Introduction to Dynamics

Lecture Notes: Dr. Ceren BİLGİN GÜNEY

References:

Vector Mechanics for Engineers: Dynamics, Ferdinand Beer,E. Russell Johnston, David
F. Mazurek: McGraw Hill

Engineering Mechanics: Dynamics, Russell C. Hibbeler: Prentice Hall

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 Introduction to Dynamics
• Engineering Mechanic: Dynamics
• Dynamics :Kinematics and Kinetics
• Basic Concepts:
– Space, Time, Mass and Force
• Definitions
– Particle and Rigid Body
– Rectilinear Motion and Curvilinear Motion

• Fundamentals of Mechanics:
– The Parallelogram Law for the Addition of Forces & The Principle of
Transmissibility
– Newton’s Three Fundamental Laws
– Newton’s Law of Gravitation
• Systems of Units
 Engineering Mechanic: Dynamics
Mechanics can be defined as that science which describes and predicts the conditions of
rest or motion of bodies under the action of forces.

The mechanics of the rigid bodies dealing with the bodies at rest is termed as ‘Statics’and
that dealing with bodies in motion is called Dynamics’
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 Dynamics :
Kinematics and Kinetics

Kinematics: study of the geometry of motion.

Relates displacement, velocity, acceleration, and time without reference
to the cause of motion.

Kinetics: study of the relations existing between the forces acting on

a body, the mass of the body, and the motion of the body.

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Dynamics: Kinematics and Kinetics
Kinematic relationships are used to
help us determine the trajectory of a
golf ball, the orbital speed of a
satellite, and the accelerations during
acrobatic flying.

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Dynamics: Kinematics and Kinetics

(kaldırma kuvveti)

(hava direnci)
(İtme)
(sürtünme)

Kinetics is used to predict the motion caused by given forces or to

determine the forces required to produce a given motion.
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Basic Concepts: Space, Time, Mass and Force

• The basic concepts in mechanics are space,

time, mass and force.
• Space, time, mass are absolute quantities,
• Force is a derived quantity.
 Basic Concepts: Space, Time, Mass and Force
Space (uzay): The geometric region in which study of body is involved is called space.
A point in the space may be referred with respect to a predetermined point by a set of
linear and angular measurements.
The reference point is called the origin and set of measurements as ‘coordinates’.
If coordinates involve only in mutually perpendicular directions they are known as
Cartesian coordinates.
If the coordinates involve angle and distances, it is termed as polar coordinate system

In Newtonian Mechanics the basic reference system is named as the “primary inertal system”
(birincil mutlak sistem) and it is a virtual system assumed as neither rotating or nor translating
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Basic Concepts: Space, Time, Mass and Force
Time (zaman): Time is the measure of succession of events.

The successive event selected is the rotation of earth about its own axis and this
is called a day. To have convenient units for various activities, a day is divided into
24 hours, an hour into 60 minutes and a minute into 60 seconds.

Extra Info 

To overcome difficulties due to irregularities in the

earths rotation, the unit of time is taken as second
which is defined as the duration of 9192631770
period of radiation of the cesium-133 atom.

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 Basic Concepts: Space, Time, Mass and Force
Mass (kütle): It is the measure of inertia of a
body which is its resistance to a change of motion

Also called ‘the quantity of the matter’

The mass of a body will not change unless the

body is damaged and part of it is physically
separated.

Force (kuvvet): A force represents the action of one

body on another. It can be exerted by actual contact or
at a distance, as in the case of gravitational forces and
magnetic forces.

A force is characterized by its point of

application, its magnitude, and its direction;
a force is represented by a vector.

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 Definitions: Particle and Rigid body
Particle (Parçacık veya maddesel nokta) : A particle may be defined as an object
which has only mass and no size. Such a body cannot exist theoretically.

However in dealing with problems involving distances considerably larger compared

to the size of the body, the body may be treated as particle, without sacrificing
accuracy.

So, when the dimensions of a body are irrelevant to the description of its motion or
the action of forces on it, a large body may also be treated as a particle
 A particle is assumed to have mass but no
shape and dimensions.
 The mass is concentrated at one point,
center of mass.
 All the forces acting on the body will have
to pass from this point, i.e. the forces will
be concurrent.
 rotation of points with respect to center of
mass is neglected.

Particle: Body with negligible (ihmal edilebilir) dimensions

 Definitions: Particle and Rigid body
Rigid body (rijit cisim): A body is said to be rigid, if the relative positions of any
two particles of this body do not change under the action of the forces

 distance between points is fixed, no size or shape changes, idealization of

flexible body

 rotation of points with respect to center of mass is taken into account

Rigid body: Body with negligible deformations

Non-rigid body: Body which can deform

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 Definitions: Particle and Rigid body
Any object can be modelled as particle or a rigid body depending conditions of the
problem:
Example - Ski jumper
• model as a particle: if interested in • model as a rigid body: if interested in
finding how far he jumps finding the position of the head with
respect to torso

Recall: rotation of points with respect to

center of mass is taken into account to
model as rigid body int-13
 Definitions: Particle and Rigid body
Any object can be modelled as particle or a rigid body depending conditions of the
problem:
Example - Ship:
• model as a particle: if interested in
finding how long it will take for the
ship to travel between destinations
around the globe

• model as a rigid body: if interested in

wether the ship will lean depending on
loading conditions

• model as a rigid body: if interested in

motions of the ship in waves
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 Definitions: Particle and Rigid body
• Rectilinear motion (doğrusal
hareket): position, velocity, and
acceleration of a particle as it
moves along a straight line.

• Curvilinear motion (eğrisel

hareket) : position, velocity,
and acceleration of a particle
as it moves along a curved
line in two or three
dimensions.

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 Fundamentals of Mechanics

The study of elementary mechanics rests on six fundamental principles based on

experimental evidence :

 The Parallelogram Law for the Addition of Forces

 The Principle of Transmissibility
 Newton’s Three Fundamental Laws
 Newton’s Law of Gravitation

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 Fundamentals of Mechanics
The study of elementary mechanics rests on six fundamental principles based on
experimental evidence:

The Parallelogram Law for the Addition of Forces: This

states that two forces acting on a particle may be replaced
by a single force, called their resultant ,obtained by
drawing the diagonal of the parallelogram which has sides
equal to the given forces

The Principle of Transmissibility: This states that the

conditions of equilibrium or of motion of a rigid body
will remain unchanged if a force acting at a given
point of the rigid body is replaced by a force of the
same magnitude and same direction, but acting at a
different point, provided that the two forces have the
same line of action

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 Fundamentals of Mechanics:
Newton’s Three Fundamental Laws
FIRST LAW: If the resultant force acting on a particle is zero, the particle will remain at rest (if
originally at rest) or will move with constant speed in a straight line (if originally in motion)

SECOND LAW: If the resultant force acting on a particle

is not zero, the particle will have an acceleration
proportional to the magnitude of the resultant and in the
direction of this resultant force.

THIRD LAW: The forces of action and reaction between

bodies in contact have the same magnitude, same line
of action, and opposite sense

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 Fundamentals of Mechanics:
Newton’s Law of Gravitation
This states that two particles of mass M and m are mutually
attracted with equal and opposite forces F and –F of
magnitude F given by the formula

r = distance between the two particles

G = universal constant called the constant of gravitation

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 Fundamentals of Mechanics:
Newton’s Law of Gravitation
A particular case of great importance is that of the attraction of the earth on a particle
located on its surface.

The force F exerted by the earth on the particle is then defined as the weight W of the
particle. Taking M equal to the mass of the earth, m equal to the mass of the particle, and r
equal to the radius R of the earth, and introducing the constant ‘g’

the magnitude W of the weight of a particle of mass m may be expressed as

The value of g varies with the position of the point considered. As long as the point actually
remains on the surface of the earth, it is sufficiently accurate in most engineering
computations to assume that g =9.81 m/s2

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 Fundamentals of Mechanics:
Newton’s Law of Gravitation

When a body is taken out in a space craft, the mass will not change but its weight may
change due to change in gravitational force.
Even the body may become weightless when gravitational force vanishes but the mass
remain the same.
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 SYSTEM OF UNITS:
International System of Units (SI Units)
In this system, the base units are the units of length, mass, and time. The unit of force is a
derived unit.

Quantity Symbol unit

length L m
mass m kg (kilogram)
time t s (second)
Force F N (Newton)

The International System of metric units (SI) is preferred

in this lecture
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 SYSTEM OF UNITS:
U.S. Customary Units.
Most practicing American engineers still commonly use a system in which the
base units are the units of length, force, and time. Mass is derived unit.

Quantity Symbol unit

Length L ft (foot)
Force F Pound (lb)
time t s (second)
mass m slug

The unit for mass, sometimes called a slug ,can be derived from the equation
F=ma,

(where g is the acceleration of gravity (g = 32.2 ft/s2).

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 SYSTEM OF UNITS:
Conversion From One System of Units To Another
Because the unit of time is the same in both systems, only two kinetic base units need
be converted. Thus, since all other kinetic units can be derived from these base units,
only two conversion factors need be remembered.

Units of Length.

Units of Force

Units of Mass

The conversion tables found in literature and the internet can also be beneficial…

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