Engineering Mechanics (II)

Dynamics
second Semester 2023-2024

LECTURE 2

Engineering Mechanics: II 2023/2024

Example 1.2
The motion of a box B moving along the spiral
conveyor shown in Fig. is defined by the position
vector r = {(0.5 sin 2t)i + (0.5 cos 2t)j – (0.2t)k} m,
where t is in seconds and the arguments for sine
and cosine are in radians.
Determine the location of
the box when t = 0.75 s
and the magnitudes of its
velocity and acceleration
at this instant.
 r = {(0.5 sin 2t)i + (0.5 cos 2t)j – (0.2t)k} m
Position. Evaluating r when t = 0.75 s yields
r t  0.75  {0.5 sin(1.5rad)i  0.5 cos(1.5rad) j  0.15k} m

 {0.499i  0.0354j  0.15k}m

The distance of the box from the origin O is
r  (0.499) 2  (0.0354) 2  (0.15) 2  0.522 m
The direction of r is obtained from the components of
the unit vector,
r 0.499i  0.0354 j  0.15k
ur  
r 0.522
u r  0.955i  0.0678j  0.287k
 u r  0.955i  0.0678j  0.287k
Hence, the coordinate direction angles
  cos 1 (0.955)  17.2 o
  cos 1 (0.0678)  86.1o

  cos 1 (0.287)  107 o

Velocity. The velocity is defined by
dr d
v  {0.5 sin( 2t ) i  0.5 cos(2t ) j  0.2t k}
dt dt
 {cos(2t ) i  sin(2t ) j  0.2 k} m/s
Computing at t = 0.75 s, we get
v  0.0608i  0.998j  0.2k m/s
 v  0.0608i  0.998j  0.2k m/s
the magnitude of velocity, or the speed, is
v  (0.0608)  (0.998)  (0.2)  1.02 m/s
2 2 2

Acceleration v  {cos(2t ) i  sin(2t ) j  0.2 k} m/s

dv
a  {(2 sin 2t )i  (2 cos 2t ) j  0k} m/s 2
dt
Computing at t = 0.75 s, we get
a  1.996 i  0.1216 j  0 k
the magnitude of acceleration is
Motion of a Projectile
If air resistance is neglected, the only force acting on
the projectile is its weight, which causes the projectile
to have a constant downward acceleration of
approximately
a  g  9.81 m/s 2 a  g  32.2 ft/s 2

So, the acceleration components are

ax  0 a y  g

The motion of the projectile is characterized by the

resultant of two perpendicular motions, for example
horizontal motion and vertical motion.
Horizontal Motion (Constant speed).
v x  (v x )i
ax  0
x  x i  (v x )i t
Vertical Motion (Constant acceleration).
v y  (v y )i  ay t
a y  g
1 2
y  y i  (v y )i t  ay t
2
v y  (v y )i  2ay ( y  y i )
2 2

Only two of the above three equations are independent

of one another.
the resultant velocity v, is always tangent to the path.
Motion of a Projectile
 y
v
v  vx i  v y j vy

x
vx
It has a magnitude and direction defined by

vy
v v  2
vx  vy
2
tan  
vx
 Example 1.3
A sack slides off the ramp, shown in Figure, with a
horizontal velocity of 12 m/s. If the height of the ramp
is 6 m from the floor,
determine the time
needed for the sack
to strike the floor
and the range R
where sacks begin
to pile up.
Coordinate System.

Vertical Motion.

yi  0

(v y )i  0 m/s
Horizontal Motion.
a y  9.81 m/s 2

xi  0 ax  0

y  6 m (vx )i  12 m/s x R?

 yi  0 (v y )i  0 a y  9.81 m/s 2

y  6 t AB  ?

Vertical Motion.
v y  (v y )i  ay t
1
y  y i  (v y )i t AB  ay t AB
2
1 2
2 y  y i  (v y )i t  ay t
2
1
 6  0  0  (9.81) t AB
2
2 v y2  (v y )i2  2ay ( y  y i )
t AB  1.11 s
Horizontal Motion. xi  0 ax  0

x  x i  (v x ) t AB (vx )i  12 m/s x R?

t AB  1.11 s
R  0  (12)(1.11)

R  13.3 m
 Example 1.4
The chipping machine is designed to eject wood chips
at v i  25 ft/s as shown in Figure. If the tube is
oriented at 30° from the horizontal, determine how
high, h, the chips strike the pile if they land on the
pile 20 ft from
the tube.
Coordinate System. xi  0 yi  0

(v x )i  25 cos30o  21.65 ft/s

(v y )i  25 sin30o  12.5 ft/s (v x )A  (v x )i  21.65 ft/s
ax  0
At A: x = 20 ft, y = h - 4
a y  32.2 ft/s 2
Horizontal Motion. x  x i  (v x ) t AB
20  0  21.65 tOA tOA  0.9238 s
1
Vertical Motion. y A  y i  (v y )i tOA  ay tOA
2

2
At A: x = 20 ft, y = h - 4
1
h  4  0  (12.5)(0.9238)  (32.2) (0.9238) 2
2

h  1.81 ft
 Example
The 1.5this racing event was designed so that
track for
riders jump off the slope at 30°, from a height of 1 m.
During a race it was observed that the rider shown in
Figure remained in mid air for 1.5 s.
Determine the speed at which he was traveling off the
slope, the horizontal distance
he travels before striking the
ground, the maximum height
he attains and the components
of the velocity at which
he strikes the ground.
Neglect the size of the
bike and rider.
Coordinate System.

t AB  1.5 s

Vertical Motion.

yi  0

(v y )i  v i sin30 m/s
o
Horizontal Motion.
a y  9.81 m/s 2 xi  0
(v x )  v i cos30o m/s
y  1 m
ax  0 x R?
 yi  0 (v y )i  v i sin30o m/s

a y  9.81 m/s 2
y  1
t AB  1.5 s
Vertical Motion.
1 2
y B  y i  (v y )i t AB  ay t AB
2
1
1  0  (v i sin30 ) (1.5)  (9.81)(1.5)2
o

2
v i  13.38 m/s
Horizontal Motion. xi  0 ax  0
x  x i  (v x )t AB (v x )  v i cos30 m/s
o

R  0  (13.38 cos 30o )(1.5) t AB  1.5 s x  R  ?

R  17.4 m

At the maximum height

(v y ) C  0

v  (v )  2ay ( y  y i )
2
y
2
y i

0  (13.38 sin 30o ) 2  2(9.81)((h  1)  0))

h  3.28 m
The bike will strike
the ground at B with
a velocity having
components of

(v x )B  (v x )  13.38 cos30o  11.6 m/s

v y  (v y )i  ay t

(v y )B  13.38 sin30  (9.81)(1.5)  8.02 m/s

o
 Curvilinear Motion:
Normal and Tangential Components
Planar Motion.
When the path along which a particle is moving
is known, it is often convenient to describe the
motion using n and t
coordinates which act
normal and tangent to
the path, respectively,
and at the instant
considered have
their origin located
at the particle.
The t axis is tangent to the curve at P and is
positive in the direction of increasing s.
The normal axis n is perpendicular to the t axis
and is directed from P toward the center of
curvature O'
The plane which contains the n and t axes is
referred to as the osculating plane, and in this
case it is fixed in the plane of motion.
radius of curvature 
Position. s  s(t )
Velocity.
v  vu t v  s
Acceleration.
a  v  vut  vu t
 s v
u t   u n  u n  u n
 
a  at ut  anu n
v2
at  v and an 

or dv
at  v at ds  vdv
ds
the magnitude of acceleration is the positive
value of
a  a  at2  an2

Remark. If the path is expressed as y  f (x)

then the radius of curvature at any point on the
path is determined by using the equation

[1  (dy / dx) 2 ]3 / 2

d 2 y / dx 2
Consider the following two special cases of
motion.
1. If the particle moves along a straight line, then
  an  0 a  at  v

So, we can conclude that the tangential component

of acceleration represents the time rate of change in
the magnitude of the velocity.
2. If the particle moves along a curve with a constant
speed, then
v2
at  v  0 a  an 

Therefore, the normal component of acceleration
represents the time rate of change in the direction
of the velocity.
Since a n always acts towards the center of
curvature, this component is sometimes referred to
as the centripetal acceleration.
Three-Dimensional Motion.
Since u t and u n
are always perpendicular to
one another and lie in the
osculating plane, for spatial
motion a third unit vector, u b
defines a binomial axis b which
is perpendicular to u t and u n
the three unit vectors are related to one another by
the vector cross product
ub  ut  u n u n  ub  ut
Example 1.6
When the skier reaches point A along the parabolic
path in Fig., he has a speed of 6 m/s which is
increasing at 2 m/s2.
Determine the
direction of his
velocity and the
magnitude of his
acceleration at this
instant. Neglect the
size of the skier in
the calculation.
Velocity.
The velocity is always directed tangent to the path.
Since 2
1 2 dy d y
y x  0.1x 2
 0.1
20 dx dx
Hence, at A, x  10
v makes an angle of
1dy
  tan ( )  tan 1 (1)  45o
dx x 10

with the x axis. Therefore,

v A  6 m/s   45o
Acceleration. at  v v2
an 

However, it is first necessary to determine the radius
of curvature of the path at A (10 m, 5 m),

[1  (dy / dx) ]2 3/ 2
[1  (0.1x)2 ]3 / 2
 2 2
  28.28 m
d y / dx 0.1 x 10

at  v  2 m/s 2

v2(6) 2
an    1.273 m/s 2
 28.28
 2 2
v
(6)
at  v  2 m/s 2 an    1.273 m/s 2
 28.28

a  2 u t  1.273 u n m/s 2

a  (2) 2  (1.273) 2  2.37 m/s 2

12
  tan  57.5o
1.273