Dynamics Introduction and Rectilinear Motion

DYNAMICS
BDA 2013
Dr. Waluyo Adi Siswanto
Lecture 1 Introduction, Rectilinear Motion
Lecture Module 1 Dr. Waluyo A. Siswanto 2
Course Objectives
To understand basic concepts in
dynamics (kinematics and kinetics) of
particles and rigid bodies.
To predict the effects of force and
motion while carrying out the creative
design functions of engineering.
To apply problem-solving procedures
that will be applicable in succeeding
courses and throughout the
engineering careers.
Learning Outcomes
At the end of this course, students will be able to:
Determine the position, velocity and acceleration of
particles and rigid bodies using kinematics approach.
Use law of motion to relate forces and acceleration of
particles and rigid bodies.
Apply the principle of work and energy to solve
kinetics problem on particles or rigid bodies.
Solve the kinetics problems using the principles of
impulse and momentum.
Apply all methods that have studied in real situation.
Communicate and work effectively in a group through
given assignments and presentations.
What you can do
References
Siswanto W.A., 2008, Principles of Engineering
Dynamics, Penerbit UTHM
Meriam J.L. and Kraige L. G., 2007. Engineering
mechanics Dynamics, 6th Edition, John Wiley & Sons,
Inc.
Bear F.P. and Johnson E. R., 2007. Vector Mechanics for
Engineers Dynamics, 8th S.I. Edition, Mc Graw Hill
Hibbeler R.C., 2004. Engineering Mechanics Dynamics,
3rd S.I. Edition, Prentice Hall.
Bedford A. & Wallace T. Fowler, 2005. Engineering
Mechanics-Dynamics, S.I. Edition, Prentice Hall.
Mohd Imran Ghazali, Izzuddin Zaman, et.all., 2007,
Koleksi Soalan Dinamik, Penerbit UTHM.
Saifulnizam Jamian; Izzuddin Zaman, et.all., 2007,
Dynamics, Penerbit UTHM.
Subject Delivery (S4 and S6)
Lecturing
Explaining theories, methods and understanding
related to the topics
Tutoring
Discussing sample problems related to the
topics
All course materials, announcements, and students
marks will be published in E-Learning

S4: Tuesday (BS A6, 20.00 21.50)
Friday (BS A6, 08.00 09.50)
S6: Monday (BS C2, 08.00 08.50)
Wednesday (DK D, 10.00 12.50)
Assessment Scheme
Students attendance *
Individual assignment (3) (10%)
Group Assignment (10%)
Test 1 (15%)
Test 2 (15%)
Final Examination (50%)

* Attendance must not less than 80%
Time Tables
BDA 2013 Dynamics, S4
Part 1
Ass 1
07/07 10/07 14/07 17/07 21/07 24/07 28/07 31/07
1 2 3 4
Ass 1: First assignment
Ass 2: Second assignment
Ass 3: Third assignment
Ass 1 Due: First assignment deadline submission
Ass 2 Due: Second assignment deadline submission
Ass 3 Due: Third assignment deadline submission
Proj: Project commencing Test 1: First Test
Project Presentation: Presentation of the project Test 2: Second Test
Part 2
Ass 2
Ass 2 Due
Test 2: 17/9 or 18/9
25/08 28/08 01/09 04/09 08/09 11/09 15/09 18/09
7 8 9 10
Part 3
Ass 3
Ass 3 Due
29/09 02/10 06/10 09/10 13/10 16/10 20/10 23/10
11 12 13 14
04/08 07/08 11/08 14/08
5 6
Ass 1 Due
Test 1: 13/8 or 14/8
Proj
Project Presentation
Time Tables
BDA 2013 Dynamics, S6
Part 1
Ass 1
06/07 08/07 13/07 15/07 20/07 22/07 27/07 29/07
1 2 3 4
Ass 1: First assignment
Ass 2: Second assignment
Ass 3: Third assignment
Ass 1 Due: First assignment deadline submission
Ass 2 Due: Second assignment deadline submission
Ass 3 Due: Third assignment deadline submission
Proj: Project commencing Test 1: First Test
Project Presentation: Presentation of the project Test 2: Second Test
Part 2
Ass 2
24/08 26/08 31/08 02/09 07/09 09/09 14/09 16/09
7 8 9 10
Part 3
Ass 3
Ass 3 Due
28/09 30/09 05/10 07/10 12/10 14/10 19/10 21/10
11 12 13 14
03/08 05/08 10/08 12/08
5 6
Proj
Project Presentation
Ass 1 Due
Test 1: 13/8 or 14/8
Ass 2 Due
Test 2: 17/9 or 18/9
Topics (Part 1)
KINEMATICS OF PARTICLES
Rectilinear motion
Curvilinear motion
Rectangular components of velocity and
acceleration
Tangential and normal components
Radial and transverse components
Relative motion of moving particle
KINETICS OF PARTICLES
Force Mass and Acceleration
Work and Energy
TEST 1
Topics (Part 2)
KINETICS OF PARTICLES
Impulse and Momentum
Direct Impact
Oblique Impacts
KINEMATICS OF RIGID BODIES
Translation, rotation and general plane motion
Absolute motion
Relative velocity and acceleration
Zero velocity instantaneous center
TEST 2
Topics (Part 3)
KINEMATICS OF RIGID BODIES
Relative motion of rotating frame
KINETICS OF RIGID BODIES
Mass Moment of Inertia
Moment, Inertia and Acceleration
Translation and Rotation and General
Plane Motion
Work and Energy in Rigid Bodies
FINAL EXAM
INTRODUCTION
Dynamics
Dynamics consists two distinct parts:
kinematics and kinetics.

Kinematics deals with the study of
motion without reference to the force
which cause motions
Kinetics relates the action of forces
on bodies to their resulting motions
Kinematics: Motion only

Kinetics: Interaction force - motion
Force
Path of motion because of the
force
Vector Analysis Review: Notation
A
length of arrow denotes
magnitude of F
extension of arrow
denotes line of action
arrow head denotes
the direction of F
3
2
1
F

=
`

)
( )
3, 2,1 F =
3 2 3 F i j k = + +
Vectors are defined as mathematical expression
possessing magnitude and direction, which add
according to the parallelogram law.
(note: scalar has only magnitude)
Vector Analysis Review
Magnitude
( ) ( ) ( )
2 2 2
2 1 2 1 2 1
magnitude A x x y y z z = + + = A
Analysis Vector Review
Parallelogram Law in Two-Dimensional Vectors
A
B
A+B
P
cos
sin
x
y
A
o
o

= =
` `
)
)
A
A
A
A
cos
sin
x
y
B
|
|

= =
` `
)
)
B
B
B
B
cos cos
sin sin
A +B
A +B
o |
o |

+ =
`
)
A B

Vector Direction
z
A
x

A
y

A
z

i
j
k
A=A
y
i+

A
y
j
+
A
y
k

: angle between x coord and A
: angle between y coord and A
: angle between z coord and A
y
x
Vector Direction Unit Vector
cos
x
A
A
o =
cos
y
A
A
| =
cos
z
A
A
=
y
x z
A
A
A A
A A A
= + + e i j k
(cos ) (cos ) (cos )
A
o | = + + e i j k

A
A = A e
2 2 2
cos cos cos 1 o | + + =

y
A
y

A

A
z

A

A
x

A
z
x
Particle and rigid body
A particle is a point mass. This means the mass is
concentrated at a single point and the particle has
neither dimensions (height, width, etc) nor
orientation (angular position)
Under certain conditions a physical body can be
modeled as a particle; for example, when
considering translation of a body, or when all
forces acting on a body pass through the centre of
mass, or when the dimensions of a body are very
much smaller than those of its path of motion
When a body can be replaced by a
particle
Replace by a particle (no rotation involved)
The body motion cannot be replaced by a particle
(rotation involved)
Translation - Rotation
Translation
Combination Translation
and Rotation
Acceleration due to gravity
2
2
( )
o
g g =
+
e
e
R
R h
( )
2 4
9, 780327 1 0, 005279sin 0, 000023sin = + +
o
g
In general applications,
the standard values for g of 9,81 m/s
2
or 32,2 ft/s
2

will be sufficiently accurate.
Re = 6,371 . 10
6
m
h : altitude
KINEMATICS OF PARTICLE
TRANSLATION
Translation of a particle:
straight, curve and circular paths
Straight
path
Curve path
Circular
path
Straight
path
Curve path
Circular
path
There is no
orientation of
the body
Can be
simplified as
particle
Average and Instantanneous
0
lim
s
v
t
A
A
=
A
t
ds
v
dt
=
v s =
time (s)
Position (m)
s
t
Instantaneous
velocity
Average
Velocity
avg
s
v
t
A
=
A
0
lim
t
A
A
=
A
t
v
a
Instantaneous
acceleration
Average
Acceleration
avg
v
a
t
A
=
A
2
2
v
a = =
d d s
dt dt
a v = = s
t
s
Calculating distance and velocity,
graphically
v
t
t
0
t
v =
} }
0 0
s t
s t
ds dt
0
v
v
v a =
} }
0
t
t
d dt
The area under v(t) is
the DISTANCE TRAVEL
The area under a(t) is
the NET CHANGE IN VELOCITY
a
t
t
0
t
1

Differential equation of motion
v a = d dt
ds
d dt dt ds
dt
= = = v v v a a a
v v a = d ds
s ds s ds =
Multiply by v
or
Rectilinear motion
at constant velocity
v =
} }
0 0
s t
s t
ds dt
0 0
( ) v = s s t t
0 0
( ) + v = s s t t
Velocity at constant acceleration
0
v
v
v a =
} }
0
t
t
d dt ( )
0 0
v v a = t t
( )
0 0
v v +a = t t
0

0
v
v
v v a =
} }
s
s
d ds
( )
( )
2 2
0 0
1
2
v v a = s s
( )
2 2
0 0
v v + a = 2 s s
Distance at constant acceleration
v =
} }
0 0
s t
s t
ds dt
( )
0 0
v + a t t =
} }
0 0
s t
s t
ds ( )dt
( )
0 0
0 0 0
0 0 0
0 0
v a
v a a
= +
= +
} }
} } }
t t
t t
t t t
t t t
s s dt t t dt
dt tdt t dt
( )
( )
2 2
0 0 0 0 0 0
1
( )
2
= + + s s v t t a t t at t t
Practical situation
Usually a particle start
moving when the time is set
to 0 and the distance goes
from 0
0 0
0 and 0 t s = =
at and distance t s
( )
0 0
v v +a = t t
( )
2 2
0 0
v v + a = 2 s s
( )
( )
2 2
0 0 0 0 0 0
1
( )
2
= + + s s v t t a t t at t t
( )
0
t = v v +a
( )
2 2
0
2 s = v v + a
( )
2
0
1
( )
2
s v t a t = +
0
0
0 0 0 0
Example Problem 1-1
The displacement of a mechanical component follows a ruled path
as a function of time. The function dis(t) = 2t
3
24t + 6 meter.
Derive the velocity and acceleration based on the given
displacement function dis(t).
Calculate the time to reach velocity of 72 m/s. Calculate the
corresponding acceleration at that time.
Plot the displacement, velocity and acceleration versus time
for the first 4 seconds every 1 second.
Example Problem 1-2
A particle starts from rest at x = -2 m and moves along x-axis with
the velocity history shown below.
Derive the velocity equation in every stage of t
(0 to 0,5), (0,5 to 1,0) and (1,0 to 2,0)
Calculate the corresponding acceleration and displacement at
t= 0; 0,5; 1,0; and 2,0
v

(
m
/
s
)

0
3
0.5 1.0 1.5 2.0
-1.0
t (s)
Example Problem 1-3
A train is traveling at a constant speed of 108 km/h when the
driver sees a stationary obstacle on the track 135m ahead. He
immediately applies the brakes at full capacity.
If the trains constant deceleration on this section of track
is 4,5 m/s
2
, determine whether the train will stop before
colliding with the obstacle.
Calculate the time interval between the driver applying the
brakes and the train coming to rest.
Example Problem 1-4
See you again .

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