Dynamics CH11

DYNAMICS
Vector Mechanics for Engineers

- DYNAMICS -
CH. 11 Kinematics of Particles
Professor Jae-Sang Park
Department of Aerospace Engineering,

Chungnam National University
Fall Semester, 2022

1 Prof. Jae-Sang Park Dept. of Aerospace Eng., CNU
DYNAMICS
11.0 Introduction to Dynamics

• Mechanics
▪ Definition
- Mechanics is the science which describes and predicts the conditions of rest or motion of bodies under
action of forces
- Mechanics is the foundation of most engineering sciences and is an indispensable prerequisite to
their study
▪ Two types of mechanics

- Statics
: Concerned with the equilibrium of a body that is either at rest or moves with constant velocity
- Dynamics
: Concerned with accelerated motion of body
Kinematics is studying the motion of objects (particle, rigid bodies, etc.) but not considering the
forces, just studying the motion itself.
Kinetics is studying the motion of objects (particles, rigid bodies, etc.) and the forces that causes
those motions.

DYNAMICS

• Particle
▪ Definition
- A particle is an object whose size and shape can be ignored when studying its motion. Only the
position of the mass center of the particle need to be considered. The orientation of the object or
rotation of the object plays no role in describing the motion of a particle.
- For example, for studies of the orbital motion of the earth about the sun, the earth can be considered
to be a particle because the rotation and internal structure of the earth have only insignificant effects
on its orbital motion.
- When a body (large or small) in a mechanics problem can be treated as a particle, the analysis is
greatly simplified since the mass can be assumed to be concentrated at a point and the concept of
rotation is not involved in the solution of the problem.

DYNAMICS

• Rigid body
▪ Definition
- A rigid body can be represented as a collection of particles. The size and shape of the body as well as
the relative position of the particles comprising the body remain constant at all times and under all
conditions of loading.
- The rigid-body concept represents an idealization of the true situation since all real bodies will change
shape to a certain extent when subjected to a system of forces. Such changes are small for most
structural elements and machine parts encountered in engineering practice ; therefore, they have only
a negligible effect on the acceleration produced by the force system or on the reactions required to
maintain the equilibrium of the body

DYNAMICS

• Elastic body
▪ Elasticity
- Almost all engineering materials possess to a certain extent the property of elasticity. If the external
forces producing deformation do not exceed a certain limit, the deformation disappears with the removal
of the forces.
- In your previous class, Solid Mechanics, in spring semester, it will be assumed that the bodies
undergoing the action of external forces are perfectly elastic, i.e., that they resume their initial form
completely after removal of the forces.

RECTILINEAR MOTION of PARTICLES DYNAMICS
11.1A Position, Velocity, & Acceleration

• Rectilinear and curvilinear motions
▪ Rectilinear motion
- Position, velocity, and acceleration of a particle as it moves along a straight line
▪ Curvilinear motion
- Position, velocity, and acceleration of a particle as it moves along a curved line in 2 or 3 dimensions
(a) Rectilinear motion (b) Curvilinear motion


• Position and motion
▪ Position coordinate
- Position coordinate of a particle is defined by positive or negative distance of particle from a fixed
origin on the line.
▪ Motion
- The motion of a particle is known if the position coordinate
for a particle is known for every value of time t.
- Motion of the particle may be expressed in the form of a
function, e.g.,
x  t   6t 2  t 3
or in the form of a graph x vs. t.


• Velocity
▪ Average velocity vs. Instantaneous velocity
- Consider a particle which occupies position P
at time t and P  at t  t ,
x
Average velocity =
t
x dx
Instantaneous velocity = v  lim 
t  0  t dt
- Instantaneous velocity may be positive or negative.
▪ Speed
- Magnitude of velocity is referred to as particle speed.
▪ Example
  6t 2  t 3   12t  3t 2
dx d
Express the velocity function for x  t   6t  t
2 3
v t  
dt dt

• Acceleration
▪ Average acceleration vs. Instantaneous acceleration
- Consider a particle with velocity v at time t
and v  at t  t ,
v
Average acceleration =
t
v dv
Instantaneous acceleration = a  lim 
t  0 t dt
d  dx  d 2 x
   2
dt  dt  dt
- Instantaneous acceleration may be

Positive : increasing positive velocity or
decreasing negative velocity
Negative : decreasing positive velocity or
increasing negative velocity


• Position, velocity, and acceleration
▪ Example
- Consider a particle moving in a straight line, and assume
that its position is given by the equation
The particles does not
x  t   6t  t
2 3 move along any of
these curves
  6t 2  t 3   12t  3t 2
dx d
Velocity = v  t  
dt dt
 12t  3t 2   12  6t
dv d
Acceleration = a  t  
dt dt
at t  0 , x  0, v  0, a  12 m/s2
at t  2 s , x  16 m, v  vmax  12 m/s , a  0 m/s2
at t  4 s , x  xmax  16 m, v  0 m/s , a  12 m/s2

at t  6 s , x  0, v  36 m/s , a  24 m/s2

11.1B Determination of the motion of a particle
• Motion of a particle
▪ Three classes of motion
- Recall, motion of a particle is known if position is known for all time t.

- Typically, conditions of motion are specified by the type of acceleration experienced by the particles.
Determination of velocity and position requires two successive integrations.
- 3 classes of motion may be defined for
: Acceleration given as a function of time, a  f t 

: Acceleration given as a function of position, a  f  x
: Acceleration given as a function of velocity, a  f v

▪ Acceleration given as a function of time, a  f  t 
From the relationship between the velocity and the acceleration,

dv
 a  f t  or dv  f  t  dt
dt
Integrating the above equation from t=0 to t yields

vt 
dv   f  t  dt v  t   v0   f  t  dt
t
 
t
or
v 0 0 0
Initial condition : the velocity at t=0

In addition, from the relationship between the velocity and the position,
dx
 v t  or dx  v  t  dt
dt

Initial condition : the position at t=0
xt 
dx   v  t  dt x  t   x0   v  t  dt
t

t
or
x 0 0 0

▪ Acceleration given as a function of position, a  f  x 
From the relationship between the velocity and the position,

dx dx
v or dt 
dt v
The definition of the acceleration with the above equation gives
dv dv
a or av  f  x  vdv  f  x  dx
dt dx
Integrating the above equation yields
v x
vdv   f  x  dx
x

v0 x0
Thus, 1 1
v  x   v0 2   f  x  dx
2 x
where v0 : initial velocity
2 2 x0

▪ Acceleration given as a function of velocity, a  f  v 
From the definition of the acceleration,

dv dv
 a  f v  dt
f v
or
dt
v t  dv t
 
v 0 f v
  dt  t
0
In addition, using the alternative expression of the acceleration (see the previous slide)
dv vdv
v  a  f v or dx 
dx f v
vt  vdv
x t  v t  vdv  x  t   x0  
Integrating the equation gives x0
dx  
v0 f v
v0 f v
14 Prof. Jae-Sang Park

where x0 : initial position
Dept. of Aerospace Eng., CNU
• Sample problem 11.2

▪ Ball tossed with 10 m/s vertical velocity from window 20 m above ground.
(1) Determine velocity and elevation above ground at time t
Sol.) From the relation between the velocity and the acceleration,
dv
 a  9.81m/s 2
dt
v t 
v  t   v0  9.81t
t t
Integrating the above equation : v0
dv  
0
adt    9.81dt
0
or
 v  t   10  9.81t [m/s]
dy
Using the definition of the velocity,  v  10  9.81t
dt
y t  1
y  t   y0  10t  9.81t 2
0 10  9.81t  dt
t
Integrating the equation :  y0
dy  or
2
 y  t   20  10t  4.905t 2 [m]

• Sample problem 11.2 (continued)

▪
(2) Highest elevation reached by ball and corresponding time
Sol.) Since the velocity is zero at the maximum elevation,
v  t   10  9.81t  0
or  t  1.019 [s]
Solve for t at which altitude equals zero and evaluate corresponding velocity.
y  t   20  10t  4.905t 2 t  1.019
y 1.019  20  10 1.019  4.905 1.019  25.1 [m]

2


▪
(3) Solve for t at which altitude equals zero and evaluate corresponding velocity.
Sol.) Using the equation of y  t  :
y  t   20  10t  4.905t 2  0 t  1.243 [s] : meaningless

 t  3.28 [s]
The corresponding velocity is calculated as
v  t   10  9.81t t  3.28
 v  3.28  10  9.81 3.28  22.2 [m/s]
or 22.2 [m/s]

DYNAMICS
11.2A Uniform rectilinear motion

• Uniform velocity motion
▪
- For particle in uniform rectilinear motion, the acceleration is zero and the velocity is constant.
From the definition of the velocity,

dx
 v constant
dt
Integrating the equation :

x t

x0
dx  v  dt
0
Initial condition : the position at t=0
 x  x0  vt or x  x0  vt

DYNAMICS
11.2B Uniformly accelerated rectilinear motion

• Uniform acceleration motion
▪
- For particle in uniformly accelerated rectilinear motion, the acceleration of the particle is constant.
From the definition of the acceleration,
dv
 a  constant
dt
Integrating the above equation :

v t
 v0
dv  a  dt
0
 v  v0  at or v  v0  at

DYNAMICS

▪
- By the way, using the definition of the velocity,
dx
v  v0  at
dt
Integrating the equation gives :
dx    v0  at  dt
x t
x0 0
1 1
 x  x0  v0t  at 2 or x  x0  v0t  at 2
2 2

DYNAMICS

▪
- Since the uniform acceleration motion (see the slide 13),
dv
v  a  constant
dx
Integrating the equation gives :

v x
 v0
vdv  a  dx
x0

2

1 2
v  v0 2   a  x  x0  or v2  v02  2a  x  x0 

DYNAMICS
11.2C Motion of several particles

• Relative motion of two particles
▪ Relative position, velocity, and acceleration
- For particles moving along the same line, time should be recorded from the same starting instant and
displacements should be measured from the same origin in the same direction.
xB / A  xB  xA : Relative position of B with respect to A
 xB  xA  xB / A
vB / A  vB  vA : Relative velocity of B with respect to A
 vB  vA  vB / A
aB / A  aB  aA : Relative acceleration of B with respect to A
 aB  aA  aB / A

DYNAMICS

▪ Ball thrown vertically from 12 m level in elevator shaft with initial velocity of 18 m/s. At the same instant,
open-platform elevator passes 5 m level moving upward at 2 m/s.
(1) Determine when and where ball hits elevator
Sol.) Substitute the initial position and velocity and constant

acceleration of ball into general equations for uniformly
accelerated rectilinear motion.
vB  vB0  at  18  9.81t [m/s]
1 1
yB  yB0  vB0 t  at 2  12  18t   9.81 t 2 [m]
2 2
Substitute initial position and constant velocity of elevator into
equation for uniform rectilinear motion.
vE  2 [m/s]
yE  yE0  vE t  5  2t [m]
DYNAMICS

▪
Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., contact.
1
yB / E  yB  yE  12  18t   9.81 t 2   5  2t   0
2
t  0.39 [s] : meaningless
 t  3.65 [s]
yE  y0  vE t  5  2t  5  2  3.65  12.3 [m]
(2) Determine the relative velocity of ball with respect to the elevator at contact
Sol.) Substitute the contact time into equations for position of elevator and relative velocity of ball
with respect to elevator.
vB / E  18  9.81t   2  18  9.81 3.65  2  19.81 [m/s]

DYNAMICS

h1
• Dependent motions
▪
- Position of a particle may depend on position of one or more other
particles.
- Position of block B depends on position of block A between two blocks. h2

Since the rope is of constant length, it follows that the sum of lengths of
segments must be constant.
 xA  h1    r   xB  h1  h2    r   xB  h2   constant where r : the radius of pulley
Since h1, r, and h2 are all constant,
 xA  2 xB  constant xA  2xB  0
When we differentiate this equation with respect to time,

dx A dx x A x
vA  2vB  0 2 B 0 2 B 0
dt dt t t
aA  2aB  0
DYNAMICS

▪ Pulley D is attached to a collar which is pulled down at 75 mm/s.
At t=0, collar A starts moving down from K with constant acceleration
and zero initial velocity. Knowing that velocity of collar A is 300 mm/s 200 mm
as it passes L, determine the change in elevation, velocity, and
acceleration of block B when block A is at L.
Sol.) Define origin at upper horizontal surface with positive

displacement downward.
Collar A has uniformly accelerated rectilinear motion.

Solve for acceleration
vA2  vA0 2  2aA  xA  xA0  200 mm
3002  02  2aA  200  aA  225 [mm/s2]
vA  vA0  aAt vA=300 mm/s
300  0  225t  t  1.333 [s]

DYNAMICS

▪
Pulley D has uniform rectilinear motion. Calculate change of
position at time t.
xD  xD0  vD t or xD  xD0  vD t
vD=75 mm/s
xD  xD0  75 1.333  100 [mm]
Block B motion is dependent on motions of collar A and

pulley D. Write motion relationship and solve for change
of block B position at time t.
Total length of cable remains constants,
xA  2 xD  xB  xA0  2 xD0  xB0
x A    
 xA0  2 xD  xD0  xB  xB0  0 

200  2 100  xB  xB0  0   xB  xB0  400 [mm] or  400 [mm]
DYNAMICS

▪
Differentiate motion relation twist to develop equations for
velocity and acceleration of block B.
xA  2xD  xB  constant
vA  2vD  vB  0
300  2  75  vB  0  vB  450 [mm/s] or  450 [mm/s]
aA  2aD  aB  0
225  2  0  aB  0  aB  225 [mm/s2] or  225 [mm/s2]

CURVILINEAR MOTION of PARTICLES DYNAMICS

• Curvilinear motion
▪ Definition
- Particle moving along a curve other than a straight line
is in curvilinear motion
▪ Position vector
- Position vector of a particle at time t is defined by a vector between
the origin O of a fixed reference frame and the position occupied by
particle.
▪ Instantaneous velocity and instantaneous speed

- Consider a particle which occupies position P defined by r at time t
and Pꞌ defined by defined rꞌ at t+Δt,
r dr s ds
v  lim  v  lim 
t  0 t dt t  0 t dt
: Instantaneous velocity : Instantaneous speed
(Vector) (Scalar)
CURVILINEAR MOTION of PARTICLES DYNAMICS

• Curvilinear motion
▪ Acceleration
- Consider velocity v of particle at time t and velocity vꞌ at t+Δt,
v dv
a  lim 
t  0 t dt
: Instantaneous acceleration
(Vector)
- In general, acceleration vector is not tangent to particle path and

velocity vector.

DYNAMICS
11.4B Derivatives of vector functions

•
▪ Derivative of vector function
- Let P(u) be a vector function of the scalar variable u,
dP  u  P P  u  u   P  u 
 lim  lim
du u  0 u u 0 u
▪ Derivative of vector sum
d P  Q dP dQ
 
du du du
▪ Derivative of product of scalar function and vector function
d  fP  df dP
 P f
du du du
▪ Derivative of scalar product and vector product
d  P Q dP dQ d P  Q dP dQ
 QP  Q  P
du du du du du du
DYNAMICS
11.4C Rectangular components of velocity &

acceleration
•
▪ Position vector
- When position vector of particle P is given by its
rectangular components,
r  xi  yj  zk
▪ Velocity vector
dx dy dz
v i j  k  xi  yj  zk  vx i  v y j  vz k
dt dt dt
▪ Acceleration vector
d2x d2y d2z

a  2 i  2 j  2 k  xi  yj  zk  ax i  a y j  az k
dt dt dt

DYNAMICS

acceleration
• Motion of a projectile
▪ Accelerations using rectangular components
- Rectangular components particularly effective when
component accelerations can be integrated independently,
e.g., motion of projectile,
ax  x  0 ay  y   g az  z  0
with initial conditions,

x0  y0  z0  0 : Initial positions
vx0 , vy0 , vz0 : Initial velocities, but vz  0

0
▪ Positions using rectangular components

- Integrating twice yields
ax  x  0 x  vx  constant  vx0 x  vx0 t  C1

Integration Integration
Using the initial condition, x  0   x0  C1  0  x  vx0 t - (a)

DYNAMICS

acceleration
• Motion of a projectile (continued)
▪ Positions using rectangular components
- Similarly,
ay  y   g y  v y   gt  C2
Integration
Using the initial condition, y  0   v y0  C2  y  vy   gt  vy0
The additional integration gives

1
y   gt 2  v y0 t  C3
2
1
Using the initial condition, y  0   y0  C3  0  y   gt 2  v y0 t - (b)
2
x
From Eq. (a) in the previous slide, t
vx0
2
g x   x 
Substituting this in Eq. (b) yields, y  x      v y0   : Parabolic curve
2  vx0 

 vx
 0


DYNAMICS
11.4D Motion relative to a frame in translation
•
▪ Fixed and moving frames
- Designate one frame as the fixed frame of reference. All other frames not
rigidly attached to the fixed reference frame are moving frames of reference.
▪ Position vector
- Position vectors particles A and B with respect to the
fixed frame of reference Oxyz are rA and rB.
- Vector rB/A joining A and B defines the position of B with respect to

the moving frame Axꞌyꞌzꞌ and
rB  rA  rB / A
The absolute motion of B can be
obtained by combining the motion of
▪ Velocity and acceleration vectors
A and the relative motion of B w.r.t.
- Differentiating the position vector twice, the moving frame attached to A.
vB  v A  vB/ A where v B / A : velocity of B relative to A
aB  a A  aB / A where a B / A : acceleration of B relative to A

DYNAMICS

North
• Sample problem 11.14 B
▪ Automobile A is traveling east at the constant speed of 1.2m/s2

35 m
36 km/h. As automobile A crosses the intersection shown, East
automobile B starts from rest 35 m north of the intersection
36 km/h
and moves south with a constant acceleration of 1.2 m/s2. A
Determine the position, velocity, and acceleration of B relative
to A 5s after A crosses the intersection.
Sol.) Set the intersection of the two street as the origin. South
Motion of A : The speed of A is

y
 km   1000 m  1h 
vA   36     10 m/s
 h  1km  3600s 
Since the motion of A is uniform, for t = 5 s B

35 m
yB
aA  0 or aA  0  aA  0 A
x
vA  10 m/s or vA  10 m/s  v A  10 m/s O
xA
xA  xA0  vAt or xA  0  10t  10  5  50 m  rA  50 m
DYNAMICS
• Sample problem 11.9 (continued) y

▪
Sol.)
Motion of B : Since the motion of B is uniformly accelerated, B

35 m
yB
aB  1.2 m/s 2 A
x
vB  vB0  at  0  1.2t O
xA
1 1
yB  yB0  vB0 t  aB t 2  35  0  1.2  t 2
2 2
For t = 5 s,
aB  1.2 m/s 2  a B  1.2 m/s 2

vB  vB0  at  0  1.2  5  6 m/s  v B  6 m/s
1 1
yB  yB0  vB0 t  aB t 2  35  0  1.2  52  20 m  rB  20 m
2 2

DYNAMICS

rB / A  53.9 m
▪ rB  20 m
Sol.) Motion of B relative to A : The triangle corresponding to the 
vector equation ; rA  50 m
Position of B relative to A : rB  rA  rB / A
20
Magnitude : rB / A  502  202  53.9 m Direction :   tan 1  21.8
50
 rB / A  53.9 m 21.8
Velocity of B relative to A : v B  v A  v B / A v A  10 m/s


Magnitude : v B / A  10  6  11.6 m/s
2 2 v B  6 m/s
v B / A  11.66 m/s
6
Direction :   tan 1  31.0
10
 v B / A  11.66 m/s 31.0
Acceleration of B relative to A : a B  a A  a B / A  0  a B / A  a B / A  1.2 m/s

2
 a B / A  1.2 m/s 2
DYNAMICS
11.5A Tangential and normal components

• Tangential and normal components in acceleration
▪ Velocity vector of particle
- The velocity of a particle is a vector tangent to the path of the particle.
▪ Acceleration vector of particle

- In general, the acceleration is not tangent to the path.
It is sometimes convenient to express the acceleration in terms of
tangential and normal components.
- et and etꞌ are tangential unit vectors for the particle path at P and Pꞌ.
When drawn with respect to the same origin, Δet = etꞌ - et and Δθ is
the angle between them.
  
et  2sin  
 2 
  
sin  
et det  2  The magnitude of e n is 1 and its direction is the
lim   lim  en
  0  d  0  same as the direction of et .
39 Prof. Jae-Sang Park 2 Dept. of Aerospace Eng., CNU
DYNAMICS

• Acceleration
▪ Expression of acceleration using tangential and normal components
- With the velocity vector expressed as v  vet
the particle acceleration may be written as
dv d  vet  dv de dv de d ds
a   et  v t  et  v t
dt dt dt dt dt d ds dt
But,
de t ds
 en ,  d  ds , v
d dt
READ pp. 691 in
After substituting,
Text Book !!
dv v2 dv v2
a et  e n  at et  an e n where at  and an 
dt  dt 
- Tangential component of acceleration, at , reflects change of speed

and normal component, an , reflects change of direction.
- Tangential component may be positive or negative. Normal component always points toward center of
path curvature.
DYNAMICS

• Acceleration in 3-Dimensions
▪ Tangential and normal components of acceleration for space-curve
- Relations for tangential and normal acceleration also apply for
particle moving along the space curve.
dv v2
a et  e n  at et  an e n
dt 
dv v2
where at  and an 
dt 
- Plane containing tangential and normal unit vector is called

the osculating plane.
- Normal to the osculating plane is found from eb  et  en
where e n : principal normal vector and eb : binormal vector
- Acceleration has no component along binormal direction.

DYNAMICS
11.5B Radial and transverse components

Unit vector in
Unit vector in radial
• Motion of particle in polar coordinate transverse direction
direction
▪ Position vector
- In certain problems of plane motion, the position of the particle P
is defined by its polar coordinates r and θ.
- The position vector is given as r  rer

where e r is directed along OP and e is obtained by rotating
through 90 deg. counterclockwise.
- Relation between e r and e
de r de
 e and  e r
d d e e r
e er
By chain rule, their derivatives with respect to time are
 er
de r d e r d  
d e 
  e or er   e
dt d dt dt
O
de de d d
  e r or e   er
dt d dt dt
DYNAMICS

• Motion of particle in polar coordinate
▪ Velocity vector
- The particle velocity vector is
d  re r  dr de dr d
v er  r r  er  r e
dt dt dt dt dt
 re r  r e  vr e r  v e
- Similarly, the particle acceleration vector is
d  dr d 
a  e r  r e 
dt  dt dt 
d 2r dr de r dr d d 2 d de
 2 er   e  r 2 e  r NOTE
dt dt dt dt dt dt dt dt dvr dv

 r  r 2
 e   r  2r  e
r   ar e r  a e dt
 ar and
dt
 a

DYNAMICS

• Extension to the motion of a particle in space : Cylindrical coordinates
▪ Cylindrical coordinates
- The position of the particle P is defined by its cylindrical coordinates R, θ, and z.
- When particle positions is given in cylindrical coordinates,

it is convenient to express the velocity and acceleration vectors
using the unit vectors e R , e , and k .
▪ Position vector
r  ReR  zk
▪ Velocity vector
dr d
v   Re R  zk   Re R  R e  zk
dt dt
a
dv d

dt dt
    
Re R  R e  zk  R  R 2 e R  R  2 R e  zk 
DYNAMICS

• Sample problem 11.16 vA=90 km/h
▪ A motorist is traveling on curved section of highway at 90 km/h.
The motorist applies brakes causing a constant deceleration rate.
Knowing that after 8 s the speed has been reduced to 72 km/h,
determine the acceleration of the automobile immediately after
the brakes are applied. 750 m
Sol.) Calculate tangential and normal components of acceleration.
90 km/h = 25 m/s and 72 km/h = 20 m/s
v  20  25  m/s  25 m/s 
2
m v2 m
at    0.625 2 and an    0.833
t 8s s  750 m s2
Determine acceleration magnitude and direction with respect to tangent to curve.
an 0.833
a  at  an   0.625  0.833  1.041 m/s   tan 1  tan 1  53.1
2 2 2 2 2
,
at 0.625

DYNAMICS

▪ Rotation of the arm about O is defined by   0.15t 2 where
 is in radians and t in seconds. Collar B slides along the arm
such that r  0.9  0.12t
2
where r is in meters.
After the arm has rotated through 30 deg., determine

(a) the total velocity of the collar,
(b) the total acceleration of the collar, and
(c) the relative acceleration of the collar with respect to
the arm.
Sol.) Evaluate time t for   30
  0.15t 2  30  0.524 rad  t  1.869 s
Evaluate radial position, and first and second derivatives at time t = 1.869 s.
r  0.9  0.12t 2  0.9  0.12 1.869   0.481m
2
r  0.24t  0.24 1.869   0.449m/s

r  0.24 m/s 2
DYNAMICS

▪
Sol.) Evaluate angular position, and first and second derivatives
at time t = 1.869 s.
  0.15t 2  0.15 1.869   0.524 rad

2
  0.30t  0.30 1.869   0.561rad/s
  0.30 rad/s2
Calculate the radial and transverse components of velocity.
vr  r  0.449 m/s
v  r   0.481m  0.561rad/s   0.269 m/s
 v  vr 2  v 2   0.449    0.270   0.524 m/s

2 2
v
  tan 1  31.0
vr
DYNAMICS

▪
Sol.) Calculate the radial and transverse components of acceleration.
ar  r  r 2  0.240 m/s2   0.481m  0.561rad/s   0.391 m/s 2

2
a  r  2r   0.481m   0.3rad/s2   2  0.449 m/s  0.561rad/s   0.359 m/s2
 a  ar 2  a 2   0.391   0.359 
2 2
 0.531 m/s 2
a
  tan 1  42.6
ar
Evaluate acceleration with respect to the arm.
Motion of collar with respect to arm is rectilinear and defined by coordinate r.
aB / OA  r  0.240 m/s 2

Dynamics CH11

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DYNAMICS

Vector Mechanics for Engineers

Professor Jae-Sang Park

Department of Aerospace Engineering,

Fall Semester, 2022

11.0 Introduction to Dynamics

▪ Two types of mechanics

2 Prof. Jae-Sang Park Dept. of Aerospace Eng., CNU

11.0 Introduction to Dynamics

3 Prof. Jae-Sang Park Dept. of Aerospace Eng., CNU

11.0 Introduction to Dynamics

4 Prof. Jae-Sang Park Dept. of Aerospace Eng., CNU

11.0 Introduction to Dynamics

5 Prof. Jae-Sang Park Dept. of Aerospace Eng., CNU

11.1A Position, Velocity, & Acceleration

(a) Rectilinear motion (b) Curvilinear motion

6 Prof. Jae-Sang Park Dept. of Aerospace Eng., CNU

11.1A Position, Velocity, & Acceleration

or in the form of a graph x vs. t.

7 Prof. Jae-Sang Park Dept. of Aerospace Eng., CNU

11.1A Position, Velocity, & Acceleration

- Instantaneous velocity may be positive or negative.

11.1A Position, Velocity, & Acceleration

- Instantaneous acceleration may be

9 Prof. Jae-Sang Park Dept. of Aerospace Eng., CNU

11.1A Position, Velocity, & Acceleration

at t  2 s , x  16 m, v  vmax  12 m/s , a  0 m/s2

at t  4 s , x  xmax  16 m, v  0 m/s , a  12 m/s2

10 Prof. Jae-Sang Park Dept. of Aerospace Eng., CNU

11.1B Determination of the motion of a particle

- Recall, motion of a particle is known if position is known for all time t.

- 3 classes of motion may be defined for

: Acceleration given as a function of time, a  f t 

11 Prof. Jae-Sang Park Dept. of Aerospace Eng., CNU

11.1B Determination of the motion of a particle

From the relationship between the velocity and the acceleration,

Integrating the above equation from t=0 to t yields

Initial condition : the velocity at t=0

Integrating the above equation from t=0 to t yields

12 Prof. Jae-Sang Park Dept. of Aerospace Eng., CNU

11.1B Determination of the motion of a particle

From the relationship between the velocity and the position,

The definition of the acceleration with the above equation gives

Integrating the above equation yields

13 Prof. Jae-Sang Park Dept. of Aerospace Eng., CNU

11.1B Determination of the motion of a particle

From the definition of the acceleration,

Integrating the above equation from t=0 to t yields

14 Prof. Jae-Sang Park

11.1B Determination of the motion of a particle

• Sample problem 11.2

(1) Determine velocity and elevation above ground at time t

 y  t   20  10t  4.905t 2 [m]

11.1B Determination of the motion of a particle

• Sample problem 11.2 (continued)

(2) Highest elevation reached by ball and corresponding time

Sol.) Since the velocity is zero at the maximum elevation,

y  t   20  10t  4.905t 2 t  1.019

y 1.019  20  10 1.019  4.905 1.019  25.1 [m]

16 Prof. Jae-Sang Park Dept. of Aerospace Eng., CNU

11.1B Determination of the motion of a particle

• Sample problem 11.2 (continued)

Sol.) Using the equation of y  t  :

y  t   20  10t  4.905t 2  0 t  1.243 [s] : meaningless