ME208

Dynamics-§horts
Muhammed Çakır

ˆ v ˆ s
1 Ch1. Introduction to Dynamics vdv = a ds or v 2 = v02 + 2a(s − s0 ) (7)
v0 s0
1.1 Newton’s Law of Motion ˆ s ˆ t
1
ds = (v0 + at)dt or s = s0 + v0 t + at2 (8)
• Law I : A particle remains at rest or continues to move with s0 0 2
uniform velocity if there is no unbalanced force acting on
it. 2.2.2 Acceleration Given as a Function of Time,
a=f(t)
• Law II : The acceleration of a particle is proportional to
the resultant force acting on it and it is in the direction of ˆ v ˆ t ˆ t
this force. dv = f (t)dt or v = v0 + f (t)dt (9)
v0 0 0

• Law III : The forces of action and reaction between inter- ˆ s ˆ t ˆ t

r
acting bodies are equal in magnitude, opposite in direction ds = vdt or s = s0 + vdt (10)
s0 0 0
and collinear.

1.2 Gravitation
F =G
F = ma

m1 m2
r2
ki (1)

(2)
2.2.3 Acceleration Given as a Function of Velocity,
a=f(v)

ˆ v
t=
ˆ s
ˆ t

0
dt =
ˆ v

v0 f
dv
(v)
ˆ v
(11)
Ca
vdv vdv
3 = ds or s = s0 + (12)
where G = 6.673(10−11 )[ kg.s
m
2] v0 f (v) s0 v0 f (v)

2.2.4 Acceleration Given as a Function of Displace-

2 Ch2. Kinematics of Particles ment, a=f(s)
ˆ v ˆ s ˆ s
Kinematics is the branch of dynamics which describes the mo-
vdv = f (s)ds or v 2 = v02 + 2 f (s)ds (13)
tion of bodies without reference to the forces which either cause v0 s0 s0
the motion or are generated as a result of the motion. Kinemat- ˆ s ˆ t ˆ s
m

ics is ”the geometry of motion”. On the other hand, kinetics, ds ds

= dt or t = (14)
which is the study of the relationships between motion and the s0 g(s) 0 s0 g(s)
corresponding forces which cause or accompany the motion.
A particle is a body whose physical dimensions are so small 2.3 Plane/Space Curvilinear Motion
compared with the radius of curvature of its path that, we may
treat the motion of the particle as that of a point. 2.3.1 Rectangular Coordinates
R = xi + yj + zk
2.1 Rectilinear Motion v = Ṙ = ẋi + ẏj + żk (15)
Instantaneous velocity a = v̇ = R̈ = ẍi + ÿj + z̈k
ds
v= = ṡ (3) 2.3.2 Projectile Motion
dt
1
Instantaneous acceleration x = x0 + (vx )0 t y = y0 + (vy )0 t − gt2 (16)
2
dv d2 s vy2 = (vy )20 − 2g(y − y0 ) (17)
a= = v̇ or a= = s̈ (4)
dt dt2
vdv = ads or ṡdṡ = s̈ds (5) 2.4 Normal and Tangential Coordinates
v = vet = ρβ̇et (18)
2.2 Analytical Integration
a = v ėt + v̇et (19)
2.2.1 Constant Acceleration
ˆ v ˆ t where ėt = β̇en
v2
dv = a dt or v = v0 + at (6) a= en + v̇et (20)
v0 0 ρ

1
2.5 Circular Motion 3.2 Work and Kinetic Energy
2 2
v = rθ̇ an = v /r = rθ̇ = v θ̇ at = v̇ = rθ̈ (21) Work is denoted by letter U .
ˆ 2 ˆ 2
2.5.1 Polar Coordinates U= F · dr = (Fx dx + Fy dy + Fz dz)
der deθ ˆ1 s2 1
(35)
= eθ = −er (22)
dθ dθ U= Ft ds
If we divide them by dt we have der /dt = (dθ/dt)eθ and s1

deθ /dt = −(dθ/dt)er , or simply,

3.2.1 Kinetic Energy
ėr = θ̇eθ ėθ = −θ̇er (23)
The kinetic energy T of the particle is defined as,
Then, v = ṙ = ṙer + rθ̇eθ
1
T = mv 2 (36)
v = ṙer + rθ̇eθ (24) 2

a = (r̈ − rθ̇2 )er + (rθ̈ + 2ṙθ̇)eθ (25) 3.2.2 Power

Time rate of doing work. The power P developed by a force F
2.5.2 Cylindrical Coordinates(r-θ-z) which does an amount of work U is P = dU/dt. Because dr/dt
R = rer + zek (26) is the velocity V,
P =F·v (37)
We can write the velocity as,

r
ṙ er + |{z}
v = |{z} ż ek
rθ̇ eθ + |{z} (27) 3.2.3 Potential Energy
vr vθ vz
Gravitational potential energy,
q
v = vr2 + vθ2 + vz2
Similarly the acceleration is written,
ki
a = (r̈ − rθ̇2 ) er + (rθ̈ + 2ṙθ̇) eθ + |{z}
z̈ k
(28)

(29)
Elastic potential energy,
Vg = mgh

ˆ x
1 2
(38)
Ca
Ve = kxdx = kx (39)
| {z } | {z }
ar aθ az
0 2
q
a= a2r + a2θ + a2z (30)
3.3 Impulse and Momentum
2.5.3 Spherical Coordinates 3.3.1 Linear Impulse and Momentum

v = vR eR + vθ eθ + vφ eφ (31)
X d X
F = mv̇ = (mv) or F = Ġ (40)
dt
|{z} |{z} |{z}
Ṙ Rθ̇ cos φ Rφ̇
m

Linear momentum G = mv, since the linear momentum is a

vectoral quantity, its components in x,y and z directions should
3 Ch3. Kinetics of Particles be calculated independently.
3.1 Equations of Motion ˆ t2 X
Fdt = G2 − G1 = ∆G (41)
3.1.1 Rectilinear Motion t1

a = ax i + ay j + az k Here the linear momentum at time t2 is G2 = mv2 and the

q (32) linear momentum at time t is G = mv . The product of
a = a2x + a2y + a2z 1 1 1
force and time is defined as the linear impulse of the force. The
total linear impulse on m equals to the corresponding change
3.1.2 Curvilinear Motion in linear momentum of m.
Normal and Tangential coordinates ˆ t2 X
X G1 + Fdt = G2 (42)
Fn = man t1
X (33)
Ft = mat In the indicial form,
ˆ t2 X
where an = ρβ̇ 2 = v 2 /ρ = v β̇ , at = v̇ and v = ρβ̇. m(v1 )i + Fi dt = m(v2 )i where i = x, y, z (43)
Polar coordinates, t1

X
Fr = mar 3.4 Conservation of Linear Momentum
X (34)
Fθ = maθ Principle of conservation of linear momentum can be expressed
as.
where ar = r̈ − rθ̇2 and aθ = rθ̈ + 2ṙθ̇ ∆G = 0 or G1 = G2 (44)

2
3.5 Angular Impulse and Angular Momen- which tells us that Newton’s second law holds for measurements
tum made in a system moving with a constant velocity .

The moment of linear momentum vector mv about the origin Urel = ∆Trel (55)
O is defined as the angular momentum HO of P about O.
where we define the kinetic energy relative to x-y-z as Trel =
HO = r × mv 2
1/2mvrel .Prelative to x-y-z, the impulse on the particle during
= m(vz y − vy z)i + m(vx z − vz x)j + m(vy x − vx y)k time dt is Fdt = marel dt. but marel dt = mdvrel = d(mvrel )

i j k

 (45) so, X
Fdt = d(mvrel ) (56)

= m  x y z 
vx vy vz 
We define the linear momentum P of the particle relative to x-y-z
as Grel = mvrel which gives us Fdt = dGrel dividing by dt
3.5.1 Rate of Change of Angular Momentum and integrating give
The moment MO about the origin O is the vector cross product X X
F = Ġrel and Fdt = ∆Grel (57)
X X
MO = r × F = r × mv̇ (46)
Thus, the impulse-momentum equations for a fixed reference
Differentiating the angular momentum equation, system also hold for measurements made relative to a constant-
velocity, nonrotating system.
0
ḢO = ṙ × mv + r × mv̇ =  v×mv + r × mv̇
:

(47) X
MB = (ḢB )rel (58)
The term v × mv is zero since the cross product of parallel

r
vectors is identically zero. Substitution into the expression for
P
M0 gives,
4 Ch4. Kinetics of Systems of Parti-
cles
X
MO = ḢO

ki (48)
This equation states that the moment about the fixed point In this section we consider the center of mass, and we define
O of all forces acting on m equals the time rate of change of velocity and and acceleration of the system wrt. center of mass,
angular momentum of m about O. ie, r̄, v̄ denotes the position and the velocity of the center of
mass, respectively.
Ca
3.5.2 The Angular Impulse-Momentum Principle
ˆ t2 X 4.1 Kinetic Energy Expression
(HO )1 + MO dt = (HO )2 (49)
1 X1
t1 T =mv 2 + mi |ρ̇i |2 (59)
2 2
3.6 Conservation of Angular Momentum This equation expresses the fact that the total kinetic energy of
a mass system equals the kinetic energy of mass-center trans-
∆HO = 0 or (HO )1 = (HO )2 (50) lation of the system as a whole plus the kinetic energy due to
m

motion of all particles relative to the mass center. Where ρ̇i

3.7 Impact denotes the velocity of each particle mi .
m1 v1 + m2 v2 = m1 v10 + m2 v20 (51)
4.2 Impulse-Momentum
3.7.1 Coefficient of Restitution 4.2.1 Linear Momentum
v 0 − v10 Relative velocity of separation
e= 2 = (52) G = mv (60)
v1 − v2 Relative velocity of approach
The time derivative of G ⇒ mv̇ = ma
Oblique central impact can be followed from the text on page
216. X
F = Ġ (61)

3.8 Relative Motion 4.2.2 Angular Momentum

3.8.1 Relative Motion Equation About a fixed point O,
aA = aB + arel (53) X
HO = (ri × mi vi ) (62)
3.8.2 Constant Velocity,Nonrotating Systems X
MO = ḢO (63)
In discussing particle motion relative to moving reference sys-
tems, we should note the special case where the reference system About the mass center G,
has a constant velocity and not rotating. If the x-y-z axes of The angular momentum of the mass system about the mass
Fig.3/25 have a constant velocity , then aB = 0 and the accel- center G is the sum of the moments of the linear momenta
eration of the particle is aA = arel . Therefore we may write, about G of all particles and is,
X X
F = marel (54) HG = ρi × mi ṙi (64)

3
We may write the absolute velocity ṙi as (ṙ + ρ̇i ) where ρ̇i is 5.2 Rotation About a Fixed Axis
the velocity of mi . v = rω

HG =
X
ρi × mi (ṙ + ρ̇i ) =
X
ρi × mi ṙ +
X
ρi × mi ρ̇i (65) an = rω 2 = v 2 /r = vω (78)
at = rα
X With vector expression,
HG = ρi × mi ρ̇i (66)

X v = ṙ = ω × r (79)
MG = ḢG (67)
Acceleration of a point is,
About an arbitrary point P,
a = v̇ = ω × ṙ + ω̇ × r
HP = HG + ρ × mv (68) = ω × (ω × r) + ω̇ × r (80)
=ω×v+α×r
X
MP = ḢG + ρ × ma (69) and,
v=ω×r
MP = (ḢP )rel + ρ × maP (70) an = ω × (ω × r) (81)
at = α × r
4.3 Conservation of Energy and Momentum Here, ω : angular velocity, α : angular acceleration where,
ω = θ̇ and α = ω̇ = θ̈

r
∆T + ∆V = 0 (71)

or 5.3 Absolute Motion

T1 + V1 = T2 + V2

ki
which express the law of conservation of dynamical energy.
(72) This section is very important and needs be studied from text.

5.4 Relative Velocity

In this section we consider two distinct points, A and B in
Ca
4.4 Steady Mass Flow the body, and examine their motions. Relative velocity of two
X points,
F = m0 ∆v (73) vA = vB + vA/B (82)

X The distance between A and b is r and the relative velocity

MO = m0 (d2 × v2 − d1 × v1 ) (74) between these two points is,

vA/B = rω (83)
4.5 Variable Mass
m

vA/B = ω × r (84)
Equation of motion,
X 5.5 Instantaneous Center of Zero Velocity
F = mv̇ + ṁv (75)
vA
ω= (85)
rA
5 Ch5. Plane Kinematics of Rigid
5.6 Relative Acceleration
Bodies
aA = aB + aA/B (86)
5.1 Angular Motion Relations aA = aB + (aA/B )n + (aA/B )t (87)

dθ where the magnitudes if the relative acceleration components

ω= = θ̇ are
dt 2
(αA/B )n = vA/B /r = rω 2
dω d2 θ (88)
α= = ω̇ or α = 2 = θ̈ (76) (αA/B )t = v̇A/B = rα
dt dt
ωdω = αdθ or θ̇dθ̇ = θ̈dθ In vector notation the acceleration components are
ωdt = dθ or αdt = dω
(aA/B )n = ω × (ω × r)
For rotation with constant angular accelerations (89)
(aA/B )t = α × r

ω = ω0 + αt
5.7 Motion Relative to Rotating Axes
ω 2 = ω02 + 2α(θ − θ0 ) (77)
1 vA = vB + ω × r + vrel (90)
θ = θ0 + ω0 t + αt2 | {z }
vA/B
2

4
5.7.1 Relative Acceleration 6.4 Impulse and Momentum
aA = aB + ω̇ × r + ω × (ω × r) + 2ω × v +arel (91) 6.4.1 Linear Momentum
| {z rel}
Coriolis Acceleration
G = mv (109)
ˆ t2 X
5.7.2 Coriolis Acceleration X
F = Ġ and G1 + Fdt = G2 (110)
aCor = 2ω × vrel (92) t1

Rotating disk with a slot example, 6.4.2 Angular Momentum

aA = ω × (ω × r) + 2ω × vrel (93) Hg = Iω (111)
ˆ t2 X
aP = aB + ω̇ × r + ω × (ω × r) X
(94) MG = ḢG and (HG )1 + MG dt = (HG )2 (112)
aA = aP + 2ω × vrel + arel t1

the angular momentum HO about any point O is

6 Ch6. Plane Kinetics of Rigid Bod- HO = Iω + mvd (113)
ies
—
6.1 General Equations of Motion Remarks:
X F: Force
F = ma (95) U: Work
a is the acceleration of mass center G. T: Kinetic Energy

r
X V: Potential Energy
MG = ḢG (96) P: Power
G: Linear Momentum

X
HG = Iω
MG = ḢG = I ω̇ = Iα

MP = ḢG + ρ × ma ki (97) H: Angular Momentum

(98)

(99)
M: Moment
Ca
X
MP = Iα + mad (100)
X
MP = IP α + ρ × maP (101)

6.2 Work-Energy Relations

Work done by a force F
ˆ ˆ
U = F · dr
m

or U = (F cos α)ds (102)

During finite rotations, work done by a couple M ,

ˆ
U = M dθ (103)

6.2.1 Kinetic Energy

Translation
1
T = mv 2 (104)
2
Fixed axis rotation
1
T = mω 2 (105)
2
General plane motion
1 1
T = mv 2 + Iω 2 (106)
2 2

|P = F · v {z P = M ω} (107)
P =F·v+M ω

6.3 Acceleration from Work-Energy; Virtual

Work
X X X X
dU 0 = mi ai · dsi + I i αi dθi + mi gdhi + kj xj dxj
(108)