Module content

Chapter 1: Static engineering systems

Simply supported beams

Beams and columns
Torsion in circular shafts

Chapter 2: Dynamic engineering systems

Uniform acceleration
Energy transfer
Oscillating mechanical systems

Chapter 3: DC and AC theory

DC electrical principles
AC circuits
Transformers

Chapter 4: Information and energy control systems

Information systems
Energy flow control systems
Interface system components

Chapter 2- Dynamic Engineering Systems

2.1

Uniform acceleration

2.2

Energy transfer

2.3

linear and angular acceleration

Newtons laws of motion
mass, moment of inertia and radius of gyration of rotating components
combined linear and angular motion
effects of friction
gravitational potential energy
linear and angular kinetic energy
strain energy
principle of conservation of energy
work-energy transfer in systems with combine linear and angular motion
effects of impact loading

Oscillating mechanical systems

simple harmonic motion
linear and transverse systems;
qualitative description of the effects of forcing and damping

Outcomes and Assessment criteria

To achieve each outcome in chapter 2 a
learner must demonstrate the ability to:
Analyse dynamic engineering systems
determine the behaviour of dynamic mechanical
systems in which uniform acceleration is present
determine the effects
mechanical systems

of

energy

transfer

in

determine the behaviour of oscillating mechanical

systems

Mechanics- To study dynamic systems

Study of Objects at
Rest (Valence of
applied forces and
Moments)

Description of the
Objects Motion
(Position, Velocity,
& Acceleration)

Origin of the
Objects Motion
(Force, Momentum,
& Energy)

Statics

Kinematics

Kinetics

Mechanics: Physics of Behaviors of the Objects

Kinematics: How to describe the objects motion

Where is the object?

Position

How fast the position changes with time?

Velocity

How fast the velocity changes?

Acceleration

Kinetics: How to explain the objects motion

Intrinsic motion of an object :
Changing its position, Constant velocity, No acceleration
Change in motion due to an external action
Changing its position, Non-constant velocity, Non-zero acceleration

Types of motions

Translational motion
motion by which a body shifts from one point in space to another
e.g., the motion of a bullet red from a gun

Rotational motion
motion by which an extended body changes orientation, with respect
to other bodies in space, without changing position
e.g., the motion of a spinning top

Oscillatory motion
motion which continually repeats in time with a fixed period
e.g., the motion of a pendulum in a grandfather clock

Circular motion
motion by which a body executes a circular orbit about another fixed
body
e.g., the (approximate) motion of the Earth about the Sun

The different types of motion stated on the last slide can be

combined

for instance, the motion of a properly bowled bowling ball consists of a

combination of translational and rotational motion, whereas wave
propagation is a combination of translational and oscillatory motion.

The above mentioned types of motion are not entirely distinct

e.g., circular motion contains elements of both rotational and oscillatory
motion.

statics: i.e., the subdivision of mechanics which is concerned with

the forces that act on bodies at rest and in equilibrium.
Statics is obviously of great importance in civil engineering
For instance, the principles of statics were used to design the building in
which this lecture is taking place, so as to ensure that it does not
collapse.

Angular displacement
s r

radianmeasure

For full circle:

s 2r

2
r
r

Full circle has an angle of 2 radians,

Thus, one radian is 360/2

Planar, rigid object rotating

about origin O.

Angular velocity and acceleration

Angular displacement:

Average angular speed: avg

t to
t

Instantaneous angular speed: lim

t 0 t
dt
Average angular acceleration:

avg

Instantaneous angular acceleration:

t to
t

d
lim

t 0 t
dt

Every particle (of a rigid object):

rotates through the same angle,
has the same angular velocity,
has the same angular acceleration.

characterize rotational motion of entire object

Linear motion

Rotational motion

(linear acceleration, a)

( rotational acceleration, )

v v o at

o t

x x o 12 (v v o )t

o 12 ( o )t

1 2
x x o v ot at
2

1 2
o ot t
2

v 2 v o 2 2a ( x x o )

2 o 2 2 ( o )

Linear and angular quantities

Arc length s:

s r

Tangential speed of a point P:

v r

Tangential acceleration of a point P:

2

at r.

v
2
at
r
r

Example 1

A grindstone rotates at constant angular acceleration =

0.35 rad/s2. At time t = 0, it has an angular velocity of
o= - 4.6 rad/s2 and a reference line on it is horizontal,
at the angular position o=0.
(a) At what time after t=0 is the reference line at the
angular position = 5.0 rev?
(b) Describe the grindstones rotation between t = 0 and t
= 32 s.
(c) At what time t does the grindstone momentarily stop?

Linear inertia and mass

Inertia
The tendency of an object to keep the current
state of motion
Difficulty in changing the state of motion

Properties of Inertia
Static inertia vs. dynamic inertia
Proportional to mass of the object:
"The more massive an object, the more it tends to
maintain its current state of motion."

Mass: measure of inertia in linear motion

Rotational inertia
Rotational inertia (or Moment of Inertia) I of an
object depends on:
- the axis about which the object is rotated.
- the mass of the object.
- the distance between the mass(es) and the axis of rotation.
- Note that must be in radian unit. The SI unit for I is
kg.m2 and it is a scalar.

I mi ri
i

ri
lim

mi

0 i

2
2

mi r dm r dV

Note that the moments of inertia are different for different axes
of rotation (even for the same object)

1
I ML2
3
I

1
ML2
12

Radius of Gyration
The mass moment of inertia of a body about
a specific axis can be defined using the
radius of gyration (k). The radius of gyration
has units of length and is a measure of the
distribution of the bodys mass about the
axis at which the moment of inertia is
defined.
I
2
I = m k or k
m

Parallel Axis Theorem

Note that the moments of inertia are different for different axes of
rotation (even for the same object)

I 12 Mr 2
(b)

(a )

I 23 Mr2

Let h be the perpendicular distance between the axis that we need

and the axis through the center of mass (remember these two axes
must be parallel). Then the rotational inertia I about the required
axis is
I I M h 2 parellel axis theorem
com

For example, we can apply parallel axis theorem in the case of (a)
and (b) above.

First law
A particle originally at rest, or moving in a
straight line at constant velocity, will remain
in this state if the resultant force acting on
the particle is zero
Newtons First Law looked at objects at rest or
under constant velocity.
No net force was acting on these objects

Second law

A force applied to a body causes an acceleration.

Acceleration describes how quickly motion changes.
Or : acceleration = change in velocity
time interval

Acceleration is proportional to the force, inversely proportional to

mass.
Usually there is more than one force acting on an object. The resulting
acceleration of an object is due to the total or NET FORCE on the object
acceleration net force
acceleration 1 / mass (As more mass is added, the acceleration of the
cart is slowed)
acceleration = net force
or a = F
mass
m
Force = mass x acceleration (work out few examples)

Direction of the acceleration = direction of the force

First and second law

If a force is applied to an object, whether it is at rest or moving, the motion
will change. IT ACCELERATES.
If the force is removed, the object will continue moving at a constant
velocity

The first and third laws were used in developing the concepts
of statics. Newtons second law forms the basis of the study of
dynamics.
Mathematically, Newtons second law of motion can be written
F = ma
where F is the resultant unbalanced force acting on the particle,
and a is the acceleration of the particle. The positive scalar m
is called the mass of the particle.

Newtons second law cannot be used when the particles speed

approaches the speed of light, or if the size of the particle is
extremely small (~ size of an atom).

Newtons 2nd Law for Rotation

net I

Newton ' s second law for rotation

Note that must be in radian.

Proof :
Ft mat

Ft r mat r
Since

at r,

m ( r) r (m r 2 )

The quantity in parentheses is the

moment of inertia of the particle about
the rotation axis, therefore I

Third law
For every action, there is an equal and opposite
reaction.
When one body exerts a force on a second, the second
body exerts a reaction force that is equal in magnitude
and opposite in direction on the first.
Eg: bullet vs. gun, fist fighting, rocket
For every interaction, the forces always come in pairs
(twos).
The ACTION FORCE (Object A exerts a force on object B )and
The REACTION FORCE (Object B exerts a force on object A )
They are equal in strength and opposite in direction

Action and reaction on different masses

When a cannon is fired, there is an interaction
between the cannon and the cannon ball.
The forces the cannon ball and cannon exert on each
other are equal and opposite.
The cannonball moves fast while the cannon only
Kicks a bit because of the difference in their masses.
FOR THE CANNON : a = F / M
FOR THE CANNONBALL : f = F / m

The force exerted on a small mass produces a greater

acceleration than the same force exerted on a large
mass
Question :
Answer :

Does a stick of dynamite contain force?

No, force is not something an object has, like mass and
volume. An object may posses the capability of exerting force
on another object but it does not possess force.

Combined linear and angular motions

In reality, car tires both rotate and translate
They are a good example of something which
rolls (translates, moves forward, rotates)
without slipping
Is there friction? What kind?

Derivation
The trick is to pick your reference
frame correctly!
Think of the wheel as sitting still
and the ground moving past it with
speed V.
Velocity of ground (in bike frame) =
-wR
=> Velocity of bike (in ground frame)
= wR

Friction
Force acting at the area of contact between two
surfaces
Magnitude: proportional to the friction coefficient
and the normal reaction force
Direction: opposite that of motion or motion
tendency
Types: sliding and rolling
Sliding: due to relative motion of the surfaces
Rolling: due to deformation of the surfaces

Friction (continued)
Static vs. Kinetic Friction
Max. static friction: max. force required to
initiate a motion
Kinetic (dynamic) friction: force required to
maintain the motion

Banking Angle
Your car has m and is
traveling with a speed
V around a curve with
Radius R
What angle, , should
the road be banked so
that no friction is
required?

Skidding on a Curve
A car of mass m rounds a curve on a flat
road of radius R at a speed V.
What coefficient of friction is required so
there is no skidding?
Kinetic or static friction?

Conical Pendulum
A small ball of mass m is
suspended by a cord of
length L and revolves
in a circle with a radius
given by
r = L sin .
1. What is the velocity of
the ball?
2. Calculate the period of
the ball

Weight

When near the surface of the earth, the only gravitational force having any sizable
magnitude is that between the earth and the body. This force is called the weight
of the body
Gravity acting on a body from the Earth
Direction: downward

Mass is an absolute property of a body. It is independent of the gravitational field

in which it is measured. The mass provides a measure of the resistance of a
body to a change in velocity, as defined by Newtons second law of motion (m =
F/a).

The weight of a body is not absolute, since it depends on the gravitational field in
which it is measured. Weight is defined as
W = mg
where g is the acceleration due to gravity (weight in mass and earth)

SI system: In the SI system of units, mass is a base unit and weight is a

derived unit. Typically, mass is specified in kilograms (kg), and weight is
calculated from W = mg. If the gravitational acceleration (g) is specified in
units of m/s2, then the weight is expressed in newtons (N). On the earths
surface, g can be taken as g = 9.81 m/s2.
W (N) = m (kg) g (m/s2) => N = kgm/s2

Momentum and Impulse

Momentum

Amount of motion
Momentum = (mass)(velocity)
Important in giving or receiving impact, collision, etc.
Vector

Impulse
Collision characterized by the exchange of a large force during a short
time period
Accumulated effect of force exerted on an object for a period of time
Impulse = (force)(time)
Increase in F or t increase in I
Vector
Equal to the change in momentum of the system

Example 2
A compact disc player disc from rest and
accelerates to its final velocity of 3.50 rev/s in
1.50s. What is the disk's average angular
acceleration?

Example 3
The blades of a blender rotate at a rate of
7500rpm. When the motor is turned off
during operation, the blades slow to rest
in 3.0 seconds. What is the angular
acceleration?

Example 4
How fast is the outer edge of a CD (at 6.0
cm) moving when it is rotating at its top
speed of 22.0 rad/s?

Example 5
How many rotations does the CD from the first
problem make while coming up to speed from
rest to wf = 22.0 rad/sec at a= 14.7 rad/s 2

Example 6
A wheel with radius 0.5m makes 55 revolutions as it
changes speed from 80km/h to 30 km/h. The wheel
has a diameter of 1 meter. (a) What was the angular
acceleration? (b) How long is required for the wheel
to come to a stop if it decelerated at that rate?

Bicycle example
A bicycle with initial linear velocity V0 (at t0=0)
decelerates uniformly (without slipping) to rest over a
distance d. For a wheel of radius R:
a)
b)
c)
d)

Total revolutions before it stops?

Total angular distance traversed by the wheel?
The angular acceleration?
The total time until it stops?

Figure shows a uniform disk, with mass M = 2.5 kg and

radius R = 20 cm, mounted on a fixed horizontal axle. A
block with mass m = 1.2 kg hangs from a massless cord that
is wrapped around the rim of the disk Find the acceleration
of the falling block, the angular acceleration of the disk, and
the tension in the cord. The cord does not slip, and there is no
friction at the axle.

1. Newtons second law can be written in mathematical form

as F = ma. Within the summation of forces F,
________ are(is) not included.
A) external forces

B) weight

C) internal forces

D) All of the above.

2. The equation of motion for a system of n-particles can be

written as Fi = miai = maG, where aG indicates _______.
A) summation of each particles acceleration
B) acceleration of the center of mass of the system
C) acceleration of the largest particle
D) None of the above.

3. The block (mass = m) is moving upward with a speed v.

Draw the FBD if the kinetic friction coefficient is k.
mg

mg

A)

kN

B)

kN
N

N
mg

C)

kmg
N

D) None of the above.

4. Packaging for oranges is tested using a machine that exerts

ay = 20 m/s2 and ax = 3 m/s2, simultaneously. Select the
y
correct FBD and kinetic diagram for this condition.
A)

may

=
Rx

B)
max

=
Rx

Ry

C)

may

=
Ry

D)

max

Ry
may

=
Ry

max

5. Internal forces are not included in an equation of motion

analysis because the internal forces are_____.
A)
B)
C)
D)

equal to zero
equal and opposite and do not affect the calculations
negligibly small
not important

6. A 10 N block is initially moving down a ramp

with a velocity of v. The force F is applied to
bring the block to rest. Select the correct FBD.
A)

10

k10
N

B)

10

k10
N

C)

10

kN
N

F
v

B
7. When a pilot flies an airplane in a
vertical loop of constant radius r at
constant speed v, his apparent weight
is maximum at

A) Point A

D
B) Point B (top of the loop)

C) Point C

D) Point D (bottom of the loop)

8. If needing to solve a problem involving the pilots weight at

Point C, select the approach that would be best.
A)
B)
C)
D)
E)

Equations of Motion: Cylindrical Coordinates

Equations of Motion: Normal & Tangential Coordinates
Equations of Motion: Polar Coordinates
No real difference all are bad.
Toss up between B and C.

9. For the path defined by r = , the angle at rad is

A) 10

B) 14

C) 26

D) 75

10. If r = 2 and = 2t, find the magnitude of r and when

t = 2 seconds.
A) 4 cm/sec, 2 rad/sec2

B) 4 cm/sec, 0 rad/sec2

C) 8 cm/sec, 16 rad/sec2

D) 16 cm/sec, 0 rad/sec2