Dynamics of Solid Mechanics– MEE 201

Lecturer: Selase Kwame Mantey

Department: Civil Engineering

Sept. 2024
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Dynamics of Solid Mechanics– MEE 201

Lecture 5-6-7-8
Kinematics of Rigid Bodies
And
Vibration

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Contents

➢Kinematics of Rigid Bodies

◆Equations of motions
◆Work and Energy
◆Impulse and momentum

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 Planar Rigid-Body Motion Kinematics of Rigid Bodies

Rectilinear and
Particle motion
Curvilinear translation

Rectilinear,
Rigid bodies Curvilinear translation and
motion angular rotation

Linear and angular displacements, Cams, gears, and

velocities, and acceleration shafts
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Planar Rigid-Body Motion Kinematics of Rigid Bodies

Motion generated

Development of forces for

design consideration

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 Planar Rigid-Body Motion Kinematics of Rigid Bodies
A rigid body is a system of particles for which the
distances between the particles remain unchanged.
Assumption Plane Motion

Interparticle motion is Translation-rectilinear and

negligible compared to the curvilinear.
motion of the whole body Rotation, Combination of
translation and rotation is
general plane motion. 6
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 Planar Rigid-Body Motion Kinematics of Rigid Bodies

Rotation
The rotation is described by its angular motion.

All lines on a rigid body in its plane of motion

have the same angular displacement, the same
angular velocity, and the same angular
acceleration.
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 Planar Rigid-Body Motion Kinematics of Rigid Bodies

Angular-Motion Relations

The angular velocity 𝝎 and angular acceleration

𝜶 are derived by solving the first and second
derivatives of the angular displacement 𝜽.

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 Planar Rigid-Body Motion Kinematics of Rigid Bodies

Constant Angular Acceleration

The equations of motion are represented by

(after integrating the above eqns):

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 Planar Rigid-Body Motion Kinematics of Rigid Bodies

Rotation about a Fixed Axis

All body on a rigid body move in concentric

about a fixed axis other than points on the fixed
axis.

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 Planar Rigid-Body Motion Kinematics of Rigid Bodies

Work Example

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 Planar Rigid-Body Motion Kinematics of Rigid Bodies

General eqn of motion

General equations of motion for a rigid

body in plane motion

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Planar Rigid-Body Motion Kinematics of Rigid Bodies
Work Example
Translation

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Planar Rigid-Body Motion Kinematics of Rigid Bodies
Work Example
Fixed – Axis Rotation

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 Planar Kinetics of a Rigid Body: Kinematics of Rigid Bodies
Kinetic Energy
Work and Energy Translation

Work done by force is :

Fixed-axis rotation

General plane motion

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 Planar Kinetics of a Rigid Body: Kinematics of Rigid Bodies
Power
Work and Energy

Potential Energy and the Work energy eqn

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 Planar Kinetics of a Rigid Body: Kinematics of Rigid Bodies

Work and Energy

Work example

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 Planar Kinetics of a Rigid Body: Kinematics of Rigid Bodies
Angular Momentum
Impulse-Momentum Equations

Linear Momentum

Conservation of Momentum

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 Planar Kinetics of a Rigid Body: Kinematics of Rigid Bodies

Impulse-Momentum Equations

Work Example

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 Vibration and Time Response: Kinematics of Rigid Bodies
Vibration
Free Vibration of Particles

Oscillation to applied disturbance in the

presence of restoring forces. Free Vibration Forced Vibration

Example: motion in earthquakes, vibration Undamped Damped

of unbalance rotating machine, wind free Free
vibration Vibration
induced vibration of power lines, and flutter
of aircraft wings.

Objective: is to reduce excess vibration.

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 Vibration and Time Response: Kinematics of Rigid Bodies
Equation of Motion for Undamped Free
Free Vibration of Particles Vibration

Motion of a body from its equilibrium

position when disturbed with application of
an imposed external force. The oscillation of a mass subjected to a
linear restoring force is called simple
There is the presence of damping forces, harmonic motion. It is characterized by
mechanical and fluid friction. acceleration which is proportional to the
displacement but opposite direction.

where

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 Vibration and Time Response: Kinematics of Rigid Bodies
Substitute the x function into harmonic
Free Vibration of Particles equation

Solution for Undamped Free Vibration

The constants A,B an C are determined
A solution is assumed that gives the x
by knowing initial displacement x0 and
displacement as a periodic function of time.
initial velocity of the mass.

For example, evaluating x and ẋ at time

t=0,

Or x0 = A and ẋ0= Bwn

Substituting the values into equation

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 Vibration and Time Response: Kinematics of Rigid Bodies
Solving for C and ψ yields
Free Vibration of Particles

The final displacement equation yields

In similar manner , C and ψ can be solve The two-x equation represent different
from equation mathematical expressions for the same
time-dependent motion.

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 Vibration and Time Response: Kinematics of Rigid Bodies
Solving fo
Free Vibration of Particles

Graphical representation of motion

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 Vibration and Time Response: Kinematics of Rigid Bodies
At equilibrium position x=0, the sum of
Free Vibration of Particles forces is zero

Equilibrium of vertical motion

The terms cancel out and given

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 Vibration and Time Response: Kinematics of Rigid Bodies

Free Vibration of Particles

Equation of motion for damp free vibration

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 Vibration and Time Response: Kinematics of Rigid Bodies

Free Vibration of Particles

Solution for Damped free vibration

The linear system can be superimposed,

the general solution is the sum of the
The solution of the form: is assumed individual solutions each of which
corresponds to one root of the
characteristic equation. General Solution

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 Vibration and Time Response: Kinematics of Rigid Bodies

Free Vibration of Particles Damped natural frequency

Categories of Damped Motion

0 ≤ 𝜻 ≤ ∞ the radicand ( 𝜻 2-1) , maybe

positive , negative, or even zero

1. If 𝜻> 1 (overdamped). Distinct roots

2. If 𝜻 = 𝟏 (Critically damped). The roots
are equal, real and negative.
3. If 𝜻 < 𝟏 (underdamped).

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 Vibration and Time Response: Kinematics of Rigid Bodies

Free Vibration of Particles

Work Example:

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