Chapter (1): Introduction and Basic Concepts MEF 491

Chapter (1) - Introduction and Basic Concepts

1. Definitions

K ine m a tic s: The branch of mechanics deals with the motion of a body without
discussing the cause of motion.

K ine tic s: The branch of dynamics considering the forces causing the motion.

Dyna m ic s: It is the combination of kinematics and kinetics.

M e c ha nism is a combination of rigid bodies joined together to provide a specific

absolute motion.

M a c hine is a device (c ons isting of fixed and moving parts ) which receives energy in some

available form and utilizes it to do some particular type of work.

Eng ine is a machine which converts energy from one form to another.

W ork:When a force is applied to a body so that it causes the body to move, the force is
said to be doing work. The work done is the product of the distance moved and applied
force in the direction of motion (Figure 1). The work done is measured in Joule (where 1
Joule = 1 Nm), i.e.,
Work done = Force(F) × Distance (d)

Figure (1)

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 Chapter (1): Introduction and Basic Concepts MEF 491

Example: Find the work done if the force is 100N and the distance is 4.0m for the shown
systems in Figure (2).

Figure (2)

Ene rg y is the capacity to do work which implies movement of a body by the application
of a force, as for example: raising of a weight, walking, moving of a car etc.

Type sofEne rg ie s
Energy exists in many forms such as thermal energy, chemical energy, mechanical energy,
electrical energy. Examples:
1. An electric motor converts electrical energy into mechanical energy.
2. An internal combustion engine is one example of a machine that converts chemical energy
to mechanical energy.
3. Steam engine and Car engine convert heat energy to mechanical energy.

The mechanical energy can be kinetic energy (T) or potential energy (V).

mass  velocity  1
2
where T   mv 2 , and
2 2
V = mass(m)× acceleration of gravity (g)  height (h) = mgh

La w ofConse rva tion ofEne rg y

The law of conservation of energy states that “Energy can be neither created nor
destroyed but is convertible from one form to another.

Pow e ris the rate of doing work and can be expressed mathematically as:

Power (W) = work done (J)/time taken (sec) = force (N)  velocity (m/sec)

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 Chapter (1): Introduction and Basic Concepts MEF 491

The unit of the power is the Watt, where 1 Watt = 1 J/sec.

Exa m ple : A body of weight 10kN is to be raised through a height of 8.0m in 5 sec.
Calculate the power required.
Solution:
Work done = force (weight)  distance moved = 10kN  8.0m = 80 kNm = 80kJ
Power required = work done/time = 80 (kJ)/5 (sec) = 22 kW.

Effic ie nc yis the measure of the usefulness of a machine, process or operation.

Efficiency () = power (or work) output/power (or work) input

2. Linear Velocity and Acceleration

Line a rVe loc ity is the rate of change of linear displacement of a body with respect to
time. Linear velocity (v) can be expressed as:
dx
Velocity(v) =  x (m/sec)
dt
where x is linear displacement,

Line a rAc c e le ra tion is the rate of change of linear velocity of a body with respect to
the time. Mathematically, the linear acceleration is:

dv d  dx  d 2x
Acceleration (a) =     x (m/sec 2)
dt dt  dt  dt 2

3. Angular Velocity and Acceleration

When a rigid body rotates about a fixed axis all points on the
body are constrained to move in a circular path. Therefore in
any period of time all points on the body will complete the
same number of revolutions about the axis of rotation.

Ang ula rVe loc ity is the rate of change of angular displacement with respect to time.
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 Chapter (1): Introduction and Basic Concepts MEF 491

d 
Angularvelocity( )   (rad/sec)
dt
2
in which θ = Angular displacement in radians, and   N (rad/sec)
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where the speed N is given in rev/min.

Ang ula rAc c e le ra tion is the rate of change of angular velocity with respect to time.
d  d  
Angular acceleration ( )    (rad/sec2)
dt dt
Re la tion b e tw e e n Line a ra nd Ang ula rM otion
Consider a body moving along a circular path from A to B as shown in Figure (3).

From the geometry of Figure (3):

S=θr

The relation between linear and angular velocities:

dS d d
vt    r   r   r
dt dt dt

Tangential velocity(vt ) = Angular velocity ( ) × radius (r)

The relation between linear and angular accelerations:

The linear acceleration consists from two components;

dv t d d
Tangential component at   r   r  r
dt dt dt

d v v2
Radial component an v  v  v  
dt r r
  r    2  r

The total acceleration or resultant acceleration is given as:

 at   an 
2 2
a

The angle of inclination with the tangential acceleration is given by:

a 
  tan 1  n 
 at 

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 Chapter (1): Introduction and Basic Concepts MEF 491

Example: The speed of a flywheel increases from 150rpm to 200rpm in 5.0sec. Find its
angular acceleration in rad/sec2.

Mass moment of Inertia

All rotating machines, such as pumps, turbines and engines have a moment of inertia
given as:

I mk2
Where m is the total mass and k is the radius of gyration.
(1) The mass moment of inertia of a thin disc of radius R ,
about an axis through its centre of gravity G and
perpendicular to its length is:

mR2
IG 
2

(2) The mass moment of inertia of a thin rod of length  , about an axis through its
centre of gravity G and perpendicular to its length L is:

m L2
IG  .
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The mass moment of inertia about any other parallel axis may be determined by using a
parallel axis theorem. Then the moment of inertia about a parallel axis is given by:

IO  IG  m d 2

where I G is the moment of inertia of a body about an axis through its centre of gravity,

and d is the distance between two parallel axes.

Prob le m : Show that the mass moment of inertia about a parallel axis through the end of
m L2
the rod is given by: IO  .
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 Chapter (1): Introduction and Basic Concepts MEF 491

Linear and Angular Momentum

The line a r m om e ntum (LLm) of a system of particles is equal to the product of the total
mass (m) of the system and the velocity (v) of the center of mass.
L Lm  m v  m    r (kg.m/sec)
The moment of momentum (Lam) of whole body mass m about
fixed axis O is:
linear angular momentum Lam

Lam  m v  r  m  r 2    I o   (kg.m2/sec)

where Io =m r2 is the mass moment of inertia of whole body (m) about the point O.

Inertia Torque
The Newton’s second law of motion states that the torque is directly proportional to the
rate of change of the angular momentum, i.e.,

T 

dLam d I o 


dt dt
The torque required to rotate a body of angular acceleration  is
d
T  Io   Io  (N.m)
dt

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