1

Department of Mechanical & Industrial Engineering

Dynamics (ENGR 243)

Lecture 4
Dr. Hany Gomaa , Assistant Professor
Email: hany.gomaa@concordia.ca
Office: EV-3.269
Office Hours: Tuesday/Friday, 1:30 pm - 2:30 pm Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013

Web Site: Access from your My Concordia portal Moodle

Class : Tuesday/Thursday, 11:45am-1:00pm, FG-C070

Resources Used:
1. Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., &
P.J. Cornwell, Tenth/ Eleventh Edition in , McGraw-Hill, 2013 / 2016 &
2. Hibbeler Engineering Mechanics: Dynamics, Fourteenth Edition, Pearson, 2016

January 19th, 2017 Dr. Hany Gomaa

 2

Course Information
Vector Mechanics for Engineers Dynamics by F.P. Beer, et al.
Topics Chapters
1. Chapter 11 Introduction to Dynamics (Kinematics of Particles)
Rectilinear Motion of Particles - Curvilinear Motion of Particles

2. Chapter 12 Kinetics of Particles

Newtons Second Law
3. Chapter 13 Kinetics of Particles
Energy and Momentum Methods
4. Chapter 15 Kinematics of Rigid Bodies
5. Chapter 16 Plane Motion of Rigid Bodies
Forces and Acceleration
6. Chapter 17 Plane Motion of Rigid Bodies
Energy and Momentum Methods

Dr. Hany Gomaa

 3

REVIEW

Dr. Hany Gomaa

 4
Lecture 1
Review
1. Kinematics: geometric aspects of the motion
Dynamics
2. Kinetics: Analysis of forces which cause the motion

The motion of a particle is known if the position coordinate for particle is known for
every value of time t.
Remember: x, v, a, t are related by:

v
dx
a
dv d 2x a
dv dv dx
v
dv
a 2
dt dt dt dt dx dt dx
fixed origin and
positive direction

Dr. Hany Gomaa

 5
Lecture 2
Uniform Rectilinear Motion
Uniform Rectilinear Motion
The Particle acceleration is equal to zero for every value of time.
Accordingly it is moving with a constant velocity.

Uniform rectilinear motion acceleration = 0 velocity = constant

dx
v constant
dt
x t

dx v dt
x0 0

x x0 vt
x x0 vt Used only when the particles
velocity is constant
Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013 Dr. Hany Gomaa
 6
Lecture 2
Uniformly Accelerated Rectilinear Motion
Uniform Accelerated Rectilinear Motion
The Particle is moving with a constant acceleration .
Primary Important Application is free fall.( g = 9.81 m/s2 or g = 32.2 ft/s2)

v v0 at Relates v and t

x x0 v0t at 1
2
2
Relates x and t

v v 2ax x0
2 2
0
Relates x and v
Application: free fall

In the case of particles acceleration being variable then the fundamental

equations are used.
dx dv dv dx dv
v a v
dt dt dx dt dx
Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013 Dr. Hany Gomaa
Lecture 3
Motion of Several Particles: Relative and dependant Motion

Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013 Dr. Hany Gomaa
 8
Lecture 3
Motion Relative to a Frame in Translation

A soccer player must consider It is critical for a pilot to

the relative motion of the ball know the relative motion
and her teammates when of his aircraft with respect
making a pass. to the aircraft carrier to
make a safe landing.

Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013 Dr. Hany Gomaa
Lecture 3
Motion of Several Particles: Rectilinear Relative Motion
For particles moving along the same
line, displacements should be
measured from the same origin in
Sign convention: the same direction. (same time)
A positive sign for xB A xB x B x A relative position of B
A
Indicates that B is to the right of A. with respect to A
xB x A xB A

vB v B v A relative velocity of B
A
with respect to A
vB v A vB A

aB a B a A relative acceleration of B
A
with respect to A
9
aB a A aB A
Dr. Hany Gomaa
Motion of Several Particles: Translation Relative Motion
RELATIVE POSITION
The absolute positions of two
particles A and B with respect to
the fixed x, y, z-reference frame are
given by rA and rB. The position of
B relative to A is represented by
rB/A = rB rA

Therefore, if rB = (10 i + 2 j ) m
and rA = (4 i + 5 j ) m,
then rB/A = rB rA = (6 i 3 j ) m.

Dynamics, Fourteenth Edition Copyright 2016 by Pearson Education, Inc.

R.C. Hibbeler All rights reserved.
Hibbeler Engineering Mechanics: Dynamics, Fourteenth Edition, Pearson, 2016
Dr. Hany Gomaa
Motion of Several Particles: Translation Relative Motion
RELATIVE VELOCITY
To determine the relative velocity of B
with respect to A, the time derivative of
the relative position equation is taken.
vB/A = vB vA
or
vB = vA + vB/A

In these equations, vB and vA are called absolute velocities

and vB/A is the relative velocity of B with respect to A.

Note that vB/A = - vA/B .

Dynamics, Fourteenth Edition Copyright 2016 by Pearson Education, Inc.

R.C. Hibbeler All rights reserved.
Hibbeler Engineering Mechanics: Dynamics, Fourteenth Edition, Pearson, 2016
Dr. Hany Gomaa
Motion of Several Particles: Translation Relative Motion
RELATIVE ACCELERATION
The time derivative of the relative
velocity equation yields a similar
vector relationship between the
absolute and relative accelerations
of particles A and B.

These derivatives yield: aB/A = aB aA

or
aB = aA + aB/A

Dynamics, Fourteenth Edition Copyright 2016 by Pearson Education, Inc.

R.C. Hibbeler All rights reserved.
Hibbeler Engineering Mechanics: Dynamics, Fourteenth Edition, Pearson, 2016
Dr. Hany Gomaa
 13
Lecture 3 SUMMARY
Motion Relative to a Frame in Translation
Designate one frame as the fixed frame of reference.
All other frames not rigidly attached to the fixed
reference frame are moving frames of reference.
Position vectors for particles A and B with respect to

the fixed frame of reference Oxyz are rA and rB .

Vector B A joining A and B defines the position of
r
B with respect to the moving frame Axyz and

rB rA rB A
Differentiating twice,

vB v A vB A vB A velocity of B relative to A.

a B a A aB A aB A acceleration of B relative
to A.
Absolute motion of B can be obtained by combining
motion of A with relative motion of B with respect to
11 - 13 moving reference frame attached to A.
Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013 Dr. Hany Gomaa
Lecture 3
SOLVING PROBLEMS

Since the relative motion equations are vector equations,

problems involving them may be solved in one of two ways.
For instance, the velocity vectors in vB = vA + vB/A could be
written as two dimensional (2-D) Cartesian vectors and the
resulting 2-D scalar component equations solved for up to
two unknowns.
Alternatively, vector problems can be solved graphically by
use of trigonometry. This approach usually makes use of the
law of sines or the law of cosines.

Dynamics, Fourteenth Edition Copyright 2016 by Pearson Education, Inc.

R.C. Hibbeler All rights reserved.
Hibbeler Engineering Mechanics: Dynamics, Fourteenth Edition, Pearson, 2016
Dr. Hany Gomaa
 15

CABLES

Dr. Hany Gomaa

 16
Lecture 3
Examples of Relative Motion

Dynamics, Fourteenth Edition Copyright 2016 by Pearson Education, Inc.

R.C. Hibbeler All rights reserved.
Hibbeler Engineering Mechanics: Dynamics, Fourteenth Edition, Pearson, 2016
Dr. Hany Gomaa
 17

CABLES
Degrees of Freedom

Dr. Hany Gomaa

 18

System has one degree of freedom

Dr. Hany Gomaa

 19
System has Two degrees of freedom

Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013 Dr. Hany Gomaa
 20
Solution Solving Steps

1. Determine the systems degrees of freedom.

2. Create a fixed point or a fixed datum line.
3. Setup up a coordinate (x) or (y) along the direction of motion,
measured from the fixed datum.
4. Represent the positions of the objects respectively
5. Determine the constant length(s).
6. Obtain the depending relation between the position variables (i.e.
the complete xs or ys equation).
7. Differentiate the obtained equation w.r.t time to find the
velocities relations.
8. If needed differentiate and obtain the accelerations relations.
Dr. Hany Gomaa
 21

Linking Cables
Questions with
Rectilinear Motion

Dr. Hany Gomaa

 23

In the case of uniformly accelerated motion (i.e. for constant acceleration)

The three driven equations provide useful relations among position coordinate
x, velocity v and time t

v v0 at Relates v and t

x x0 v0t at 1
2
2
Relates x and t

v v 2ax x0
2 2
0
Relates x and v

Application: free fall

In the case of particles acceleration being variable then the fundamental

equations are used.
dx dv dv dx dv
v a v
dt dt dx dt dx
Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013
Dr. Hany Gomaa
 24

Dr. Hany Gomaa

 25

x x0 v0t 12 at 2
v v0 at
v 2 v02 2ax x0

Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013 Dr. Hany Gomaa
 26

x x0 v0t 12 at 2
v v0 at
v 2 v02 2ax x0

v v0 at

Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013 Dr. Hany Gomaa
 27

Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013 Dr. Hany Gomaa
 28

6m/s

Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013 Dr. Hany Gomaa
 29

LECTURE 4
Course Information
Vector Mechanics for Engineers Dynamics by F.P. Beer, et al.
Topics Chapters
1. Chapter 11 Introduction to Dynamics (Kinematics of Particles)
Rectilinear Motion of Particles - Curvilinear Motion of Particles

2. Chapter 12 Kinetics of Particles

Newtons Second Law
3. Chapter 13 Kinetics of Particles
Energy and Momentum Methods
4. Chapter 15 Kinematics of Rigid Bodies
5. Chapter 16 Plane Motion of Rigid Bodies
Forces and Acceleration
6. Chapter 17 Plane Motion of Rigid Bodies
Energy and Momentum Methods

Dr. Hany Gomaa

 30

3.Curvilinear Motion of Particles

Describes the motion of a moving particle that
follows a fixed curve.
A particle moving along a curve other than a
straight line is in curvilinear motion.

The study of such motion involves the use of

1.Rectangular coordinates and
Two additional co-ordinate systems:
i) velocity is always tangential to the curve &
2.Planar motion ii) acceleration can be broken up into both a
(n-t) tangential and normal components
i) velocity is always tangential to the curve,
3.Cylindrical motion ii) acceleration consist of different midway
(r-) components that run along radius and
normal vector.
Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013
Dr. Hany Gomaa
APPLICATIONS

The path of motion of a plane can

be tracked with radar and its x, y,
and z-coordinates (relative to a
point on earth) recorded as a
function of time.
How can we determine the velocity
or acceleration of the plane at any
instant?

Dr. Hany Gomaa

 APPLICATIONS (continued)

A roller coaster car travels down

a fixed, helical path at a constant
speed.

How can we determine its

position or acceleration at any
instant?

If you are designing the track, why is it important to be

able to predict the acceleration of the car?

Dr. Hany Gomaa

 33

Curvilinear Motion: Position, Velocity & Acceleration

The position vector of a particle at time t is defined by a vector between

origin O of a fixed reference frame and the position occupied by particle.

Consider a particle which occupies position P defined by r at time t

and P defined by r at t + Dt,

11 - 33

Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013
Dr. Hany Gomaa
 SUMMARY
GENERAL CURVILINEAR MOTION
POSITION
A particle moving along a curved path undergoes curvilinear motion.
Since the motion is often three-dimensional, vectors are usually used
to describe the motion.

A particle moves along a curve

defined by the path function, s.

The position of the particle at any instant is designated by the vector

r = r(t). Both the magnitude and direction of r may vary with time.

If the particle moves a distance Ds along the

curve during time interval Dt, the
displacement is determined by vector
subtraction: Dr = r - r
Dr. Hany Gomaa
 35

Curvilinear Motion: Position, Velocity & Acceleration

Instantaneous velocity Instantaneous speed

(vector) (scalar)
Dr dr Ds ds
v lim v lim
Dt 0 Dt dt Dt 0 Dt dt

In general, the velocity vector is tangent to the

11 - 35
particle curved path
Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013
Dr. Hany Gomaa
 SUMMARY
GENERAL CURVILINEAR MOTION
VELOCITY
Velocity represents the rate of change in the position of a
particle.
The average velocity of the particle
during the time increment Dt is
vavg = Dr/Dt .
The instantaneous velocity is the
time-derivative of position
v = dr/dt .
The velocity vector, v, is always
tangent to the path of motion.
The magnitude of v is called the speed. Since the arc length Ds
approaches the magnitude of Dr as t0, the speed can be
obtained by differentiating the path function (v = ds/dt). Note
that this is not a vector!
Dr. Hany Gomaa
 37

Curvilinear Motion: Position, Velocity & Acceleration

Consider velocity v of a particle at time t and velocity v at t + Dt,
Dv dv
a lim instantaneous acceleration (vector)
Dt 0 Dt dt

In general, the acceleration vector is not tangent

11 - 37
to the particle path and velocity vector.
Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013
Dr. Hany Gomaa
 SUMMARY
GENERAL CURVILINEAR MOTION
ACCELERATION
Acceleration represents the rate of change in the
velocity of a particle.

If a particles velocity changes from v to v over a

time increment Dt, the average acceleration during
that increment is:
aavg = Dv/Dt = (v - v)/Dt
The instantaneous acceleration is the time-
derivative of velocity:
a = dv/dt = d2r/dt2

The acceleration vector is not tangent to the path

function.

Dr. Hany Gomaa

 39

1. Curvilinear Motion of a Particle:

Rectangular coordinates

Dr. Hany Gomaa

 RECTANGULAR COMPONENTS : POSITION
It is often convenient to describe the motion of a particle in
terms of its x, y, z or rectangular components, relative to a fixed
frame of reference.
The position of the particle can be
defined at any instant by the
position vector
r=xi+yj+zk .
The x, y, z-components may all be
functions of time, i.e.,
x = x(t), y = y(t), and z = z(t) .

The magnitude of the position vector is: r = (x2 + y2 + z2)0.5

Dr. Hany Gomaa

 RECTANGULAR COMPONENTS: VELOCITY
The velocity vector is the time derivative of the position vector:
v = dr/dt = d(x i)/dt + d(y j)/dt + d(z k)/dt

Since the unit vectors i, j, k are constant in magnitude and

direction, this equation reduces to v = vx i + vy j + vz k

where vx = x = dx/dt, vy = y = dy/dt, vz = z = dz/dt

The magnitude of the velocity

vector is
v = [(vx)2 + (vy)2 + (vz)2]0.5

The direction of v is tangent

to the path of motion.

Dr. Hany Gomaa

 RECTANGULAR COMPONENTS: ACCELERATION
The acceleration vector is the time derivative of the velocity
vector (second derivative of the position vector).
a = dv/dt = d2r/dt2 = ax i + ay j + az k

v
where ax = x = x v
= dvx /dt, ay = y = y = dvy /dt,

az = v z = z = dvz /dt

The direction of a is usually

not tangent to the path of the
particle.

Dr. Hany Gomaa

 SUMMARY 43

Rectangular Components of Position, Velocity

& Acceleration Equation
When position vector of particle P is given by its
rectangular components,

r xi y j zk

Velocity vector,
dx dy dz
v i j k xi y j zk
dt dt dt

vx i v y j vz k

Acceleration vector,
d 2 x d 2 y d 2 z
a 2 i 2 j 2 k xi y j zk
dt dt dt

ax i a y j az k
11 - 43

Vector Mechanics for Engineers Dynamics, by F.P. Beer, E.R. Johnston, Jr., & P.J. Cornwell, Tenth Edition in SI Units, McGraw-Hill, 2013
Dr. Hany Gomaa
 EXAMPLE

Given: A box slides down the slope described by the equation

y = (0.05x2) m, where x is in meters.
vx = -3 m/s, ax = -1.5 m/s2 at x = 5 m.

Find: The y components of the velocity and the acceleration

of the box at x = 5 m.

Plan: Note that the particles velocity can be found by taking

the first time derivative of the paths equation. And the
acceleration can be found by taking the second time
derivative of the paths equation.

Take a derivative of the position to find the component of the

velocity and the acceleration.
Dr. Hany Gomaa
 EXAMPLE (continued)
Solution:
Find the y-component of velocity by taking a time
derivative of the position y = (0.05x2)
y = 2 (0.05) x x = 0.1 x x

Find the acceleration component by taking a time

derivative of the velocity y

y = 0.1 x x + 0.1 x x

Substituting the x-component of the acceleration, velocity

at x=5 into y and y.

Dr. Hany Gomaa

 EXAMPLE (continued)
Substituting the x-component of the acceleration, velocity at x=5 into
y and y.

Since x = vx = -3 m/s, x = ax = -1.5 m/s2 at x = 5 m

y = 0.1 x x = 0.1 (5) (-3) = -1.5 m/s

y = 0.1 x x + 0.1 x x
= 0.1 (-3)2 + 0.1 (5) (-1.5)
= 0.9 0.75
= 0.15 m/s2

At x = 5 m
vy = 1.5 m/s = 1.5 m/s
ay = 0.15 m/s2

Dr. Hany Gomaa