Dr. Hassan Ali Revision: ENGD1106D Mechanical Principles-Dynamics
Dr. Hassan Ali Revision: ENGD1106D Mechanical Principles-Dynamics
Mechanical Principles-Dynamics
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• Kinematics : the description of motion
• One dimension : motion along a straight
line (e.g., the x-axis)
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1-D motion can be described by scalars (real numbers
with units) as functions of time:
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Displacement : x x 2 x 1
x
position x as a function of time t
x2
x
x1
t
t1 t2 t
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Instantaneous velocity is the average over an
‘infinitesimal’ time interval :
x dx
t 2 t 1 , t 0 and v
t dt
x
t t
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Acceleration is the rate of change of velocity:
v v2 v1
Average Acceleration : a
t t 2 t1
dv
Instantane ous Acceleration : a
dt
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Newton's laws of motion
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Newton's first law of motion
s s0 v t
where initial distance and velocity are constants.
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Newton's second law of motion
Newton used the word ‘motion’ to mean what we nowadays call momentum.
The momentum p of a body is simply defined as the product of its mass m
and its velocity v: i.e.,
p mv
Newton's second law of motion is summed up in the
equation dp
f
dt
where the vector f represents the net influence,
or force, exerted on the object, whose motion is
under investigation, by other objects.
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Newton's second law of motion
For the case of a object with constant mass, the above law reduces to
its more conventional form:
f ma
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Newton's third law of motion
Suppose that body b exerts a force fab on body a. According to
Newton's third law of motion, body a must exert an equal and opposite
force fba = -fab on body b. Thus, if we label fab the ‘action’, then, in
Newton's language, fba is the equal and opposed ‘reaction’.
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Coulomb’s law for friction force
An eminent French physicist Charles Augustin de Coulomb 1736-1806
Ff V
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Dependence on applied force
Fapplied
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The Block on a Smooth Inclined Plane under
Action of External Force
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The Block on a Rough Inclined Plane under
Action of External Force
NB! It is assumed that block is sliding along incline plane
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The Atwood’s machine
The apparatus was designed by an English mathematician George Atwood (1746-1807) for
demonstration of a slowed-down free-falling motion.
x
The pair of equations has two unknowns, T and . Eliminating T by
adding the two and solving for x
leads to
m2 m1 m2 m1 2(m2 m1 ) gx
x g V 2 2 xx 2 gx V
m2 m1 m1 m1 m1 m1
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The Block on a Smooth Inclined Plane
Y
The forces are not in equilibrium, and N
hence the block will not remain at rest. A
X
The Newton’s law equations: Wsin
B W
In the y direction: N W cos my 0
2 h
V 2 ABa 2
B g sin 2hg ;
x a g sin ; N mg cos sin
VB 2hg
Conservation of energy method:
mVB2
mgh V B 2 gh
2
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The Block on a Rough Inclined Plane
N Y
The friction force has been given the
magnitude F k N and direction A
X
corresponding to a downward sliding W sin F
motion. h
W cos
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Mass vs Moment of inertia
Mass: is both a property of a physical body and a measure of its resistance to
acceleration when a net force is applied.
a
𝑭 =𝒎𝒂 F
𝑻=𝑰 𝜶
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Dynamics of Rigid Body Rotation
Kinetic Energy
mi Vi 2 1 I 2
K
i
2
2
i
mi 2 ri2
2
Moment of Inertia
I
i
mi ri2
I T 28
Translational-Rotational Parallels
kg m 2 kg m 2
Kinetic energy: J 2 mV 2 / 2 Kinetic energy: J 2
I 2 / 2
s s
kg m 2
Force : kg m
N 2 F ma Torque : 2 T F r
s s
kg m 2 kg m 2
Power : W 3 P W F V Power: W 3 T
s s
kg m
Linear momentum: s L m *V Angular momentum [kg*m2/s]: H I
Work : kg m 2
J 2 W FX Work : kg m 2
J 2 T
s s
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Moments of Inertia for Different Shapes
Solid cylinder or Hoop about Solid sphere Thin spherical shell
disc, symmetry axis symmetry axis
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Angular Momentum of a Flywheel
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General Form of Dynamics Law
Translational motion
dp d mV dV
F if mass is constant m F
dt dt dt
Rotational motion
dL d I d
T if moment of inertia is I T
dt dt constant
dt
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Conservation of Angular Momentum
L1 L2 I11 I 22
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Newton’s law of universal gravitation
Every single point mass attracts every other point mass by a force heading along the line
combining the two. The force is proportional to the product of the two masses and
inversely proportional to the square of the distance between the point masses:
m1m 2
FG 2 F m1g(r)
r
where:
F is the magnitude of the gravitational force between the two point masses
G 6.67 10-11 N m 2 iskgthe
2 gravitational constant
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Mass and Weight (cont.)
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Mass and Weight (cont.)
a
T - mg ma
T m(g a)
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Circular motion
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Centripetal Acceleration
2
v
ac
r
Centripetal Acceleration
Centripetal Force
• Newton’s Second Law explains that an object
undergoing acceleration is experiencing a net
force. The net force on an object undergoing
uniform circular motion is called the centripetal
force Fc.
• The centripetal force necessary for an object of
mass m to travel with constant speed v in a circle
of radius r is given by:
m r
2 2
mv 2
Fc but v r so Fc m r
r r
Simple harmonic motion
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Simple Harmonic Motion (1)
• Motion that repeats in a regular pattern over and over again is called periodic
motion. Simple Harmonic Motion (SHM) means that the displacement of the
oscillating mass varies periodically as a function of time
y y 0 Asin(2f t) y 0 Asin(t)
• Amplitude (A): The amplitude of the oscillation is the maximum distance
that the oscillating object moves away from the equilibrium position, units
– meter (m).
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Simple Harmonic Motion (1)
• Motion that repeats in a regular pattern over and over again is called periodic
motion. Simple Harmonic Motion (SHM) means that the displacement of the
oscillating mass varies periodically as a function of time
y y 0 Asin(2f t) y 0 Asin(t)
• Frequency (f): The frequency of the oscillation is the number of oscillations
per second. An oscillation is one complete cycle of the oscillator, units –
Hertz (Hz).
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Simple Harmonic Motion (1)
• Motion that repeats in a regular pattern over and over again is called periodic
motion. Simple Harmonic Motion (SHM) means that the displacement of the
oscillating mass varies periodically as a function of time
y y 0 Asin(2f t) y 0 Asin(t)
• Period (T): The period is the time for the oscillator to complete one cycle,
units – seconds (s). The frequency and period are related as:
1
f ; 2f - circular frequency
T
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Simple Harmonic Motion (2)
• The acceleration of the body is proportional to its displacement
from its equilibrium position
• The acceleration of the body is always directed towards the
equilibrium position
dy d2y 2
A cost; 2
A sin t
dt dt
2
d y
a 2 2 ( y - y 0 )
dt
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Uniform Circular Motion
Uniform circular motion describes motion in which an object moves with
constant speed along a circular path.
R cost a cp 2 R 2 R sin t
y y 0 R sin t
V R
t
y y0
SHM
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Displacement, Velocity and Acceleration in
Simple Harmonic Motion
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Simple Pendulum
g sin 0
L
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Free Oscillations of a Mass on a Vertical Spring
Equilibrium Position: downward force exerted by the mass = upward restoring force in the spring
Equilibrium condition: mg k
2
d x
2 Newton’s Law: ma Fspring m
nd
mg k(x ) -kx
2
dt
k
mx kx 0 x x 0
m
k g
2
x x 0; n
n - natural frequency
m
2018/2019 DMU ENGD1005 50
Conservation of linear momentum
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Conservation of Linear Momentum
d
dt
i
miVi F 0
Conservation of Kinetic Energy
for Elastic Collisions
d 2
mi vi
dt
i
Ki
f v
i
i i 0; where K i
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Rocket science
Rocket Science
Let M be the fixed mass of the rocket engine and the payload, and m(t) the total mass
of the propellant contained in the rocket's fuel tanks at time t. Suppose that the rocket
engine ejects the propellant at some fixed velocity u relative to the rocket.
The total momentum of the system is a constant of the motion. Hence, we can
equate the momentum evaluated at times t and t + dt:
Neglecting second order quantities (i.e., dmdv), the above expression yields:
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Rocket Science (cont.)
Rearranging, we obtain
Let us integrate the above equation between an initial time at which the rocket
is fully fueled, i.e., m = mp, where mp is the maximum mass of propellant that
the rocket can carry, but stationary, and a final time at which the mass of the
fuel is m and the velocity of the rocket is v. Hence,
which yields
or
When two billiard balls collide the collision is nearly elastic. An elastic
collision is one in which the kinetic energy of the system is conserved
before and after impact. Therefore, for simplicity one can assume that
for collisions involving billiard balls, the collision is perfectly elastic.
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Perfectly Elastic Collisions in 1-dimension
m1 Vi1 Vi2 m2
Vcg
Time of collision?
Vf1 m1 m2 Vf2
The total momentum of the system is a conserved quantity. Equating the total momentum
before and after the collision, we obtain
An elastic collision is one in which the total kinetic energy of the two colliding objects is the
same before and after the collision.
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Perfectly Elastic Collisions in 1-dimension (cont.)
If m1 = m2 then
Suppose that the second object is much more massive than the first and is initially at rest
(i.e., vi2 = 0)
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Relative motion
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Kinematics in One Dimension
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Quiz
What is the magnitude of velocity of the green car relative to the red car?
b) 43
c) 10
d) 24
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The principal of relative motion
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Relative velocity equation
V A VB V A / B where VA / B r or V A / B r
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Relative acceleration (B is a fixed point)
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Relative acceleration (B is a fixed point)
V A VB V A / B a A aB a A / B
The relative acceleration can be decomposed on the radial and tangential ones
v 2A / B
(a A / B ) n r 2
a A a B (a A / B ) n (a A / B ) t where r
(a A / B ) t v A / B r
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Two moving objects (2D or 3D space)
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Two moving objects (2D space)
First we draw the vector of relative velocity VA/B of object A with respect to
object B:
a) The velocity (magnitude and direction)
of object A relative to object B?
x
Hint: a) draw graphically the space and velocity diagrams to scale
b) measure distances AC and BC, and also relative velocity VA/B
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Right hand rule for Applied Torque
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Applied Torque – Reaction Torque
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