Study Guide

MECE 2304 DYNAMICS
STUDY GUIDE

Dr. Ernur Karadoan
Mechanical Engineering Department
The University of Texas-Pan American
Edinburg, TX

This document has been prepared and compiled for instructional purposes only. You may not and may not
allow others to reproduce or distribute this document (also any lecture notes and course materials) publicly
whether or not a fee is charged without my express written consent.

This study guide is not comprehensive. All materials covered in lectures and textbook must be reviewed and
learned for a better learning experience and preparation for exams.
MECE 2304 Dynamics Study Guide
Dr. Ernur Karadoan Page 2 of 34

Table of Contents
BASIC CONCEPTS ..................................................................................................................................... 4
Good Engineering Practices ...................................................................................................................... 4
The Role of Free-Body Diagram (FBD) ................................................................................................... 4
The Role of Kinetic Diagram (KD) .......................................................................................................... 5
Laws of Friction ........................................................................................................................................ 5
Vectors ...................................................................................................................................................... 8
PARTICLE KINEMATICS .......................................................................................................................... 9
PARTICLE KINETICS .............................................................................................................................. 10
DIRECT APPLICATION OF NEWTONS LAWS ................................................................................... 10
WORK AND ENERGY PRINCIPLE ....................................................................................................... 11
LINEAR IMPULSE AND MOMENTUM PRINCIPLE ........................................................................... 12
ANGULAR IMPULSE AND MOMENTUM PRINCIPLE ....................................................................... 13
RIGID-BODY KINEMATICS ................................................................................................................... 14
General Remarks ..................................................................................................................................... 14
Plane Motion ........................................................................................................................................... 14
Types of Plane Motion ............................................................................................................................ 15
Line Test for Translation vs. Rotation .................................................................................................... 15
Rolling Motion ........................................................................................................................................ 16
Rolling without Slip ................................................................................................................................ 18
Angular Motion Relations ....................................................................................................................... 19
Fixed-Axis Rotation ................................................................................................................................ 20
Vector Form ........................................................................................................................................ 20
Scalar Form ......................................................................................................................................... 20
General Plane Motion ............................................................................................................................. 21
Relative Velocity Analysis ..................................................................................................................... 21
Relative Acceleration Analysis ............................................................................................................... 22
Instantaneous Center (IC) of Zero Velocity (or Instantaneous Center of Rotation) ............................... 24
RIGID-BODY KINETICS .......................................................................................................................... 25
DIRECT APPLICATION OF NEWTONS LAWS ............................................................................................ 25
Analysis Procedure .............................................................................................................................. 25
Equations of Motion (EOM): Translation ............................................................................................ 26

Equations of Motion (EOM): Fixed-Axis Rotation ............................................................................... 28
Equations of Motion (EOM): General Plane Motion ........................................................................... 29
WORK AND ENERGY PRINCIPLE .............................................................................................................. 30
Work done by a Couple Moment ........................................................................................................ 30
Kinetic Energy ..................................................................................................................................... 30
APPENDIX A - Fundamental Equations of Dynamics ................................................................................... 32
APPENDIX B - Mass Moment of Inertia Formulae ...................................................................................... 33
APPENDIX C - Reactions at Supports and Connections for a Two-Dimensional Structure ......................... 34


BASIC CONCEPTS
Good Engineering Practices
Leave numerical quantities out of your analysis as long as possible. In other words, first
formulate the problem, choose the appropriate governing equations (kinematics, kinetics or
both) and, after manipulating the equations for the unknowns, plug in the numerical values.
Lets say you have picked the polar coordinates to represent the motion
for a given problem (radar tracking, sliding collar on a rotating bar etc.). If
we directly plug in the values to find the position vector, r, what happens?
Now, we may think that r is constant and all successive derivatives (i.e., v
and a) are equal to zero. This is not correct! We must keep the position as a
parametric function of time (or angle) and derivate until we find v and a as a
function of time (or angle) as well. Only then, we can plug in the numeric
values given in the question and calculate r, v and a for the given instant of
the system.
Always check the units to see if the end result of an equation has the units you are looking for.
Be consistent throughout a problem (SI or U.S. Customary). Never mix and match the system
of units!
Every time you write the equations of motion (direct application of Newtons Second Law) or
an impulse-momentum equation, start by stating the governing equation and the sign
convention of the equation. For instance, ( )
.
Remember that the sign convention you choose at this point will not affect the result provided
that you are consistent on both sides of the equation.
The Role of Free-Body Diagram (FBD)
[] not only does the FBD play a central role in allowing one to go from a physical model of reality to
a corresponding mathematical model, but it plays a crucial role in deciding what solution strategy to adopt
for a particular problem. In making decisions about a problem solving strategy, the FBD is used as a list
of the forces acting on the system. In going over the list of forces, one can make value judgments about
how each force is related to the problems given data and unknowns and how the character of each force
would affect the complexity of the calculations resulting from a particular choice of solution strategy.

Gray, G. L., Costanzo, F., & Plesha, M. E. (2005, June). Problem solving in statics and dynamics: A proposal for a structured approach.
In Proceedings of the American Society for Engineering Education Annual Conference & Exposition.

The Role of Kinetic Diagram (KD)
For particles, the Kinetic Diagram (KD) is used to display the direction and magnitude of the inertial
force, ma. Some consider inertial force as a fictitious force as it is not an externally applied actual
force and is caused by the bodys acceleration/deceleration.
The inertial force must act in the direction of acceleration (not in the direction of motion) as it is basically
mass (a scalar value) times the acceleration vector. The resulting inertial force vector must be in the
direction of acceleration. If the direction of acceleration is known, you can draw the inertial force on the
KD in that direction. Otherwise, assume it to be in the positive direction for each axis of the coordinate
system you are implementing (rectangular/normal-tangential/polar). If any component of acceleration is
found to be negative, then the correct direction is in the opposite of the initially assumed direction.
Otherwise, the assumed directions are confirmed and the magnitudes are calculated.
For rigid bodies, KD includes the moment and force caused by the linear and angular acceleration of the
body, respectively.
Laws of Friction
The laws of dry friction are exemplified by the following experiment. A block of weight W is placed on a
horizontal plane surface (Figure 1.a). The forces acting on the block are its weight W and the reaction of
the surface. Since the weight has no horizontal component, the reaction of the surface also has no
horizontal component; the reaction is therefore normal to the surface and is represented by N in Figure
1.a.
Suppose, now, that a horizontal force P is applied to the block (Figure 1.b). If P is small, the block will
not move; some other horizontal force must therefore exist, which balances P. This other force is the
static-friction force F, which is actually the resultant of a great number of forces acting over the entire
surface of contact between the block and the plane. The nature of these forces is not known exactly, but it
is generally assumed that these forces are due to the irregularities of the surfaces in contact and, to a
certain extent, to molecular attraction.
If the force P is increased, the friction force F also increases, continuing to oppose P, until its magnitude
reaches a certain maximum value F
m
(Figure 1.b). If P is further increased, the friction force cannot
balance it anymore and the block starts sliding. As soon as the block has been set in motion, the
magnitude of F drops from F
m
to a lower value F
k
. This is because there is less interpenetration between
the irregularities of the surfaces in contact when these surfaces move with respect to each other. From
then on, the block keeps sliding with increasing velocity while the friction force, denoted by F
k
and called
the kinetic-friction force, remains approximately constant.

Figure 1 Determination of the Friction Force

Four different situations can be encountered when a rigid body is contact with another rigid body or
surface:

Figure 2 Four Cases during Contact
1. The forces applied to the body do not tend to move it along the surface of contact; there is no
friction force (Figure 2.a).
2. The applied forces tend to move the body along the surface of contact but are not large enough to
set it in motion. The friction force F which has developed can be found by solving the equations
of equilibrium for the body. Since there is no evidence that F has reached its maximum value, the
equation
cannot be used to determine the friction force (Figure 2.b).

3. The applied forces are such that the body is just about to slide. We say that motion is impending.
The friction force F has reached its maximum value F
m
and, together with the normal force N,
balances the applied forces. Both the equations of equilibrium and the equation
can
be used. Also note that the friction force has a sense opposite to the sense of impending motion
(Figure 2.c).
4. The body is sliding under the action of the applied forces, and the equations of equilibrium do not
apply any more. However, F is now equal to F
k
and the equation
may be used. The

sense of F
k
is opposite to the sense of motion (Figure 2.c).


In other words:
The following relationship (equality) for the static case is true only when the motion/slip is
impending:

If there is no motion (or slip) and the motion (or slip) is not impending this equality does not hold
and the following inequality is true:

If there is motion (or slip), either specified in a problem or its found that the friction force is not
sufficient to hold the object(s) still, then at that contact surface the following equality holds:

Therefore, when not given explicitly, one needs to check whether there is motion between the contact
surfaces by comparing the required friction force to keep the object still to the maximum friction force
that can be provided by (the roughness of) the surfaces that are in contact (block on a ramp, wheel on the
ground etc.).
Remember: Existence of motion in a question with multiple objects doesnt automatically justify the
usage of the kinetic friction coefficient,
, (as opposed to using the static friction coefficient,
) to
calculate the friction force. For instance, lets consider a decelerating truck which also happens to be
carrying a crate. The truck and the crate are both in motion. They will have the same acceleration
provided that the crate doesnt accelerate relative to the truck (i.e. the crate doesnt slide toward the driver
due to deceleration). Although there is motion involved in this specific case, if we are required to find the
maximum deceleration of the truck for the crate not to slide forward, we must use the static friction
coefficient in the equations of motion along with
to account for the maximum friction of the

contact surface.
Briefly, if there is no relative motion (such as sliding/slipping) between two contacting bodies, you
cannot use the kinetic friction coefficient to calculate the friction force. And, if the motion is not
impending, you cannot use the equality


Vectors
Always handwrite a vector equation using arrows over the vector quantities. This will help you
identify which variables are vectors and which are scalars.
You cannot add or subtract a scalar and a vector quantity. You can, however, multiply or divide a
vector quantity with a scalar (same multiplication or division is applied to each component of the
vector individually)
Do not (try to) divide or multiply vectors algebraically. Division of vectors (
) does not exist.

The product of two (or) more vectors is found using dot and cross products.
Practice vector cross product with unit vectors. The multiplicands of a cross product must both
be vectors.
The derivative of a vector with respect to time can be either a change in magnitude of the vector
over time or a change in direction of the vector over time, or it can be both together. Therefore, t
here can be (normal) acceleration during curvilinear motion due to the change in the direction of
the velocity vector, even if the magnitude (the speed) of a particle is constant.


PARTICLE KINEMATICS
Particle kinematics can be briefly summarized with the following concept map:

Clues as to which coordinate system to use:
- Rectangular: x, y and z components of position (or velocity, or acceleration) are given/found (e.g.
projectile motion).
- Normal & Tangential: Constant radius of curvature (rho), motion along the path is defined (for
instance distance traveled along the path, s(t), is given)
- Polar (a.k.a. Radial & Transverse): Position varies with either time or angle (e.g. radar tracking of a
rocket, or a collar sliding on a rotating rod).

Remember: "Polar" and "Normal & Tangential" coordinates are not the same and make sure that you
understand the difference between them.


PARTICLE KINETICS
(Particle is an abstract entity with finite mass and zero volume, i.e. it has no size)
Kinetics is the study of the relations between unbalanced forces (i.e. net force is nonzero) and resulting
changes in motion. Three general approaches to the solution of kinetics problems in no particular order:
Direct application of Newtons Laws

Work and Energy Principle

(Linear/Angular) Impulse and Momentum Principle

DIRECT APPLICATION OF NEWTONS LAWS
The basis for kinetics is Newtons Second Law, , which states that when an unbalanced force acts
on a particle, the particle will accelerate in the direction of the force with a magnitude that is proportional
to the force.
Two types of problems may arise:
1) Motion is known and the unknown forces need to be calculated
a. If the acceleration is known/given, use Newtons Second Law directly to find the
unknown forces
b. If the acceleration is not given/known, the acceleration information must be deduced
from the given motion information (such as velocity or distance as a function of time)
before applying Newtons Second Law.
2) Forces are known and motion needs to be calculated
a. Find acceleration using Newtons Second Law and use kinematics to obtain velocity and
position.

Draw the free-body diagram for the object(s) of interest (mentally go over all the forces acting on
the object such as weight, action-reaction forces and externally applied forces)
Depending on the problem, choose an appropriate coordinate system (rectangular, normal-
tangential or polar coordinates)
Before starting the equations of motion for each coordinate axis (naturally depends on your
choice of coordinate system), choose a sign convention such as ( )
. This sign

convention must be followed for both sides of the equation, i.e. when writing the forces (left-
hand-side) and the component of the inertial force (right-hand-side).
Check number of unknowns and number of equations. If you think you need more equation(s),
make sure that you made use of the kinematics of the problem or factored in the friction force.
WORK AND ENERGY PRI NCI PLE
Work and Energy methods are useful when a problem relates force, velocity and distance. You can realize
each of these variables in the Work and Energy principle equation (kinetic energy relates to velocity,
work done relates to force and distance):

This equation can be perceived as describing a set of events. The object(s) initial kinetic energy changes
when it is exposed to forces which do work.
Work done by the forces on an object can be categorized into two: 1) Conservative forces, 2)
Nonconservative forces. The work done by the conservative forces does not depend on the path followed
by the force. Only the initial and final position of the object matters. Lets consider an object that is under
the effect of only conservative forces. If this object starts from an initial position and returns back to the
same position, the net work done by these forces is equal to zero as final and initial positions are the
same.
In dynamics, we are interested in the following conservative forces, although they are not the only ones in
nature.
Conservative Forces: Weight, spring force (work done by these forces do not dependent on the path)
Nonconservative Forces: Friction, external forces (the work done by these forces depend on the path, the
longer the path the more (negative/positive) work is done by this forces)
Two main types of problems may arise:
1) If all forces acting on a system are conservative, use conservation of energy
a. Figure out the position and velocity of the object(s) for two states (initial and final)
b. Find the total kinetic and potential energy for each state
i. Gravitational potential energy (arbitrary reference point/datum, positive potential
energy above datum, negative potential energy below datum)

ii. Elastic potential energy (always positive)

c. Total energy must be equal for initial and final states. Solve for the unknown using:

2) If there is at least one nonconservative force, use the work and energy principle
a. Figure out the kinetic energy at initial and final states

b. Find the work done by all forces (positive work if force, or any of its components, and
displacement are in the same direction, otherwise negative)
i. Work done by weight (positive y-axis upward)

ii. Work done by spring (s
1
and s
2
are amount of stretch/compression, not the initial
and final length of the spring)

iii. Work done by externally applied force

iv. If the above force is constant ( below will decide whether the work done by
the force is negative or positive)

c. Use the Work and Energy principle to solve for the unknown

LI NEAR I MPULSE AND MOMENTUM PRI NCI PLE
Linear momentum is defined as . It is a vector quantity and its direction is the same as the
direction of the particles velocity. The rate of change of linear momentum is equal to the sum of the
external forces applied to the particle:

This principle relates force, velocity and time (contact time of the force). You can realize each of these
variables in the Impulse and Momentum principle equation (single particle):

For a system of particles:

These equations can be perceived as describing a set of events. The objects initial linear momentum
changes when they are exposed to external impulsive forces. Impulsive forces are the forces that are very
large and act in a very short duration of time. For this reason, assuming weight and weak spring forces as
nonimpulsive forces is appropriate when the time duration is very small. For example, when a hammer
hits the nail, the weight of the hammer is considerably small as compared to the impact force between the
nail and the hammer. This weight may be considered as nonimpulsive.

When there are no impulsive forces, linear momentum of a system of particles conserved. The
conservation linear momentum does not have to be in all directions. The vector equation (which can also
be written as three scalar equations about x-, y- and z-axes) for the conservation of momentum is:

Remember: Conservation of linear momentum does not necessarily imply conservation of energy. In fact,
energy is lost during most impacts. For instance, a bullet getting embedded in an object involves a lot of
frictional force and energy is lost to heat, sound and vibration.
ANGULAR I MPULSE AND MOMENTUM PRI NCI PLE
Angular momentum (H
o
) is defined to be the moment of linear momentum (mv) about the point O. Its
also called as the rotational momentum since it is related to the momentum of rotation. Angular
momentum is a vector quantity (
) and its direction is identified using the right hand rule

(similar to moment of a force which is
). The rate of change of angular momentum is equal to

the sum of the external moments applied to the particle about the same point:

Principle of angular impulse and momentum is:

This equation can be perceived as describing a set of events. The objects initial angular momentum
changes when it is exposed to external impulsive moments.
When the sum of the impulsive moments (note that the same impulsive/nonimpulsive force discussion
described in Linear Impulse and Momentum Principle above applies to impulsive moments as well) is
zero, the angular momentum is conserved.


RIGID-BODY KINEMATICS
(Rigid body is a system of particles for which the distances between particles remain unchanged
throughout their motion)
General Remarks
All lines on a rigid body in its plane of motion have the same angular
displacement (), the same angular velocity (), and the same
angular acceleration ().
1) Angular velocity and acceleration of a rigid body in pure translation (rectilinear or curvilinear)
are both zero.

2) If and when the angular velocity (or angular acceleration) is nonzero, every single point on the
rigid body has the same angular velocity (or angular acceleration). You can think angular velocity
and acceleration as a property of the rigid body that may be subject to change at every instant. Be
careful that this statement does not apply to linear velocity and acceleration, i.e. they change
depending on the distance between a point and the axis of rotation.
3) Angular velocity and acceleration are not always in the same direction. If the bodys angular
velocity is decreasing, the angular acceleration will be in the opposite direction of angular
velocity. This is similar to the case where the linear velocity decreases (i.e. linear acceleration is
in the opposite direction of linear velocity, which is also called deceleration).
Plane Motion
If none of the points on a rigid body has a component of velocity perpendicular to the plane of the
page, the page is called the plane of motion, and, in a similar manner, the motion is plane motion.
1) General Plane Motion: If the motion of a rigid body doesnt correspond to pure translation (any
line connecting two points on the same rigid body doesnt change orientation) or fixed-axis
rotation (i.e., if you cannot find an axis that is fixed throughout the motion), then the motion is
general plane motion. Rolling wheel is an example of general plane motion (the center translates
and the wheel rotates about contact point between the wheel and the ground).
2) A body subject to general plane motion undergoes a simultaneous translation and rotation.

Types of Plane Motion

Figure 3 Types of Plane Motion
Line Test for Translation vs. Rotation
(Try this test on each type of plane motion in Figure 3 for better comprehension)
Difference between curvilinear translation and rotation may not be intuitive at first. See the below
figures and compare them to get a better handle on these two types of motion. Try drawing a line on
the body in question and see if that line changes orientation during the projected motion:
a. If the line drawn on the body is not changing orientation and all points are following a
straight path or a curved path, these are rectilinear and curvilinear translations,
respectively (see Figure 4.a). Rectilinear translation requires all points (including the
center of mass, of course) on the rigid body to follow straight paths, and the curvilinear
motion requires all points to follow curved paths.
Remember: During translation, every single point on the rigid body has the same velocity
and acceleration.
b. If the lines orientation changes (i.e. the angle its making with respect to an arbitrary
reference line changes during motion), then the body is decided to be rotating (see Figure
4.b).

Figure 4 Comparison of Curvilinear Translation and Rotation
Rolling Motion
(During the discussion of rolling motion, the words slide and slip are used interchangeably.)
An important case of plane motion is the motion of a disk or wheel rolling on a plane surface. If the disk
is constrained to roll without sliding, the acceleration
of its mass center G and its angular acceleration

are not independent. Assuming that the disk is balanced, so that its mass center and its geometric center
coincide (Figure 5), we can write the following relationships:

Figure 5 Rolling without Slip
When a disk rolls without sliding, there is no relative motion between the point of the disk in contact with
the ground and the ground itself. Thus, as far as the computation of the friction force F is concerned, a
rolling disk can be compared with a block at rest on a surface. The magnitude F of the friction force can
have any value, as long as this value does not exceed the maximum value
, where
is the
coefficient of static friction and N is the magnitude of the normal force. In the case of a rolling disk, the
magnitude F of the friction force should therefore be determined independently of N.

When sliding is impending, the friction force reaches its maximum value
and can be obtained

from N.
When the disk rotates and slides at the same time, a relative motion exists between the point of the disk
which is in contact with the ground and the ground itself, and the force of friction has the magnitude
, where
is the coefficient of kinetic friction. In this case, however, the motion of the mass
center G of the disk and the rotation of the disk about G are independent, and
is not equal to .
These three different cases can be summarized as follows:
Motion Value of Friction Force
Acceleration of Center of Mass
(same with geometric center)
Rolling, no sliding

Rolling, sliding impending

Rotating and sliding
and independent

When it is not known whether or not a disk slides, it should first be assumed that the disk rolls without
sliding. If F is found smaller than or equal to
, the assumption is proved correct. If F is found larger

than
, the assumption is incorrect and the problem should be started again, assuming rotating and
sliding.
Further Discussion (Unbalanced Disk)
When a disk is unbalanced, i.e., when its mass center G does not coincide with its geometric center O, the
relation
does not hold between
and . However, a similar relation holds between the

magnitude
of the acceleration of the geometric center and the angular acceleration
of an
unbalanced disk which rolls without sliding. We have

To determine
in terms of the angular acceleration and the angular velocity of the disk, we can use
the relative-acceleration formula:

where the three component accelerations obtained have the directions indicated in Figure 6 and the
magnitudes:

Figure 6 Rolling without slip (unbalanced disk)

Rolling without Slip
Remember: No (or without) slip simply means that there is no relative motion between the contacting
surfaces. Therefore, the velocity (and the tangential component of acceleration) at the contact points of
two objects must be the same. This applies to rolling of disks without slip and gears as well:
1) If the rolling without slip is occurring on stationary ground. Then the point of contact between the
rolling object and the ground has the same velocity (at points A and B in Figure 7), which is zero
as the ground is stationary. That is why this contact point is the Instantaneous Center of Zero
Velocity for the rolling object. Now, imagine that the rolling without slip is occurring on a
treadmill. What would be the (absolute) velocity of the contact point? Then, the contact point on
the object and the treadmill (exactly the same point) would again have the same (absolute)
velocity, which would be nonzero assuming that the surface of the treadmill has a certain
velocity.
Remember: Relative velocity of the contact surfaces are zero with respect to each other due to the
no-slip condition. However, this doesnt mean that their (same) absolute velocity (to an observer
measuring the velocity in an inertial frame of reference) is also zero.

Figure 7 Rolling without Slip
Application of the kinematic relationships for a wheel which rolls without slipping should be
recognized for various configurations of rolling wheels such as those illustrated below. If a wheel
slips as it rolls, the relations in Figure 5 are no longer valid.

Figure 8 Rolling Without Slip (C is the instantaneous center of Zero Velocity for each case)


2) Meshed gears are preferred in applications in which angular motion is transferred with no
slippage (e.g. in watches) as opposed to using just circular disks or belts. Circular disks (or
cylinders) or belts are also used for transferring angular motion, but they are more likely to
experience slippage. With no slip, their kinematic analysis is similar to the gears.
3) In the case of meshed gears the same situation arises (Figure 7.a). The velocity (Figure 7.a) and
tangential component of the acceleration (Figure 7.a) are the same at the point of contact. The
normal components are not the same as the contact point for each gear (with different radii) will
have a different radius of curvature. In other words, , and therefore, .
The following relationships hold for mesh gears that has no slippage at the point of contact (:
angular velocity, : angular acceleration, and : gear radius):

Figure 9 Kinematics of Meshed Gears
Angular Motion Relations
Variable angular acceleration:

Constant angular acceleration:


Fixed-Axis Rotation
Vector Form

Scalar Form

Remember: Sense of angular acceleration determines the direction of the tangential component of
acceleration. The normal component is always towards the center of rotation regardless of the sense of
angular velocity (clockwise or counterclockwise).


General Plane Motion
The general plane motion can be describes as a combination of rotation and translation. In order to
analyze these two components separately, we use relative-motion analyses (relative velocity and relative
acceleration). In these analyses, the entire object is first translated with the velocity of a point on the rigid
body (this point can be called as the base point), then a fixed-axis rotation about the same point is
superimposed to create the general plane motion (translation + rotation).
Remember: Relative-Motion analyses serve a simple but very important purpose: Knowing
velocity/acceleration of one point on a rigid body, we can write a relationship to calculate the
velocity/acceleration of any other point on the same rigid body. This is very powerful especially in
acquiring the acceleration of the center of mass of rigid body from another known acceleration on the
same body. The acceleration of the center of mass is critical for the kinetic analysis of rigid bodies.
Relative Velocity Analysis

Example:

Figure 10 Relative Velocity Analysis (The velocity of the point A is known and chosen as the "Base Point")

Relative Acceleration Analysis

Figure 11 Relative Acceleration Analysis (The acceleration of the point A is known and chosen as the "Base Point")


Example:

Figure 12 Relative Acceleration Analysis (The acceleration of the point A is known and chosen as the "Base Point", all
possible directions of the acceleration is shown for point B as it will be determined in accordance with the found direction
of angular acceleration, )
Remember: The single vector equation in two dimensions is equivalent to two scalar equations, so that at
most two scalar unknowns can be determined. The unknowns, for instance, might be the magnitude of one
vector and the direction of another. We should make a systematic identification of the knowns and
unknowns before attempting a solution.


Instantaneous Center (IC) of Zero Velocity (or Instantaneous Center of Rotation)
At any given instant the velocities of the various particles of the slab in are the same as if the slab were
rotating about a certain axis perpendicular to the plane of the slab, called the instantaneous axis of
rotation. This axis intersects the plane of the slab at a point C, called the instantaneous center of rotation
of the slab.

Remember: The comprehension of this concept requires a good understanding of fixed-axis rotation.

Figure 13 General plane motion at an instant can be viewed as rotation about the axis passing through a point
(point C in this case). Point C has zero velocity at this instant only, and may attain a nonzero velocity
immediately after this instant.

Example:

Figure 14 At this instant, the bar AB rotates about point C which is the IC. Note that the direction on velocity at every
single point at that instant is in accordance with the sense of angular velocity ().


RIGID-BODY KINETICS
DIRECT APPLICATION OF NEWTONS LAWS
Analysis Procedure
In the solution of force-mass-acceleration problems for the plane motion of rigid bodies, the following
steps should be taken once you understand the conditions and requirements of the problem:
Kinematics
First, identify the class of motion and then solve for any needed linear and angular accelerations which
can be determined solely from given kinematic information. In the case of constrained plane motion, it is
usually necessary to establish the relation between the linear acceleration of the mass center and the
angular acceleration of the body by first solving the appropriate relative-velocity and relative-acceleration
equations. Again, the success in working force-mass-acceleration problems is contingent on the ability to
describe the necessary kinematics.
Diagrams
Always draw the complete free-body diagram of the body to be analyzed. Assign a convenient inertial
coordinate system and label all known and unknown quantities. The kinetic diagram should also be
constructed so as to clarify the equivalence between the applied forces and the resulting dynamic
response.
Equations of Motion
Apply the three equations of motion below, being consistent with the algebraic signs in relation to the
choice of reference axes:

The moment equation (last equation above) may be replaced by an alternative, i.e. the moment about any
point other than the center of mass.
Combine these relations with the results from any needed kinematic analysis. Count the number of
unknowns and be certain that there are an equal number of independent equations available. For a
solvable rigid-body problem in plane motion, there can be no more than the five scalar unknowns which
can be determined from the three scalar equations of motion (as stated above) and the two scalar
component relations which come from the relative-acceleration equation.


Equations of Motion (EOM): Translation
(Review the line test to recognize different types of motion)
Rectilinear Translation

Figure 15 Free-Body (left) and Kinetic Diagram (right) of Rectilinear Translation

If it will be advantageous to use a point other than the center of mass (for example to eliminate unknown
forces from the calculations):


Curvilinear Translation
The FBD and KD for this type of motion is shown below. Note that during curvilinear translation every
single point on the body including the center of mass follows a curved path of the same radius of
curvature at any given instant. Normal and tangential coordinates are used to represent the motion.
Remember: Curvilinear translation is not the same as fixed-axis rotation. Differences include: 1) The
radius of curvature in curvilinear translation is the same for all points, but it is usually different for fixed-
axis rotation, 2) There is no rotation involved in curvilinear translation, even though the points on the
body follow curved paths.

Figure 16 Free-Body (left) and Kinetic Diagram (right) of Curvilinear Translation

If it will be advantageous to use a point other than the center of mass (for example to eliminate unknown
forces from the calculations):

Kinematics


Equations of Motion (EOM): Fixed-Axis Rotation
The arbitrary body below rotates about the fixed point O.

Figure 17 Free-Body (left) and Kinetic Diagram (right) of Fixed-Axis Rotation

The moment equation about the fixed point O can also be used to eliminate the unknown reactions forces:

Kinematics


Equations of Motion (EOM): General Plane Motion
Solving General Plane Motion Problems
Choice of Coordinate System
The force equation(s) should be expressed in whatever coordinate system most readily describes the
acceleration of the mass center. You should consider rectangular, normal-tangential, and polar
coordinates.
Choice of Moment Equation
In some instances, it may be more convenient to use the alternative moment relation (about a point other
than the center of mass) when moments are taken about a point P.
Constrained versus Unconstrained Motion
In working a problem in general plane motion, we first observe whether the motion is unconstrained or
constrained. If the motion is constrained, we must account for the kinematic relationship between the
linear and the angular accelerations and incorporate it into our force and moment equations of motion. If
the motion is unconstrained, the accelerations can be determined independently of one another by direct
application of the three motion equations.
Number of Unknowns
In order for a rigid-body problem to be solvable, the number of unknowns cannot exceed the number of
independent equations available to describe them, and a check on the sufficiency of the relationships
should always be made. At the most, for plane motion we have three scalar equations of motion and two
scalar components of the vector relative-acceleration equation for constrained motion. Thus, we can
handle as many as five unknowns for each rigid body.
Identification of the Body or System
The importance of clearly choosing the body to be isolated and representing this isolation by a correct
free-body diagram should be emphasized. Only after this vital step has been completed can we properly
evaluate the equivalence between the external forces and their resultants.
Kinematics
Of equal importance in the analysis of plane motion is a clear understanding of the kinematics involved.
Very often, the difficulties experienced at this point have to do with kinematics, and a thorough review of
the relative-acceleration relations for plane motion will be most helpful.
Consistency of Assumptions
In formulating the solution to a problem, we recognize that the directions of certain forces or
accelerations may not be known at the outset, so that it may be necessary to make initial assumptions
whose validity will be proved or disproved when the solution is carried out. It is essential, however, that
all assumptions made be consistent with the principle of action and reaction and with any kinematic
requirements, which are also called conditions of constraint.

Remember: For example, if a wheel is rolling on a horizontal surface, its center is constrained to move on a
horizontal line. Furthermore, if the unknown linear acceleration a of the center of the wheel is assumed positive to
the right, then the unknown angular acceleration will be positive in a clockwise sense in order that , if we
assume the wheel does not slip. Also, we note that, for a wheel which rolls without slipping, the static friction force
between the wheel and its supporting surface is generally less than its maximum value, so that
. But if the
wheel slips as it rolls, and a kinetic friction force is generated which is given by
. It may be
necessary to test the validity of either assumption, slipping or no slipping, in a given problem.

WORK AND ENERGY PRINCIPLE

This principle has been discussed for particles in detail. Additionally, conservation of energy method is
applied in exactly the same way to rigid bodies. In this section, we will specify the differences that apply
to the rigid bodies. The main difference is that, now, we have finite size of the objects, i.e. rotation is of
interest to us as well. We mentioned that the particles were considered as a point mass (no size). This
difference will bring in the concept of rotational kinetic energy on the top of the translational kinetic
energy for rigid bodies. Another noticeable addition is the work done by a couple moment. Both of
these differences are discussed below.
Remember: When dealing with rigid bodies, the center of mass (G) is a critical point. You will notice that
all the formulations for kinetics are initially developed around the center of mass.
Work done by a Couple Moment
Calculation of work done by difference forces have been discussed in detail for particles. The same
strategy is valid for rigid bodies. Only addition in the case of rigid bodies is that we may need to
calculate the work due to an externally applied couple moment. In this case, the work done can easily be
calculated by:
Variable moment couple:

Moment couple with constant magnitude (simply take the constant out of the above integral):

Kinetic Energy
General Plane Motion ( )

Figure 18 An Arbitrary Rigid Body under General Motion (Translation + Rotation)

Rotation about a Fixed-Axis ( )

Figure 19 An Arbitrary Rigid Body under Fixed-Axis Rotation (Fixed at Point O)

Translation ( )

Figure 20 An Arbitrary Rigid Body under Pure Translation (No Rotation Involved)

Remember: We always use the subscript G while denoting the velocity of the center of mass (
), but no
subscript for the angular velocity (). This is because angular velocity (an angular acceleration) belongs
to the entire body. It doesnt matter which point(s) you consider on a rigid body the angular velocity (or
angular acceleration) will be the same at any given instant.


APPENDIX A - Fundamental Equations of Dynamics

FPS to SI Units Miscellaneous Conversion Factors
(Force) 1 lb = 4.448 N 1 ft = 12 in. (inches) 1 mi. (mile) = 5280 ft
(Mass) 1 slug = 14.59 kg 1 kip (kilopound) = 1000 lb 1 ton = 2000 lb
(Length) 1 ft = 0.3048 m 1 hp = 745.7 W 1 hp = 550 ft.lb/s


APPENDIX B - Mass Moment of Inertia Formulae


APPENDIX C - Reactions at Supports and Connections for a Two-
Dimensional Structure

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MECE 2304 DYNAMICS

cannot be used to determine the friction force (Figure 2.b).

may be used. The

, (as opposed to using the static friction coefficient,

to account for the maximum friction of the

) does not exist.

) and its direction is identified using the right hand rule

). The rate of change of angular momentum is equal to

of its mass center G and its angular acceleration

and can be obtained

, the assumption is proved correct. If F is found larger

does not hold between

and . However, a similar relation holds between the

of the acceleration of the geometric center and the angular acceleration

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