Engineering Mechanics (II)

Dynamics
second Semester 2023-2024

LECTURE 4

Engineering Mechanics: II 2023/2024

Example 1.12
Due to the rotation of the forked rod, the cylindrical
peg A in Fig. travels around the slotted path, a portion
of which is in the shape of a cardioid,
r  0.5(1  cos ) ft,
where  is in radians. If the
peg's velocity is v = 4 ft/s and
its acceleration is a.= 30 ft/s2
at the instant   180o
determine the angular
velocity 
and angular acceleration 
of the fork.
r  0.5(1  cos )

r  0.5(sin )  ft/s

r  0.5(cos ) ( )  0.5(sin )  ft/s

 2  2
 r  0.5(1  cos )
r  0.5(sin )  ft/s
r  0.5(cos ) ( )  0.5(sin )  ft/s
 2  2

Evaluating these results at   180o

r  1 ft r  0 r  0.5( ) ft/s
 2 2

vr  r  0 v  r   ft/s
Since v = 4 ft/s,
v  vr2  v2 4  0  () 2

  4 rad/s
In a similar manner,  can be found as follows:
a  r  r  0.5(4)  1(4)  24 ft/s
r   2 2 2 2

a  r  2r  1()  0   ft/s 2

a 2
ar  a 2

30  (24) 2  () 2

  18 rad/s2

Vectors a and v are shown

in Fig. (b).
 Absolute Dependent Motion
Analysis of Two Particles

s A  lCD  s B  lT

ds A ds B
 0
dt dt
v B  v A

a B  a A
Note that each of the coordinate axes is
(1)referenced from a fixed point (O) or fixed
datum line,
(2) measured along each inclined plane in the
direction of motion of block A and block B,
(3) has a positive sense from C to A and D to B.
s A  h  2s B  lT

v A  2vB

a A  2a B
s A  h  2(h  s B )  lT

v A  2v B

a A  2a B
Example 1.13
Determine the speed of block A in Fig. if block B has
an upward speed of 6 ft/s.

s A  3 sB  l
v A  3 vB  0
v B  6 ft/s (upward)
v A  18 ft/s (downward)
 CHAPTER 2

Kinetics of a Particle
Force and Acceleration
 Newton's Law of Motion

First Law: A particle originally at rest, or moving in

a straight line with a constant velocity, will remain in
this state provided the particle is not subjected to an
unbalanced force.
Second Law: A particle acted upon by an unbalanced
force F experiences an acceleration a that has the
same direction as the force and a magnitude that is
directly proportional to the force.
Third Law: The mutual forces of action and reaction
between two particles are equal, opposite, and
collinear.
equation of motion F  ma
Newton's Law of Gravitational Attraction.
m1m2
F G 2
r
F = attraction force between the two particles,
G = universal constant of gravitation;
G = 66.73×10-12 m3/(kg.s2),

r = distance between the centers of the two particles,

m1, m2 = mass of each of the two particles.

Mass and Weight.
m1m2
W  mg F G 2
g  Gm2 / r 2

r
The Equation of Motion
F  m a
Equation of Motion for a System of Particles
F  m a
Fi  fi  mi a i

 Fi  fi   mi ai
 Fi   mi ai
 F  m aG
mrG   mi ri

m   mi

maG   miai
Equation of Motion: Rectangular Coordinates

F  m a
 Fx i   Fy j   Fz k  m (ax i  a y j  a z k )

 Fx  m ax
 Fy  m a y
 Fz  m az
Example 2.1
The 50-kg crate shown in Fig. rests on a horizontal
plane for which the coefficient of kinetic friction is
 k  0.3. If the crate is subjected to a 400-N towing
force as shown, determine the velocity of the crate
in 3 s starting from rest.
Free-Body Diagram.
W = mg = (50 kg) (9.81 m/s2) = 490.5 N.
F   k N C  0.3N C
Notice that the acceleration components are
ax  a ay  0
 Fx  m ax
400 cos 30o  0.3N C  50a (1)

 Fy  m a y
N C  490.5  400 sin 30  0 (2)
400 cos 30o  0.3N C  50a (1)
N C  490.5  400 sin 30  0 (2)
NC  290.5 N
a  5.19 m/s 2

Note that the acceleration is constant


(
) v  v0  a t
= 0 + 5.19(3)
= 15.6 m/s 
Example 2.3
The baggage truck A shown in the photo has a weight
of 900 lb and tows a 550-lb cart B and a 325-lb cart
C. For a short time the driving frictional force
developed at the wheels of the truck is FA = (40t) lb,
where t is in seconds. If the truck starts from rest,
determine its speed in 2 seconds. Also, what is the
horizontal force acting on the coupling between the
truck and cart B
at this instant?
Neglect the size
of the truck and
carts.
Free-Body Diagram.
Equation of Motion

  Fx  ma x
900  550  325
40t  ( )a
32.2
a  0.7256t
 a  0.7256t

by the relation a  dv / dt associated with the initial

condition that v0  0 at t  0

v t
0 dv  0 0.7256 t dt
2t
v  0  0.3628 t
0

v  0.3628 t 2
At t=2 sec
v  1.45 ft/s
free-body diagram of the truck

Equation of Motion.
When t = 2 s, then

  Fx  ma x
900 a  0.7256t
(40)(2)  T  ( ) (0.7256)(2)
32.2
FA  40t
T  39.4 Ib
Example 2.5

The 100-kg block A

shown in Fig. is
released from rest.
If the masses of the
pulleys and the cord
are neglected,
determine the speed
of the 20-kg block
B in 2 s.
Free-Body Diagrams. Kinematics.
2s A  s B  l
2a A  a B (1)
Equations of Motion.
  Fy  ma y
For block A: 981  2T  100a A (2)
For block B: 196.2  T  20aB (3)
2a A  a B (1)
Then solving equations (1), (2) and (3)
simultaneously, we get
T  327 N
a A  3.27 m/s 2

a B  6.54 m/s 2
Hence when block A accelerates downward, block B
accelerates upward.
a A  3.27 m/s 2 a B  6.54 m/s 2

Since a B is constant, the velocity of block B in 2 s is

v  v0  a B t
 0  (6.54)(2)

 13.1 m/s
The negative sign indicates that block B is moving
upward.
Example 2.2
A 10-kg projectile is fired vertically upward from the
ground, with an initial velocity of 50 m/s.
Determine the maximum height to which it will travel
if (a) atmospheric resistance is
neglected; and (b) atmospheric
resistance is measured as
FD  (0.01v 2 ) N,
where v is the speed at
any instant, measured in m/s.
Part (a): Free-Body Diagram is drawn as shown
W = mg = 10(9.81) = 98.1 N.
   Fy  ma y  98.1  10 a
a  9.81 m/s2
Initially, y0 = 0 and v0 = 50 m/s, and at the
maximum height y = h, v =0 . Since the
acceleration is constant, then
v 2
 v0
2
 2a ( y  y 0 )

( ) 0  (50)  2(9.81)(h  0)
2

h  127m
Part (b): Free-Body Diagram is drawn as shown in

   Fy  ma y

 98.1  0.01v  10a

2

a  0.001v  9.81
2

In this case the acceleration is not constant.

dv dv
av (0.001v  9.81)  v
2
dy dy
 dv
(0.001v  9.81)  v
2
dy
Separating the variables and integrating, and using the
initial conditions, at t  0 y0  0 and v  50 m/s
0
(positive upward), we have
y v vdv
0 dy  50 0.001v 2  9.81
v
y  0  500 ln(v  9810)
2
50
v  9810
2
y  500 ln( )
12310
at y = h, v = 0 h  114 m
Example 2.4
A smooth 2-kg collar
C, shown in Fig., is
attached to a spring
having a stiffness
k = 3 N/m and an
unstretched length of
0.75 m. If the collar is
released from rest at A,
determine its acceleration
and the normal force of
the rod on the collar at
the instant y =1 m.
W = (2)(9.81) =19.62 N.

  Fx  ma x
 N C  Fs cos  0 (1)

  Fy  ma y
19.62  Fs sin  2a (2)
Here the unstretched length is
lu  AB  0.75 m
where the final length is
y
l  CB  y  (0.75)
2 2 tan  
0.75
 lu  AB  0.75 m l  CB  y 2  (0.75) 2

s  l  lu  y  (0.75)  0.75
2 2

y
Fs  k s tan   (4)
0.75
As k = 3 N/m

Fs  ks  3( y  (0.75)  0.75)
2 2
(3)
Fs  ks  3( y  (0.75)  0.75)
2 2
(3)
y
tan   (4)
0.75
At y = 1 m equations (3) and (4) gives
Fs  1.5 N   53.1 o

using these results in equations (1) and (2), we get

 N C  Fs cos  0 (1) N C  0.9 N

19.62  Fs sin  2a (2) a  9.21 m/s 2

Example 1.14

Determine the speed

and acceleration of
block A in Fig. if block
B has a upward speed
of 6 ft/s and a downward
acceleration of 3 ft/s2.
 s A  2 sC  l1
s B  ( s B  sC )  l2
Eliminating sC yields
s A  4 s B  2l2  l1
v A  4 vB  0
a A  4 aB  0
when v B  6 ft/s (upward), and
a B  3 ft/s2 (downward), we have

v A  24 ft/s (downward)
a A  12 ft/s2 (upward)