Engineering Habits of Mind

http://www.raeng.org.uk/publications/reports/thinking-like-an-engineer-implications-full-report
 DYNAMICS –
KINETICS OF PARTICLES

2016 - 2
Engr. Mech. for ISE - 04
 FE Ref
Dynamics

Kinetics of particles

2016 - 3

Engr. Mech. for ISE - 04

 FE Ref Dynamics (cont.)

2016 - 4

Engr. Mech. for

ISE - 04 2016 - 4
 Learning Objectives – Particle Kinetics
II. Particle Kinetics
A. Equations of Motion
1. Newton’s Second Law
2. Equations of Motion – Cartesian Coordinates
3. Equations of Motion – Path Components
4. Equations of Motion – Cylindrical Coordinates
B. Work and Energy
1. Principle of Work and Energy
2. Potential and Kinetic Energy
3. Conservation of Energy
C. Impulse and Momentum
1. Principle of Linear Impulse and Momentum
2. Conservation of Momentum
3. Impact
Engr. Mech. for ISE - 04
4. Angular Momentum 2016 - 5
 Kinetics
Kinetics is the branch of dynamics that deals
with the relationship between the change in
motion of a body and the forces that cause this
change.

2016 - 6
Engr. Mech. for ISE - 04
 Kinetics and Kinematics
To solve any kinetics problem, the kinematics
problem must be solved first.

෍ 𝐹Ԧ = 𝑚𝑎Ԧ

The statics The kinematics

equations give us equations give us the
this side of the acceleration for this
equation. side of the equation.
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 Major Texts in the History of Kinetics
1623 – Galileo, Mechanics, referred to a
“force” acting on bodies
1637 – Descartes,
Discours de la méthode,
(“Discourse on Method”)
La Géométrie

1687 – Isaac Newton,

Philosophiae Naturalis Principia
Mathematica (“Mathematical Principles
of Natural Philosophy”),
published his three laws of motion
Engr. Mech. for ISE - 04 2016 - 8
 “Classical” Mechanics –
Newtonian Mechanics
1687 – Isaac Newton, Philosophiae Naturalis Principia
Mathematica: Three Laws of Motion, Cartesian Coordinates

“Classical” Mechanics –
Generalized Approaches
1810 – Lagrangian mechanics – Instead of forces, Lagrangian
mechanics uses the energies in the system L = T - V
1833 – Hamiltonian mechanics H = T + V
L is the “Langrangian”
H is the “Hamiltonian”
T is the kinetic energy
V is the potential energy
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 Lagrangian mechanics
A mathematical function called the Lagrangian is a function of generalized
coordinates, their time derivatives, and time, and contains the information about the
dynamics of the system.

Hamiltonian mechanics
In Newtonian mechanics, the time evolution is obtained by computing
the total force being exerted on each particle of the system, and from
Newton's second law, the time-evolutions of both position and velocity
are computed. In contrast, in Hamiltonian mechanics, the time
evolution is obtained by computing the Hamiltonian of the system in
the generalized coordinates and inserting it in the Hamilton's
equations.

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 Limitations of Classical Mechanics
Scale
Classical Mechanics provides extremely accurate results as
Macro

long as the domain of study is restricted to large objects and

the speeds involved do NOT approach the speed of light.
When the objects being examined are sufficiently small, it
becomes necessary to introduce, quantum mechanics, which
Nano

adjusts the laws of physics of macroscopic objects for the

atomic nature of matter by including the wave–particle
Nano & relativity

duality of atoms.
When both quantum mechanics and classical mechanics
cannot apply, such as at the quantum level with high speeds,
quantum field theory (QFT) becomes applicable.

Engr. Mech. for ISE - 04 2016 - 11

 Newton’s Three Laws
Law 1: Every body continues in its state of rest, or of
uniform motion in a right line, unless it is compelled to
change that state by forces impressed upon it.
Law II: The change of motion is proportional to the
motive force impressed, and is made in the direction of
the right line in which that force is impressed.
Law III: To every action there is always opposed an
equal reaction: or, the mutual action of two bodies
upon each other are always equal, and directed to
contrary parts.

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Engr. Mech. for ISE - 04
 Newton’s Second Law
The basis for kinetics is Newton's 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.

Newton’s Definition: Quantity of Motion

“The quantity of motion is the measure of
the same, arising from the velocity and
quantity of matter conjointly.
The motion of the whole is the sum of the
motion of all its parts; and therefore in a body double in quantity, with equal
velocity, the motion is double, with twice the velocity, it is quadruple.”

“Law II: The change of motion is proportional to the motive force

impressed, and is made in the direction of the right line in which that force
is impressed.”
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 Newton’s Second Law
This law can be verified experimentally by applying a known unbal-
anced force F to a particle, and then measuring the acceleration a.
Since the force and acceleration are directly proportional,
𝐹Ԧ ∝ 𝑎Ԧ 𝐹Ԧ = 𝑘𝑎Ԧ 𝑘=𝑚
The constant of proportionality, m, may be determined from the ratio
𝐹
𝑚=
𝑎

This positive scalar m is called the “mass” of the particle.

Being constant during any acceleration, m provides a quantitative
measure of the resistance of the particle to a change in its velocity,
that is its inertia: m is a measure of inertia.
𝐹Ԧ = 𝑚𝑎Ԧ
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Engr. Mech. for ISE - 04
 𝐹Ԧ = 𝑚𝑎Ԧ
𝑑 𝑣Ԧ
For constant mass, using 𝑎Ԧ = this can also be written as
𝑑𝑡
𝑑𝑣Ԧ 𝑑 𝑚𝑣Ԧ
𝐹Ԧ = 𝑚 =
𝑑𝑡 𝑑𝑡

Force is equal to the time rate of change of the particle’s

linear momentum.
Note: mv is Newton’s “quantity of motion”

If the mass is changing

𝑑 𝑚𝑣Ԧ 𝑑𝑚 𝑑𝑣Ԧ
𝐹Ԧ = = 𝑣Ԧ + 𝑚
𝑑𝑡 𝑑𝑡 𝑑𝑡

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 Newton’s Law of Universal Gravitation

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 𝑚1 𝑚2
𝐹Ԧ = 𝐺
𝑟2
On earth, let m1 = Me, the mass of the earth
re = the mean radius of the earth.
Me = 5.972 × 1024 kg
re = 6,371 km 3
−11
m
𝐺 = 6.67408 × 10 2
kg∙s
𝑀𝑒
𝐹Ԧ = 𝐺 2 𝑚
𝑟𝑒 Order of magnitude = 24 – 11 – 12=1
3
𝑀𝑒 −11
m 5.972 × 1024 kg
𝐺 2 = 6.67408 × 10 2
𝑟𝑒 kg∙s 6.371 × 106 m 2
𝑀𝑒
𝐺 = 9.82 𝑠𝑚2 = 𝑔 𝑔 = 9.81 𝑠𝑚2
𝑟𝑒2

𝑊 = 𝑚𝑔Ԧ
Engr. Mech. for ISE - 04 2016 - 17
 𝑊 = 𝑚𝑔Ԧ

In the FPS system WEIGHT is specified in pounds-force

(lbf).
The mass is calculated:

1 slug = 32.2 lbm (pounds-mass)

Engr. Mech. for ISE - 04 2016 - 18

 Learning Objectives – Particle Kinetics
II. Particle Kinetics
A. Equations of Motion
1. Newton’s Second Law
2. Equations of Motion – Cartesian Coordinates
3. Equations of Motion – Path Components
4. Equations of Motion – Cylindrical Coordinates
B. Work and Energy
1. Principle of Work and Energy
2. Potential and Kinetic Energy
3. Conservation of Energy
C. Impulse and Momentum
1. Principle of Linear Impulse and Momentum
2. Conservation of Momentum
3. Impact
Engr. Mech. for ISE - 04
4. Angular Momentum 2016 - 19
 Equations of Motion
Non-accelerating reference frame
“Newtonian” or “Inertial” Reference Frame:
When applying the equations of motion, it is important
that the acceleration of the particle be measured with
respect to a reference frame that is either fixed or
moving at a constant velocity.

Equation of motion:
෍ 𝐹Ԧ = 𝑚𝑎Ԧ
For a system, use the
acceleration of the center
of mass (gravity), aG ෍ 𝐹Ԧ = 𝑚𝑎Ԧ𝐺
2016 - 20
Engr. Mech. for ISE - 04
 ෍ 𝐹Ԧ = 𝑚𝑎Ԧ

ma

Free–body Kinetic
Diagram Diagram
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Engr. Mech. for ISE - 04
 ෍ 𝐹Ԧ = 𝑚𝑎Ԧ

Step 1. Use Step 2. Draw a

statics to draw the “kinetic diagram”
FBD using the showing assumed
selected vector directions.
coordinate system. Use kinematics to
Write the find equations for
equations for this acceleration.
side as if SF = 0.

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Engr. Mech. for ISE - 04
 D’Alembert Principle

෍ 𝐹Ԧ − 𝑚𝑎Ԧ = 0
Inertia force vector

The inertia force vector, in effect, changes the dynamics

problem in to a statics problem.
This is called a “dynamic equilibrium” problem.

Engr. Mech. for ISE - 04 2016 - 23

 2016 - 24
Engr. Mech. for ISE - 04
 Learning Objectives – Particle Kinetics
II. Particle Kinetics
A. Equations of Motion
1. Newton’s Second Law
2. Equations of Motion – Cartesian Coordinates
3. Equations of Motion – Path Components
4. Equations of Motion – Cylindrical Coordinates
B. Work and Energy
1. Principle of Work and Energy
2. Potential and Kinetic Energy
3. Conservation of Energy
C. Impulse and Momentum
1. Principle of Linear Impulse and Momentum
2. Conservation of Momentum
3. Impact
Engr. Mech. for ISE - 04
4. Angular Momentum 2016 - 25
 Equations of Motion –
Cartesian Coordinates

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 2016 - 27
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 2016 - 28
Engr. Mech. for ISE - 04
 the relative acceleration method

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 Example The 50-kg crate rests on a
y
horizontal surface for which
the coefficient of kinetic
friction is mk = 0.3. If the
crate is subjected to a 400-N
towing force as shown,
determine the velocity of the
x
crate in 3 s starting from rest.

Approach: Because towing force is constant,

Given: m = 50 kg acceleration is constant and rectilinear.
P = 400 N Find aC , then vC using constant acceleration eqns.
q = 30o Use Cartesian coordinate system.
mk = 0.3 Equations: ෍ 𝐹𝑥 = 𝑚𝑎𝑥
vC0 = 0 m/s Ԧ
෍ 𝐹 = 𝑚𝑎Ԧ

Find: vC at t = 3 s ෍ 𝐹𝑦 = 𝑚𝑎𝑦

Knowns: g = 9.81 m/s2 1. Draw free-body diagram

2. Draw kinetic diagram
Engr. Mech. for ISE - 04 2016 - 30
 Friction

F [=] N
N [=] N
The coefficient
of friction is
dimensionless.

Engr. Mech. for ISE - 04 2016 - 31

 http://blog.mechguru.com/machine-design/typical-

2016 - 32
coefficient-of-friction-values-for-common-materials/

for ISE - 04
Engr. Mech.
Wooden
Crate on ?,
mk = 0.3

2016 - 33

Engr. Mech. for ISE - 04

 m = 50 kg y
Solution ෍ 𝐹𝑥 = 𝑚𝑎𝑥
P = 400 N
q = 30o
෍ 𝐹𝑦 = 𝑚𝑎𝑦
mk = 0.3 x
vC0 = 0 m/s
1. Draw free-body diagram
y
490.5 N 400 N
Reactions and other forces.

x Weight W = mg
W = (50 kg)(9.81 m/s2)
mk NC = 490.5 N
NC
Force of kinetic friction = mk NC

2016 - 34
Engr. Mech. for ISE - 04
 m = 50 kg y
Solution (cont.) ෍ 𝐹𝑥 = 𝑚𝑎𝑥
P = 400 N
q = 30o
෍ 𝐹𝑦 = 𝑚𝑎𝑦
mk = 0.3 x
vC0 = 0 m/s
1. Draw free-body diagram

y
2. Draw kinetic diagram, m = 50 kg

50 ax

Equations of motion:
෍ 𝐹𝑥 = 𝑚𝑎𝑥 = 50𝑎𝑥

𝑎𝑦 = 0 ෍ 𝐹𝑦 = 0

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 ෍ 𝐹𝑥 = 50𝑎𝑥 m = 50 kg y
Solution (cont.) P = 400 N
q = 30o
෍ 𝐹𝑦 = 0
y
mk = 0.3
x
vC0 = 0 m/s
FBD
FBD in y
x
෍ 𝐹𝑦 = 𝑁𝐶 + 400N 𝑠𝑖𝑛30° − 490.5 N
Eqn. of motion in y
෍ 𝐹𝑦 = 𝑁𝐶 + 400N 𝑠𝑖𝑛30° − 490.5 N = 0
𝑁𝐶 = 490.5 N − 400N 𝑠𝑖𝑛30°
𝑁𝐶 = 290.5 N
Eqn. of motion in x
FBD in x
෍ 𝐹𝑥 = −0.3𝑁𝐶 + 400N 𝑐𝑜𝑠30° ෍ 𝐹𝑥 = 50𝑎𝑥
𝑁𝐶 = 290.5 N

෍ 𝐹𝑥 = −0.3 290.5 N + 400N 𝑐𝑜𝑠30° 259.3 N = 50𝑎𝑥

259.3 N
= 259.3 N 𝑎𝑥 = = 5.185 𝑠𝑚2
50 kg
Engr. Mech. for ISE - 04 2016 - 36
 y
Solution (cont.) 𝑎𝑥 = 5.185 𝑠𝑚2 m = 50 kg
P = 400 N
q = 30o
Find: vC at t = 3 s
mk = 0.3 x
vC0 = 0 m/s
0
𝑣𝐶 = 𝑣𝐶0 + 𝑎𝑥 𝑡
Kinetic Diagram
𝑣𝐶 = 5.185 𝑠𝑚2 3 𝑠 = 15.6 𝑚𝑠

2016 - 37
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 Example (FPS) Pound = lb = lbf
The baggage truck A shown in the photo
has a weight of 900 lb and tows a 550-lb
cart B and a 325-lb cart C. For a short time
the driving frictional force developed at
the wheels of the truck is FA = (40t) lb,
where t is in seconds. If the truck starts
from rest, determine its speed after 2 sec.
Also, what is the horizontal force acting
on the coupling between the truck and cart
Find: vA at t = 2 s
B at this instant? Neglect the size of the
FAB at t = 2 s
truck and carts.
Given: WA = 900 lbf Approach: Because force of friction is known (FA ),
WB = 550 lbf only the kinetic equation in x-direction is needed.
WC = 325 lbf Equations:
1. Draw free-body diagram
FA = (40 t) lbf ෍ 𝐹𝑥 = 𝑚𝑎𝑥 2. Draw kinetic diagram
vA(0) = 0
Knowns: g = 32.2 ft/s2 Once we know 𝑎𝑥 , we can use the kinematic equations
Engr. Mech. for ISE - 04 2016 - 38
to find 𝑣𝐴 and the kinetic equation to find FAB
 WA = 900 lbf
Solution WB = 550 lbf
WC = 325 lbf
Find: ax FA = (40 t) lbf
vA(0) = 0
g = 32.2 ft/s2 y

1. Draw free-body diagram x ෍ 𝐹𝑦 = 0 NA = 900 lbf

NB = 550 lbf
NC = 325 lbf

2. Draw kinetic diagram

𝑚𝑎𝑥

෍ 𝐹𝑥 = 𝑚𝑎𝑥

෍ 𝐹𝑥 = 𝐹𝐴 Putting the two sides of the

equation together: 𝐹𝐴 = 𝑚𝑎𝑥
Engr. Mech. for ISE - 04 2016 - 39
 Solution (cont.) WA = 900 lbf
y WB = 550 lbf
WC = 325 lbf
x FA = (40 t) lbf
vA(0) = 0
Find: ax g = 32.2 ft/s2

𝑊
𝐹𝐴 = 𝑚𝑎𝑥 𝑊 = 𝑚𝑔 𝑚 =
𝑔
FA = (40 t) lbf 55.1 𝑠𝑙𝑢𝑔𝑠 𝑎𝑥 900 + 550 + 325 lbf
𝑚=
32.2 𝑓𝑡
𝑠2
40𝑡 = 55.1𝑎𝑥 𝑙𝑏𝑓 ∙𝑠 2
slug [=]
40𝑡 𝑓𝑡
1775 lbf
𝑎𝑥 = 𝑚= = 55.1 slugs
55.1 32.2 𝑓𝑡
𝑠2

𝑎𝑥 = 0.7256𝑡
To calculate an answer in
lbf, mass must be in slugs.
2016 - 40
Engr. Mech. for ISE - 04
 Solution (cont.) WA = 900 lbf
y WB = 550 lbf
WC = 325 lbf
x FA = (40 t) lbf
𝑎𝑥 = 0.7256𝑡 vA(0) = 0
g = 32.2 ft/s2
Find: vA at t = 2 s
𝑑𝑣 𝑎𝑑𝑡 = 𝑑𝑣
𝑎=
𝑑𝑡
2 𝑣
න 𝑎𝑥 𝑑𝑡 = න 𝑑𝑣
0 0
2 𝑣
0.7256‫׬‬0 𝑡 𝑑𝑡 = ‫׬‬0 𝑑𝑣

𝑡2 2
0.7256 ฬ =𝑣
2 0
𝑣 = 2 0.7256 = 1.45 𝑓𝑡
𝑠
2016 - 41
Engr. Mech. for ISE - 04
 Solution (cont.) 𝑣 = 1.45 𝑓𝑡
WA = 900 lbf 𝑠
y WB = 550 lbf 𝑎𝑥 = 0.7256𝑡
WC = 325 lbf
FA = (40 t) lbf
x
vA(0) = 0
g = 32.2 ft/s2
2. Draw kinetic diagram
𝑚𝐴 𝑎𝐴𝑥
Find: FAB at t = 2 s ෍ 𝐹𝑥 = 𝑚𝑎𝐴𝑥

FBD Equation of motion:

𝐹𝐴 − 𝐹𝐴𝐵 = 𝑚𝐴 𝑎𝐴𝑥
𝐹𝐴𝐵 = 𝐹𝐴 − 𝑚𝐴 𝑎𝐴𝑥
FAB 𝑊𝐴
𝑚𝐴 =
𝑔
900 𝑙𝑏
𝐹𝐴𝐵 = 40𝑡 − 𝑓𝑡
0.7256𝑡
32.2𝑠2
at t = 2 s
෍ 𝐹𝑥 = 𝐹𝐴 − 𝐹𝐴𝐵 𝐹𝐴𝐵 = 40 2 − 28.0 0.7256 2
Engr. Mech. for ISE - 04 𝐹𝐴𝐵 = 39.4 𝑙𝑏 2016 - 42
 Learning Objectives – Particle Kinetics
II. Particle Kinetics
A. Equations of Motion
1. Newton’s Second Law
2. Equations of Motion – Cartesian Coordinates
3. Equations of Motion – Path Components
4. Equations of Motion – Cylindrical Coordinates
B. Work and Energy
1. Principle of Work and Energy
2. Potential and Kinetic Energy
3. Conservation of Energy
C. Impulse and Momentum
1. Principle of Linear Impulse and Momentum
2. Conservation of Momentum
3. Impact
Engr. Mech. for ISE - 04
4. Angular Momentum 2016 - 43
 Equations of Motion –
Path Coordinates (n-t)
normal - tangential

2016 - 44
Engr. Mech. for ISE - 04
 Example 61
Design of the ski jump shown in the 61
photo requires knowing the type
of forces that will be exerted on the n
skier and her approximate trajectory.
If in this case the jump can be 61 m
approximated by the parabola shown,
determine the normal force on the t
75 kg skier the instant she arrives at the
end of the jump, point A, where her
velocity is 20 m/s. Also, what is her Equations of motion: ෍ 𝐹𝑡 = 𝑚𝑎𝑡
acceleration at this point?
෍ 𝐹𝑛 = 𝑚𝑎𝑛
Given: mA = 75 kg
3
vA(0) = 20 m/s   dy  2
 2

1    
 v2    dx  
Find: Ns and aA an   n 
 d2y
Approach: Use n-t coordinates at A dx 2
1. Draw free-body diagram
Engr. Mech. for ISE - 04 2016 - 45 2. Draw kinetic diagram
 mA = 75 kg
Solution vA(0) = 20 m/s
61
61
Find: NSA and aA
n

1. Draw free-body diagram 61 m

2. Draw kinetic diagram

man
75 kg

Equations of motion mat

෍ 𝐹𝑡 = 0 = 𝑚𝑎𝑡 ∴ 𝑎𝑡 = 0
NSA
෍ 𝐹𝑛 = 𝑁𝑆𝐴 − 𝑚𝑔 = 𝑚𝑎𝑛
෍ 𝐹𝑡 = 0 3
  dy  2
 2

1    
෍ 𝐹𝑛 = 𝑁𝑆𝐴 − 𝑚𝑔  v2    dx  
an   n 
 d2y
dx 2 2016 - 46
Engr. Mech. for ISE - 04
 Solution (cont.) mA = 75 kg
Find: NSA and aA vA(0) = 20 m/s 61
61
𝑁𝑆𝐴 − 𝑚𝑔 = 𝑚𝑎𝑛 75 kg
v2 ∴ 𝑎𝑡 = 0 n
an 
 61 m
3
  dy  2  2

1     t
  dx   NSA

d2y 𝑑𝑦 𝑑 𝑥2 2𝑥
= − 61 =
dx 2 𝑑𝑥 𝑑𝑥 61 61

𝑑2 𝑦 𝑑 2𝑥 2
Find: aA = =
𝑑𝑥 2 𝑑𝑥 61 61
2𝑥 2(0)
A = (0, -61) 61
= 61
=0


1  0 
2
3
2

61
 30.5 m an 
20 ms 
2

 2 2 30.5 m
 
 61  an  12.9 sm2 = aA
2016 - 47
Engr. Mech. for ISE - 04
 Solution (cont.) mA = 75 kg
an  12.9 sm2
vA(0) = 20 m/s 61
෍ 𝐹𝑡 = 0 = 𝑚𝑎𝑡
61
75 kg
𝑎𝑡 = 0 n
෍ 𝐹𝑛 = 𝑁𝑆𝐴 − 𝑚𝑔 = 𝑚𝑎𝑛

61 m
Find: NSA
t
Equation of motion, n-dir.
NSA
𝑁𝑆𝐴 − 𝑚𝑔 = 𝑚𝑎𝑛
𝑁𝑆𝐴 = 𝑚𝑎𝑛 + 𝑚𝑔
𝑁𝑆𝐴 = 𝑚(𝑎𝑛 + 𝑔)

= (75 kg)(12.9 + 9.81)𝑠𝑚2

= 1700 N

2016 - 48
Engr. Mech. for ISE - 04
 Learning Objectives – Particle Kinetics
II. Particle Kinetics
A. Equations of Motion
1. Newton’s Second Law
2. Equations of Motion – Cartesian Coordinates
3. Equations of Motion – Path Components
4. Equations of Motion – Cylindrical Coordinates
B. Work and Energy
1. Principle of Work and Energy
2. Potential and Kinetic Energy
3. Conservation of Energy
C. Impulse and Momentum
1. Principle of Linear Impulse and Momentum
2. Conservation of Momentum
3. Impact
Engr. Mech. for ISE - 04
4. Angular Momentum 2016 - 49
 Equations of Motion –
Cylindrical Coordinates (r-q )

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 When dealing with motion along a curve, the tangential (F) and the
normal (N) components are no longer in the primary coordinate
directions. The directions of N and F can be specified relative to the
radial coordinate by using the angle y (psi), which is defined between
the extended radial line and the tangent to the curve.

Tangent

Engr. Mech. for ISE - 04 2016 - 51

 This angle can be obtained by noting that when the particle is
displaced a distance ds along the path, the component of
displacement in the radial direction is dr and the component of
displacement in the transverse direction is r dq. Since these two
components are mutually perpendicular, the angle y can be
determined dr
rdq y
tany 
dr
r
tany 
dr
dq r dq y

Note: Positive y is
in the same direction
as positive q.

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 2016 - 53
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 The smooth 0.5-kg double-collar can freely slide on
Example r arm AB and the circular guide rod. If the arm rotates
q with a constant angular velocity of w = 3 rad/s,
determine the force the arm exerts on the collar at the
instant q = 45°. Motion is in the horizontal plane.

Given: m = 0.5 kg
w = 3 rad/s
𝑟 = (0.8 cos 𝜃) m

w = 3 rad/s Find: Force at q = 45°.

Approach: Cylindrical coordinates, r - q.

Equations of motion:
ar  r  rw 2
෍ 𝐹𝑟 = 𝑚𝑎𝑟 a  rq  2rw
q
    
v  r r  rq q  z z
  ෍ 𝐹𝜃 = 𝑚𝑎𝜃

 
  
 
a  r  rq 2  r  rq  2rq  q  z z
1. Draw free-body diagram
2. Draw kinetic diagram
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 r
m = 0.5 kg q
Solution w = 3 rad/s
𝑟 = (0.8 cos 𝜃) m

1. Draw free-body diagram

2. Draw kinetic diagram

tangent
y
mar
maq

ar  r  rw 2
a  rq  2rw
q

෍ 𝐹𝑟 = −𝑁𝐶 𝑐𝑜𝑠45°
−𝑁𝐶 𝑐𝑜𝑠45° = 𝑚𝑎𝑟
෍ 𝐹𝜃 = −𝑁𝐶 𝑠𝑖𝑛45° + 𝐹
−𝑁𝐶 𝑠𝑖𝑛45° + 𝐹 = 𝑚𝑎𝜃

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 Eqns. of motion FBD r
Solution q
(cont.) −𝑁𝐶 𝑐𝑜𝑠45° = 𝑚𝑎𝑟

−𝑁𝐶 𝑠𝑖𝑛45° + 𝐹 = 𝑚𝑎𝜃

m = 0.5 kg
w = 3 rad/s ar  r  rw 2
𝑟 = (0.8 cos 𝜃) m a  rq  2rw
q

𝑟 = (0.8 cos 𝜃) w
𝑑 𝑑𝜃 𝑑 𝑑(cos 𝜃)
𝑟ሶ = (0.8 cos 𝜃) 𝑟ሶ = (0.8 cos 𝜃) = 0.8𝜔 = −0.8𝜔sin𝜃
𝑑𝑡 𝑑𝑡 𝑑𝜃 𝑑𝜃

w
𝑑𝜃 𝑑 𝑑(−sin 𝜃)
𝑟ሷ = (−0.8 𝜔sin 𝜃)= 0.8𝜔 2 = −0.8𝜔2 cos𝜃
𝑑𝑡 𝑑𝜃 𝑑𝜃

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 Eqns. of motion FBD r
Solution q
(cont.) −𝑁𝐶 𝑐𝑜𝑠45° = 𝑚𝑎𝑟

−𝑁𝐶 𝑠𝑖𝑛45° + 𝐹 = 𝑚𝑎𝜃

m = 0.5 kg
w = 3 rad/s ar  r  rw 2
a  rq  2rw
q

𝑟 = (0.8 cos 𝜃) q = 45°

𝑟ሶ = −0.8𝜔sin𝜃 w = 3 rad/s
𝑟ሷ = −0.8𝜔2 cos𝜃 𝜃ሷ = 0
Find: NC at q = 45°
𝑟 = (0.8 cos 𝜃) = (0.8 cos 45) = 0.8 0.707 = 0.5657 m
𝑟ሶ = −0.8𝜔sin𝜃 = [−0.8 (3) sin 45] = 0.8 3 0.707 = −1.6971 m/s
𝑟ሷ = −0.8𝜔2 cos𝜃 = [−0.8 3 2 cos 45] = 0.8 32 0.707 = −5.091 m/s2

ar  r  rw 2 = – 5.091 m/s2 – (0.5657 m)(3 rad/s)2 = – 10.18 m/s2

aq  rq  2rw = 2(– 1.6971 m/s)(3 rad/s) = – 10.18 m/s2

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 Eqns. of motion FBD r
Solution q
(cont.) −𝑁𝐶 𝑐𝑜𝑠45° = 𝑚𝑎𝑟

−𝑁𝐶 𝑠𝑖𝑛45° + 𝐹 = 𝑚𝑎𝜃

m = 0.5 kg
w = 3 rad/s

ar= – 10.18 m/s2

aq =– 10.18 m/s2

Find: NC at q = 45°
−𝑚𝑎𝑟 − 0.5 𝑘𝑔 −10.18𝑠𝑚2
𝑁𝐶 = = = 7.2 N
𝑐𝑜𝑠45° 0.707

𝐹 = 𝑚𝑎𝜃 + 𝑁𝐶 𝑠𝑖𝑛45°

= 0.5 𝑘𝑔 −10.18𝑠𝑚2 + 7.2 𝑁 0.707 =0N

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 Example
An aluminum can C, having a mass
of 0.5 kg, moves along a grooved
horizontal slot shown. The slot is in
the form of a spiral, which is defined
by the equation r = (0.1q ) m, where w = 4 rad/s
q is in radians. If the arm OA rotates
𝑟 = (0.8 cos 𝜃) m
with a constant rate w = 4 rad/s in
the horizontal plane, determine the
force it exerts on the can at the
instant q = p rad. Approach: Cylindrical coordinates, r - q.
Neglect friction and the size of the
can. Equations of motion:
a  r  rw 2
r
Given: m = 0.5 kg ෍ 𝐹𝑟 = 𝑚𝑎𝑟
aq  rq  2rw
w = 4 rad/s ෍ 𝐹𝜃 = 𝑚𝑎𝜃
𝑟 = 0.1𝜃 m

Find: Force on C at q = p rad. 1. Draw free-body diagram

2. Draw kinetic diagram
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 m = 0.5 kg
Solution
1. Draw free-body diagram

w = 4 rad/s

y
f q

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 m = 0.5 kg
Exercise 2 Calculate y at q = p rad.

y
r dq w = 4 rad/s
dr
f

0.1q
tany  q
0.1
r
tany  0.1q
dr tany   q  p rad
dq 0.1
r  0.1q
y  tan 1 p  72. 3o
dr d 0.1q 
  0.1
dq dq
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 m = 0.5 kg
Solution
f  90 y  90 - 72. 3o  17.7 o
r

ar  r  rw 2 w = 4 rad/s
a  rq  2rw
q q

y  72. 3o

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