ENGD1106

Mechanical Principles-Dynamics
Lecture 1
Dr. Hassan Ali

These slides are based on learning materials of

Dr Meisam Abdi
School of Engineering and Sustainable Development
DMU Leicester
 Module contents

• Kinematics of linear and angular motion

• Newtons laws of motion and their application
• Dynamics of rigid body rotation
• Mass, gravity and weight
• Circular motion
• Simple Harmonic motion
• Conservation of linear momentum
• Relative motion
• Simple gyroscope

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 Module assessment

Report 1 Report 2
Flywheel Experiment Pendulum Experiment
30% weighting 30% weighting
Experiment on Experiment on
week 20 week 24
Submission deadline: Submission deadline:
week 22 week 26

Phase test
40% weighting
Test date: in May (TBC)

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 Mechanical Principles Modules

 Statics is the branch of mechanics that is

concerned with the analysis of loads (forces and
torques, or "moments") on mechanical systems in
static equilibrium (rigid/solid bodies)
 Kinematics is the branch of mechanics
concerned with the motion of objects without
reference to the forces which cause this motion
 Dynamics is the branch of mechanics concerned
with the motion of bodies under the action of
external forces and moments (rigid/solid bodies)
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Dynamics: real-life examples

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 Mechanics is the First Rigorously Formulated Science

Title page of Principia,

by Isaac Newton, first
edition (1686/1687)

Language: Latin

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Newton’s Principia English translation by Andrew
Motte was first time published in 1729

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 Lecture 1: Kinematics

• How do we describe motion?

• Definitions of velocity and acceleration
• Graphical and analytical methods
• Constant acceleration in translational motion
• Constant acceleration in rotational motion

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 How do we describe motion?
• When an object moves, its position changes as a function of time with
respect to some reference frame (one, two and three dimensions)
• A change in position is called a displacement
• The position of an object is given relative to some agreed upon
reference point
• We also have to specify the direction.  Distance is a scalar quantity.
Position is a vector quantity
y

x 9
1-D motion can be described by scalars (real numbers
with units) as functions of time:

Position x(t) (displacement from the origin)

Velocity v(t) (rate of change of position)
Acceleration a(t) (rate of change of velocity)

• The sign (positive or negative) keeps track of direction (in 1-D).

• Algebraic relations involving position, velocity, and acceleration
come from calculus.
• The same relations can be seen from graphs of position,
velocity, and acceleration as functions of time.

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Kinematics in One Dimension

V
v

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 • Kinematics : the description of motion
• One dimension : motion along a straight
line (e.g., the x-axis)

Examples - sprinter running 100 meters in a straight line

- ball falling straight down, and bouncing back
up

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 How do we describe velocity?

• Velocity occurs if an object’s

position is changed in time.
• Speed is velocity magnitude.
It equals to displacement
made in a second.
• Velocity is a vector quantity.
Direction of displacement is
important.
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 Displacement : x  x 2  x 1

x
position x as a function of time t
x2
x
x1

t
t1 t2 t

Average velocity : v  x / t (slope of the line)

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 Instantaneous velocity is the average over an
‘infinitesimal’ time interval :
x dx
t 2  t 1 , t  0 and  v
t dt
x

t t

v is the slope of the tangent to the x vs. t graph.

Physically, v is the rate of change of x, hence dx/dt.
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 How do we describe acceleration?

• Acceleration occurs if an object’s velocity changes

in direction, changes in magnitude, or changes in
both magnitude and direction
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Acceleration is the rate of change of velocity:
v v2  v1
Average Acceleration : a  
t t 2  t1
dv
Instantane ous Acceleration : a 
dt

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Graphs of x(t), v(t), a(t)

position x

acceleration a
time

velocity v

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 Quiz

A rubber ball is dropped and bounces twice from the floor

before it is caught. (Take x to be upwards, and x=0 at the
floor.)
At the highest point of the first bounce, v and a are:
a) both nonzero
b) one is zero, one is not zero
c) both zero
d) other (explain)

Suggestion: Sketch graphs of x, v, a vs. time.

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Kinematics in One Dimension
Example (analytical)

V
v

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 Kinematics as Integrals of Constant Acceleration

Acceleration by definition is a rate of change of velocity , i.e.

(1)
We assume that a body is moving along a straight line with constant
acceleration a. Let us integrate expression (1) over time and get
dependence of velocity on time:
(2)

Velocity by definition is a rate of change of displacement ,

i.e . (3)
.
To get dependence of displacement on time we integrate (3) taking
into account (2)
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(4)
26
27
(Eq 1)

(Eq 2)

(Eq 3)

(Eq 4)

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Worked Example: Velocity-time Graph
Question 1: What is the acceleration a
of the object between times:
1) t=0 and t=2s ?
2) t=10s and t=12s ?

Question 2: What is the distance S

travelled by the object between times:
3) t=0 and t=2s ?
4) t=0 and t=16s ?

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Worked Example: Velocity-time Graph
Question 1: What is the acceleration a
of the object between times:
1) t=0 and t=2s ?
2) t=10s and t=12s ?

Question 2: What is the distance S

travelled by the object between times:
3) t=0 and t=2s ?
4) t=0 and t=16s ?
V V (t  2)  V (t  0) 8  0
1) a     4m / s 2
t 20 2
V V (t  12)  V (t  10) 4  8
2) a     2 m / s 2
t 12  10 2
3) S (2)  8m (the area under the curve)
4) S(16)  100m (the area under the curve)

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 Free Fall Example

• Initial velocity at A is +20 m/s

upward and acceleration is -9.8 m/s2
• At B, the velocity is 0 and the
acceleration is -9.8 m/s2
• At C, the velocity has the same
magnitude as at A, but is in the
opposite direction
• At E, the displacement is –50.0 m,
because it ends up 50.0 m below its
starting point.

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 Quiz

A block is dropped from rest. It takes a time t1 to

fall the first third of the distance. How long does it
take to fall the entire distance?

a) 3 t1
b) 3t1
c) 9t1
d) None of the above

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 1 2
𝑆 =𝑉 0 𝑡+ 𝑎𝑡
2

where

1 2
𝑆= 𝑎 𝑡
2

𝑡=
√
2𝑆
𝑎

√ √ 2𝑥
𝑥
2
𝑡 1=
𝑎
3
=
2𝑥
3𝑎 √ 𝑡2 =
𝑎

𝑡2
=
√ 2𝑥
𝑎
=√ 3 =

√
𝑡1 2𝑥
t2/t1 ??? 3𝑎
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Kinematics in 2-D space

• A vector has magnitude as

well as direction.
• Some vector quantities:
displacement, velocity, force,
momentum
• A scalar has only a
magnitude.
• Some scalar quantities:
speed, distance, mass, time,
temperature

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Vector Kinematics: displacement

• In two or three dimensions,

the displacement is a
vector:

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Vector Kinematics: velocity

• As Δt and Δr become
smaller and smaller, the
average velocity
approaches the
instantaneous velocity.

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Vector Kinematics: acceleration

• The instantaneous
acceleration is in the
direction of ΔV = V2 – V1,
and is given by:

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 Unit Vectors
• Unit vectors have magnitude 1.
• Using unit vectors, any vector
can be written in terms of its
components:

   
r  xi  yj  zk

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Rotational motion

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40
Linear Angular

(Eq 1)

(Eq 2)

(Eq 3)

(Eq 4)

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 Quiz

A flywheel accelerated from rest completes 1

revolution in 1 second. Find the acceleration.
1 2
𝜃=𝜔0 𝑡 + 𝛼 𝑡
2
a) 0
where
b) 2
c) 2
1
d) 4 2 𝜋=0+ 𝛼 (1¿¿ 2)¿
2

𝛼=4 𝜋

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2017/2018 DMU ENGD1005 43