ASEN 5022 - Spring 2005

Dynamics of Aerospace Structures

Lecture 01: 11 January 2005
Introduction

Dynamics according to
Galilei Galileo (Two New Sciences, 1636):
A subject of never-ending interest.
Isaac Newton (The Principia, 1687):
We offer this work as the mathematical principles of philosophy; for all the difculty of philosophy seems to consist in
this from phenomena of motions to investigate the forces of
nature, and then from these forces to demonstrate the other
phenomena; and to this end the general propositions in the
rst and second book are directed.

What we will learn/acquire in this course:

Kinematics which are essential for the description of motions
of masses.
Ability to derive the equations of motion for complex dynamical systems.
Understanding of vibration phenomena for structural elements.
Ability to model complex vibration problems by reduced number of equations.
Applications of dynamical principles for engineering design
applications.

Transition from Statics to Dynamics

Statics

Dynamics

For ce equilibrium :
f or a f r ee body i

j fi j = 0

fi j m i ai = 0
j

Moment equilibrium :
ar ound point P

j MP j = 0

M P j r P j (m j a j ) = 0

Observation: The crucial aspect of dynamics is the need to compute the acceleration vector for every mass in the system.

Landaus Uniqueness Theorem

If all the position vectors {x1 , x2 , ..., xn } and the velocity vec
tors { 1 , x2 , ..., xn } for n particles are given at some instant,
x

the accelerations { 1 , x2 , ..., xn } at that instant are uniquely

x
dened.
The relations between the accelerations, velocities and position vectors are called the equations of motion.

L. D. Landau and E. M. Lifshits, Mechanics (3rd ed.), Pergamon

Press, 1959.

Reference Frame and Position Vector

Consider two frames, K and K , where V is constant in both
magnitude and direction, and in which the properties of space
and time are the same.
Example of Two Inertial Frames

Frame K'

Frame K

r
r'
Vt
O'

O
r = Vt + r'

Reference Frame and Position Vector-Contd

The kinematic relations between frames K and K are:
r = Vt + r

r=V+r
v=V+v

r=r
a=a
Conclusion: The acceleration vectors are the same in all inertial frames!
Hence, Galileos relativity principle holds.
In all inertial frames, the laws of mechanics are the same, which is referred to Galileos relativity principle, one of the most important principles of mechanics.

Newtons Eight Denitions

DEFINITION I: The quantity of matter[mass] is the measure of the same, arising

from its density and bulk conjointly.
DEFINITION II: The quantity of motion[linear momentum] is the measure of the
same, arising from the velocity and quantity of matter conjointly.
DEFINITION III: The vis insita, or the innate force of matter[inertia force], is a power
of resisting, by which every body, as much as in it lies, continues in its present state,
whether it be rest, or of moving uniformly forwards in a right[straight] line.
DEFINITION IV: An impressed force is an action exerted upon a body, in order to
change its state, either of rest, or of uniform motion in a right line.

Newtons Eight Denitions - contd

DEFINITION V: A centripetal force is that by which bodies are drawn or impelled,

or any way tend, towards a point as to a centre.
DEFINITION VI: An absolute centripetal force is the measure of the same, proportional to the efcacy of the cause that propagates it from the centre, through the spaces
round about.
DEFINITION VII: The accelerative quantity of a centripetal force is the measure of
the same, proportional to the velocity which it generates in a given time.
DEFINITION VIII: The motive[motion-causing] quantity of a centripetal force is the
measure of the same, proportional to the motion which it generates in a given time.

Newtons Three Laws

Law I: 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
the force is impressed.
Law III: To every action there is always opposed an equal reaction; or, the mutual actions of two bodies upon each other are
always equal, and directed to contrary parts.

Test of Galileos Relativity Principle

X

m
k

ma

X'

o'
Frame K'
(mass center)

x'
d

mg k(x-d)
= kx'

o
Free-free
state

Frame K

Static

Assumed

displacement

dynamic state

Test of Galileos Relativity Principle-contd

Position vector in frame K : X = h d + x
Position vector in frame K : X = x
Relation between the two frames : x = x d
Equation of motion in frame K : mg k(x d) m = 0
x
x
Equation of motion in frame K : mg kx m = 0

Test of Galileos Relativity Principle-contd

EOM in frame K : m + kx = (mg + kd)(static eq.!) = 0
x
x
EOM in frame K : m + kx = mg
Remark 1: The mass-point based coordinate system (frame K) must
include the dead weight mg in the equations of motion.
Remark 2: The ground based coordinate system (frame K ) does not
require to account for the static equilibrium.
Remark 3: When the ground itself moves, i.e., buildings subjected
earthquakes and automobile riding on wavy roads, one has to modify h to X = xg + h d + x where xg is the motion of the ground. A
similar modication must be made for X .

Test of Galileos Relativity Principle-contd

What happens to the mass point-based coordinate system when the
ground moves?