, which are
moving from other bodies which are at rest, and can
estimate qualitatively but not quantitatively in
what direction and how fast they are moving.
Mechanics, which deals with study of motion and
rest, demands specific and quantitative definitions
of ideas of motion and rest. In this section, we deal
with the concepts of motion and rest, reference
frame, observer, position-vector, and velocity.
Remember one of your train journeys, when
yours and some other train both were at rest at a
station and suddenly the other train starts moving.
Surprisingly looking at the other train, you feel that
it your train, which starts moving. At once for
confirmation, you look aside on the platform and
then you realize the fact that it is the other train
that starts moving. Which one of your two
observations is correct? Certainly, you say the latter
Introduction 1.4
one, but the question needs some more investi-
gations.
Consider another similar
situation of Fig.-1.3, where
two boats A and B in sea A
near an island are shown.
You can observe that the
boat A is stationary and the
boat B is moving toward
the boat A with a velocity v. v
A person either on the boat
A or B cannot say which
one is moving without
looking at the island, he B
can only say that the other
boat is approaching his
boat with velocity v. Fig. 1.3
However, when he looks at
the island then the other boat he can say which one
is moving. We generally conceive a landmass to be
at rest, therefore referring to the island, if the
person is in the boat A he will say that his boat is
stationary, the boat B is approaching him, and if he
is the boat A, he will say that his boat is approach-
ing the boat B.
We can conclude that, if two bodies are moving
with constant relative velocity, it is impossible in
principle to decide without referring a third body
that which one of them is at rest and which one is
moving. This statement is of fundamental import-
ance and is known as principle of relativity in
classical physics.
3.1. Reference Frame and Observer.
Motion of a material body can only be observed if it
changes its position with respect to some other
body. The idea of motion has a relative sense. For a
motion to be observed there must be a body which
is moving, another body relative to which motion is
to be investigated and a person who investigates the
motion. The person investigating the motion is
known as observer. The person for investigation has
to choose a zero of time scale of its own, a point in
the space attached with the second body as origin
and a set of coordinate axes. These two things the
time scale and the coordinate system are
collectively known as reference frame. In this way,
motion of the moving body is expressed in terms of
its changing position coordinates with time.
Furthermore, it is not necessary that the observer
be a part of the reference frame. He may be
Arvind Tiwari Introduction 1.5

anywhere either moving with respect to the selected z

reference frame or stationary with respect to it. B
P

3.2. Motion and Rest. r

Once a frame of reference is selected all the bodies
which do not change their position relative to the O 
x A y
reference frame are said to be in the stat of rest and
those who change their position are said to be in the Fig. 1.4 (a)
state of motion. The idea of motion or rest has a
relative sense. Consider a passenger train moving Displacement and distance travelled. Refer a sit-
past a railway platform. If the platform is selected uation described in Fig. 1.4 (b), where a particle is
as the reference frame all the passenger sitting in moving on a curvilinear path AB.
the train along with the train are said to be in state z
Q (t + t)
of motion, while all the persons standing on the B
platform in the state of rest. In addition, if the train s
r + δr δr
is selected as the reference-frame all the persons
r P (t)
sitting in the train are in the state of rest and all

the persons standing on the platform are in the s
O 
state of motion. y
x
A reference frame is space attached with the body A
Fig. 1.4 (b)
with respect to which motion is being investigated
and a portion of space is only distinguished by the Let at the instant t = 0 , the particle was at point A
bodies present in it. There is nothing to which we and at an arbitrary instant t it reaches a point P
can attribute with absolute space and hence it is specified by position vector r . After a small time-
unscientific to define an absolute frame of reference interval t, the particle reaches another point Q
and an absolute rest or absolute motion. The specified by position vector r + δr . During the time
absolute space does not exist, however we conceive interval t the particle follows the arc PQ. The
it an all-pervading space in which the whole distance travelled s during the time t equals to arc
universe or whatever exists beyond it moves. length AP and in interval t it equals to the arc
length s. In the time interval t displacement  r
3.3. Position Vector, Velocity and Acceleration.
equals to directed chord PQ.
For the sake of simplicity, let us assume a material
body of negligibly small size. Such an ideal material
Average Velocity and average speed. Average ve-
body is known as particle and is represented by a
locity vav and average speed cav of the particle in the
mathematical point. In doing so, we get rid of the
relative motion between different parts of the body time interval t are given by the following equation.
and motion of any part of the body will represent δr δs
vav = and cav = [0.1]
the motion of the whole. δt δt

Position-Vector. A vector drawn from the origin of

Instantaneous Velocity and speed. Instantaneous
the coordinate system representing the reference
speed tells us that how fast a particle is moving at
frame to the location of the particle under
an instant and instantaneous velocity tells us that
consideration is known as position vector of the
with what speed and in which direction a particle is
particle. Consider a particle P moving in space on a
moving at an instant of time.
path AB. The path is also known as trajectory.
If we assume the time interval t to be
Position of the particle is a continuous function of
infinitesimally small i.e. δt → 0 , the point Q appro-
time. At any instant, position of the particle can be
aches the point P making the chord PQ to coincide
represented by its position vector r as shown in the
with the arc PQ, we can express the instantaneous
Fig. 1.4(a).
velocity v and instantaneous speed c by the follo-
wing equations.
Arvind Tiwari
δr dr δs ds
v = lim = and c = lim = [0.2]
δt →0 δt dt δt → 0 δt dt
Instantaneous velocity of a particle equals to the
time rate of change in its position vector r and
instantaneous speed equals to the time rate of
change in distance travelled or path length covered.
z Fig. 1.4 (d)
B
P (t)
r acceleration an of a particle P moving on curvilin-
s ear path AB are shown. The normal acceleration an
O 
x y
A
Fig. 1.4 (c)
In limiting condition δt → 0 , we have dr = ds .
Thus, instantaneous velocity becomes equal to the
instantaneous speed in magnitude and points along
the tangent to the path as shown in the Fig. 1.4 (c).
c= v
If a particle is moving with varying velocity, its
instantaneous velocity equals to the displacement
in a unit time interval with a uniform velocity that
is equal to instantaneous velocity. In similar
fashion, instantaneous speed of a particle moving
with varying speed equals to distance travelled in a
unit time interval with a uniform speed that is
equal to the instantaneous speed.
Usually the term “instantaneous” is dropped and
in practice and we simply use velocity and accele-
ration instead of instantaneous velocity and insta-
ntaneous speed.
Acceleration. Instantaneous acceleration a of a
particle tells as that how fast and in what direction
velocity of a body changes with time. It equals to the
time rate of change in velocity vector v .
dv
a=
dt
A vector quantity changes, if either its magnitude
or direction or both change. Accordingly, accele-
ration vector has two components. One of them
responsible for change in magnitude of velocity is
known as tangential component of acceleration and
the other one responsible for change in direction is
known as normal component of acceleration.
Introduction 1.6
z B
a
a P
an
O
x A y
In the Fig. 1.4(d) the instantaneous acceleration a
, the tangential acceleration a and the normal
always points inside the curvilinear trajectory
towards the center of curvature and the tangential
acceleration in the direction of the velocity vector, if
speed is increasing and opposite to the velocity
vector, if the speed is decreasing.
4. Translation and Rotation Motion.
[0.3] For a non-deformable material body of finite size, it
may happen that none of its particles is moving
relative to any of its other particle or some of the
particles of the body are in relative motion with
each other. The first kind of motion, the body is said
to be in translation motion and in the second kind,
the body is said to be in rotation motion.
4.1. Translation Motion.
If all the particles of a non-deformable material
body have same velocity and acceleration at every
instant of time, however these set of values may
change from instant to instant, the body is said to
be in translation motion or simply in translation.
A careful observation reveals that all particles
forming a body that is in translation motion trace
parallel trajectories. If these trajectories are
straight line the motion is known as rectilinear
translation and if the paths are curves, the motion
[0.4]
is known as curvilinear translation.
a2
a1 A
v2
A v1
a2
a1
v2
B
v1
B
Fig. 1.5 (a)
A body shown in Fig. 1.5 (a) is in rectilinear
translation. At an instant of time, all of its particles
Arvind Tiwari Introduction 1.7

have the same velocity and acceleration say v1 and A relative to B. A careful thought on the definition
a1 respectively and at later instant the value may of the translation motion reveals that the vector
change but again all of its particles have the same rA B must be constant. Thus, its derivative is a null
velocity and acceleration say v2 and a2. Further-
vector and we have
more, if the body is in rectilinear translation the
acceleration vector and velocity vector must be vA = vB [0.7]
collinear. Differentiating eq. [0.7] further with time, we have
a2 a A = aB [0.8]
A v2
a1 Here a A and aB are the accelerations of the points
A a2
v1 A and B respectively.
B v2
Eq. [0.7] and [0.8] reveal that there is no relative
a1
B motion between any pair of particles on a rigid body
v1 which is in translation motion.
Fig. 1.5 (b)
4.2. Rotation Motion.
The body shown in Fig. 1.5 (b) is in curvilinear
A body in rotation motion changed its orientation in
translation. At an instant of time all of its particles
space. If during motion, a line AB drawn or
have the same velocity and acceleration say v1 and assumed on the body described in Fig 1.6 changes
a1 respectively and at later instant the value may its angles with at least one of the coordinate axes,
change but again all of its particles have the same
we say that the body is in rotation motion.
velocity and acceleration say v2 and a2. Here, the
Consider a body in Fig. 1.7, shown at two
acceleration vector and velocity vector must not be
different instants of time. Due to rotation, it chan-
collinear. ges its orientation and the line AB changes its dire-
z ction. Since the body is a non-deformable the length
A
of the line AB remains unchanged but its direction
changes, hence the vector rA/B . Therefore, vA B is not
rA B
rA a null vector and we can say that the point A and B
B move relative to each other.
The eq. [0.6] yields
rB
O y
x
Fig. 1.6

Consider a body in translation motion on which two rA B rA B

rA
arbitrary points A and B with position vectors rA rA
and rB are marked as shown in the Fig.-1.6. The
rB rB
vector rA B is the position vector of the point A with
respect to the point B. Following triangle law of
vector addition, we have Fig. 1.7: A rigid body is in rotation motion changes its
rA = rB + rA/B [0.5] orientation

By differentiating the above equation with respect vA = vB + vA/B [0.9]

to time we obtain-
Further differentiation with time yields
drA drB d
= + rA/B [0.6] aA = aB + aA/B [0.10]
dt dt dt
Eq. [0.9] and [0.10] reveal all the particles of a
The time derivatives of rA and rB represent,
rigid body in rotation motion move with different
respectively, the velocities of the points A and B and velocities and accelerations at nay instant of time.
the derivative of rA B represents the velocity vA B of
Arvind Tiwari Introduction 1.8

The above analysis suggests the vector rA B assume a line on the body. If during motion, the
orientation of the line with respect to the coordinate
though does not change its magnitude yet changes
axes does not changes the body will be in
its direction known as orientation of the body. Thus,
translation motion and if the orientation of the line
a body in rotation motion changes its orientation in
changes, the body will not be in rotation motion.
space. This fact suggests a simple way to identify
Kinematics of rotation motion we will discuss in
whether a body is in translation motion or in any
detail in chapter 7.
kind of rotation motion. For the purpose draw or

Example 1.1. Identify the type of motion of the plate suspend from the ceiling by two rods each
pivoted at one end on the plate and at the other end on the ceiling and the plate in given a side-
push to oscillate in the vertical plane containing the plate as shown in the Fig. Ex-1.1.
Solution. You may verify by assuming a line AB and following the same analysis as we have done
for translation or plane motion. A line AB drawn on the plate keeps its orientation always
unchanged. Therefore, vA = vB and aA = aB at every instant of time.
This suggests that the plate is in curvilinear translation. Ans.
Fig. Ex. 1.1

Example 1.2. The plate rigidly welded at one end a rod that is pivoted at the ceiling is given a
side push to oscillate in its plane. Identify the type of motion.
Solution. You may verify again by assuming a line AB and following the same analysis as we
have done for translation or plane motion. A line AB drawn on the plate keeps its orientation
changing. Therefore, vA  vB and aA  aB at every instant of time.
This suggests that the plate is in plane translation or rotating about a fixed axis passing
through the pivot and perpendicular to the plane of the paper. Ans. Fig. Ex. 1.2

5. Particle and Rigid-Body. distances under investigation, the relative motion

In usual sense, a material body of infinitely small
size is conceived as a particle in contrast to bodies
of finite size. To represent a material body of finite
size a diagram resembling the body in shape is
drawn to some definite scale. A material particle is
represented in diagrams by a mathematical point.
In mechanics, not only the above usual
considerations but the nature of their motion
(translation or rotation) is also considered to decide
whether a body should be represented as particle or
not.
Particle.
A body however large it may be, if is in translation
motion; all of its particles have the same velocity
and the same acceleration and move on identical
trajectories. Therefore, kinematics of motion of the
body is completely described by any one of its
particles. To describe effect of forces on the
translation motion of the body it is the center of
mass of the body which is taken into account.
In another situation, the body may be rotating
but its size is negligibly small as compared to the
between its particles and hence rotation of the body
is neglected and only its translation motion is taken
into account. To analyse motion of planets around
the sun both the sun and the planet is represented
as particles and their rotation is neglected.
A material body whether large or small can be
represented as a particle to analyse its translation
motion.
Thus, when we use term particle kinematics or
particle kinetics or particle dynamics, we mean
study of translation motion of a particle or a rigid
body.
Rigid Body.
A rigid body is defined as an assemblage of a large
number of material particles, which do not change
their mutual distances under any circumstance or
in other words, they are not deformed under any
circumstance. Actual material bodies are never
perfectly rigid and are deformed under action of
external or internal forces. If these deformations
are small enough so that any change in separation
Arvind Tiwari
between particles forming the body can be
neglected, the body is assumed a rigid body.
To analyse rotation of a body relative motion
between its particles cannot be neglected and size of
the body becomes a considerable factor. This is why,
study of rotation motion is also known as mechanics
of rigid bodies.
Introduction 1.9
Deformations produced in a body on application
of forces are taken into consideration in another
branch of physics that is known as mechanics of
materials or deformable bodies. The scope of the
book is confined to study of mechanics of rigid
bodies and point particles only.