DYNAMICS OF RIGID BODIES

Kinetics and kinematics of a particle; kinetics and kinematics of rigid bodies; work energy
method; and impulse and momentum.
No of Units – 2
After completing this course, the student must be able to:
1. Discuss the principles governing the motion of particles, velocity, and acceleration;
2. Discuss the principles of Newton's Second Law and its applications;
3. Explain kinematics of rigid bodies, its energy and momentum.

Course outline
1. Introduction to Dynamics
2. Position, Velocity, and Acceleration
3. Determination of the Motion of the Particles
4. Uniform Rectilinear Motion
5. Uniformly Accelerated Rectilinear Motion
6. Position Vector, Velocity, and Acceleration
7. Derivatives of Vector Functions
8. Rectangular Components of Velocity and Acceleration
9. Flight of Projectile
10. Tangential and Normal Components of Acceleration
11. Kinetics of Particles: Newton's Second Law
12. Dynamic Equilibrium
13. Kinematics of Rigid Bodies
13.1, Translation
13.2. Rotation About a Fixed Axis
13.3. Equations Defining the Rotation of a Rigid Body About a Fixed Axis
13.4. General Plane Motion
13.5. Absolute and Relative Velocity in Plane Motion
13,6. Instantaneous Center of Rotation in Plane Motion
13.7. Absolute and Relative Acceleration
13.8. Rate of Change of a Vector with Respect to a Rotating Frame
13.9. Plane Motion of a Particle Relative to a Rotating Frame; Coriolis Acceleration
a. 13.10. Motion About a Fixed Point
b. 13.11. General Motion
14. Plane Motion of Rigid Bodies: Forces and Accelerations
14.1. Equation of Motions
14.2. Angular Momentum of a Rigid Body in Plane Motion
14.3. Plane Motion of a Rigid Body. D' Alembert's Principle
14.4, Solution of Problems involving the Motion of a Rigid Bodies
14.5. Systems of Rigid Bodies
14.6. Constrained Plane Motion
15. Plane Motion of Rigid Bodies: Energy and Momentum Methods
15.1. Principle of Work and Energy for a Rigid Body
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15.2. Work of Forces Acting on a Rigid Body

15.3. Kinetic Energy of a Rigid Body in Plane Motion
15.4 Systems of Rigid Bodies
15.5 Conservation of Energy
15.6 Principle of Impulse and Momentum
15.7 Conservation of Angular Momentum
15.8 Impulsive Motion
15.9 Eccentric Impact

Suggested Reference
Beer and Johnston. Vector Mechanics for Engineers: Dynamics, 7th SI ed. McGraw-Hill, 2003.
Mechanics is a branch of physics that deals with the study of motion, forces, and the behavior of
physical bodies. It's a fundamental area of physics that helps us understand and describe how
objects move and interact with one another. There are two main branches of mechanics: classical
mechanics and quantum mechanics. Here, we'll focus on the fundamentals of classical mechanics,
which is further divided into two parts: kinematics and dynamics.

1. Kinematics:
Kinematics is the study of the motion of objects without considering the forces causing the
motion. It deals with concepts such as:
• Position: Describes where an object is located in space.
• Distance and Displacement: Distance is the total length traveled, while displacement is
the change in position from the starting point to the ending point.
• Speed and Velocity: Speed is the rate of motion, while velocity is the speed with a
specific direction.
• Acceleration: Describes how an object's velocity changes over time.
• Time: The parameter that allows us to describe and quantify motion.

2. Dynamics:
Dynamics, on the other hand, focuses on the forces causing motion and how they influence the
motion of objects. Key concepts include:
• Force: A push or pull acting on an object. Newton's laws of motion describe how forces
affect the motion of objects.
• Newton's Laws of Motion:
1. First Law (Law of Inertia): An object at rest stays at rest, and an object in motion
stays in motion with the same speed and in the same direction unless acted on by
an external force.
2. Second Law: The acceleration of an object is directly proportional to the net force
acting on it and inversely proportional to its mass (F=ma).
3. Third Law: For every action, there is an equal and opposite reaction.
• Mass: The amount of matter in an object, and it resists changes in motion.
• Momentum: The product of an object's mass and velocity. Momentum is conserved in
isolated systems.
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• Work and Energy: Describes the transfer of energy through the application of force over a
distance. The work-energy principle states that the work done on an object is equal to the
change in its kinetic energy.
• Conservation of Energy: The total energy in a closed system remains constant if only
conservative forces (like gravity) are at play.

3. Statics:
Statics deals with systems in equilibrium, where there is no motion. It studies forces acting on
stationary objects and the conditions for objects to remain at rest.

4. Fluid Mechanics and Thermodynamics:

These are additional branches that extend the principles of mechanics to fluids (liquids and gases)
and the study of heat and temperature.

Introduction to Dynamics Mechanics

Dynamics mechanics is a branch of classical mechanics that focuses on understanding the
motion of objects and the forces that cause or influence their movement. It explores the
relationships between the motion of bodies and the factors affecting that motion, such as
forces, torques, and energy. Dynamics mechanics extends the principles of statics, which deals
with systems in equilibrium, to analyze and predict the behavior of objects in motion.
Key Concepts in Dynamics Mechanics:
1. Newton's Laws of Motion:
• Dynamics mechanics is fundamentally rooted in Sir Isaac Newton's three laws
of motion. These laws describe the relationship between the motion of an
object and the forces acting upon it. They provide the foundation for
understanding how objects respond to external influences.
2. Kinematics and Kinetics:
• Kinematics is concerned with the description of motion, including displacement,
velocity, and acceleration, without considering the underlying forces. Kinetics,
on the other hand, involves the study of the forces causing the observed
motion.
3. Equations of Motion:
• The equations of motion, derived from Newton's laws, provide mathematical
expressions to predict the future state of an object based on its initial
conditions and the forces acting upon it.
4. Energy and Momentum:
• Dynamics mechanics also explores the concepts of energy and momentum. The
conservation of energy and momentum principles are essential for analyzing
and understanding various dynamic systems.
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5. Rotational Dynamics:
• Rotational dynamics deals with the motion of objects that rotate or spin. It
introduces concepts such as torque, angular velocity, and moment of inertia.
6. Projectile Motion:
• Projectile motion is a classic example in dynamics mechanics, describing the
motion of an object launched into the air and influenced only by gravity and air
resistance. It finds applications in sports, engineering, and physics experiments.
7. Rigid Body Dynamics:
• Rigid body dynamics involves the study of the motion of solid objects without
considering deformations. It plays a crucial role in understanding the behavior
of structures and machinery.
Examples of Dynamics Mechanics in Everyday Life:
1. Car Acceleration:
• Dynamics mechanics explains the acceleration of a car when the gas pedal is
pressed, considering the forces involved, such as friction and air resistance.
2. Roller Coaster Dynamics:
• Designing and analyzing the motion of roller coasters involves dynamics
mechanics to ensure a thrilling and safe experience for riders.
3. Projectile Motion in Sports:
• Dynamics mechanics is applied in sports, such as analyzing the trajectory of a
basketball shot or the motion of a soccer ball during a kick.
4. Astronaut Training:
• Understanding dynamics mechanics is crucial for astronaut training, as it helps
simulate the effects of microgravity on the human body during space missions.
5. Aircraft Flight:
• The principles of dynamics mechanics are essential in aviation, guiding the
design and operation of aircraft by considering forces like lift, thrust, drag, and
gravity.
Dynamics mechanics is a foundational discipline in physics and engineering, providing the
tools to analyze and predict the motion of objects in various scenarios. Its principles are
applied across diverse fields, contributing to advancements in technology, transportation, and
space exploration.
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1Figure 1 Branches of mechanics divided according to the nature of studied objects, and
the division of rigid body mechanics.

In rigid body mechanics we presume that all objects are perfectly rigid. This means they change
neither their form nor their volume when forces act on them. It simplifies the following
mechanical analysis. Parts of human body are of course not perfectly rigid. Deformations would
often make the analysis of motion too complicated. Fluid mechanics is concerned with mechanics
of gases and liquids. Relativistic mechanics is related to the Einstein relativity theory and quantum
mechanics describes behaviour of objects on atomic and subatomic level. In biomechanics we
mostly make use of rigid body mechanics which is best applicable for describing the motion of
human body and its parts. Since certain sport events take place in fluid environment,
biomechanics also uses knowledge of fluid mechanics. Repeated little deformations of human
body may cause injuries, therefore we will also partly inquire into mechanical deformation of
human body and its parts.
According to specific approach to the study of objects motion and their equilibrium, mechanics
is divided into statics and dynamics. Statics studies objects that are either at rest, or in constant
motion, that is a motion with constant velocity as to its magnitude and direction. Dynamics
studies objects with acceleration. Dynamics is divided into kinematics and kinetics. Kinematics
describes the motion of objects, while kinetics studies forces that cause changes of motion.

POSITON, VELOCITY, and ACCELERATION

Position
• Position refers to the location of an object in space, typically described by its coordinates
in a chosen reference frame. In one dimension, position is often represented as a distance
along a straight line. In two or three dimensions, it involves coordinates such as (x, y) or
(x, y, z).

1
Introduction • Definition of Mechanics (muni.cz)
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Mathematical Representation
• Position(s)=x in one dimension.
• Position(r)=(x,y) in two dimensions.
• Position(r)=(x,y,z) in three dimensions.
Example:
• A car moving along a straight road. The position is measured from a reference point (e.g.,
the starting point) along the road.

2. Velocity
Definition:
• Velocity is the rate of change of position with respect to time. It describes both the speed
and direction of motion. Velocity is a vector quantity, meaning it has both magnitude and
direction.
Mathematical Representation:
• Velocity(v)=dr/dt, where v is the velocity vector, r is the position vector, and t is time.
Example:
• If a car moves 60 kilometers in 2 hours along a straight road, its average velocity is
60 km2 h=30 km/h2h60km=30km/h in the direction of the road.

3. Acceleration
Definition:
• Acceleration is the rate of change of velocity with respect to time. Like velocity,
acceleration is a vector quantity, and it indicates how quickly an object's velocity is
changing and in what direction.
Mathematical Representation:
• Acceleration(a)=dv/dt, where a is the acceleration vector, and v is the velocity vector.
Example:
• If a car accelerates from 0 to 30 m/s in 10 seconds, the acceleration is
30 m/s10 s=3 m/s210s30m/s=3m/s2 in the direction of the acceleration.

4. Kinematic Equations
In uniformly accelerated motion, the following kinematic equations relate position, velocity,
acceleration, and time:
1. v = u + at (Final velocity v, initial velocity u, acceleration a, time t).
2. s = ut + 1/2at^2 (Displacement s).
3. v^2 = u^2 + 2as (Final velocity, initial velocity, acceleration, and displacement).
Examples:
• If a ball is thrown vertically upward with an initial velocity of 20 m/s, find its height after
3 seconds using the kinematic equations.

Summary:
• Position describes where an object is.
• Velocity describes how fast and in what direction an object is moving.
• Acceleration describes how quickly an object's velocity is changing.
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These concepts form the foundation for understanding the motion of objects and are crucial in
dynamics, physics, and engineering applications.

Useful Formula

Newtons Law of Motion for a Particle

𝑾
F=ma = 𝒈 𝒂

Uniform Rectilinear Motion

When an object travels at a constant speed with zero acceleration it is known as uniform
rectilinear motion.

Three Kinematic Equations of Motion with Constant Acceleration

V - V0 = at or V= V0 + at

𝒂𝒕𝟐
S = V0t + 𝟐

V2=Vo2+2aS

2What is the difference between linear and rectilinear motion?

Linear motion Rectilinear motion

An object is said to be in a rectilinear motion

An object is said to be in a linear motion when
when two objects are moving in a straight line
the object moves in a straight line
and are parallel to each other

There are three types of rectilinear motion, and

There are two types of linear motion, and they they are uniform rectilinear motion, uniformly
are uniform motion and non- uniform motion accelerated rectilinear motion and rectilinear
movement with non-uniform acceleration

Elevator movement is an example of rectilinear

Athlete running 200 m along the straight track
motion

2
Rectilinear Motion - Definition, Types, Difference, Examples (byjus.com)
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Example problem:

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8.