Dynamics

MCB2043

Lecture 19
Azman Zainuddin

SCOPE OF COURSE STUDY

KINEMATICS

FORCE &
ACCELERATION

KINETICS

WORK &
ENERGY

PARTICLE

IMPULSE &
MOMENTUM

DYNAMICS
Chapter 16

KINEMATICS
RIGID
BODY

Chapter 17

FORCE &
ACCELERATION
Chapter 18

KINETICS

WORK &
ENERGY
Chapter 19

IMPULSE &
MOMENTUM

Learning Outcomes
At the end of this course, students should be able to:
1. Analyse the kinematics of particles and rigid bodies using
different coordinate systems and relative motion.
2. Sketch free-body diagrams and formulate equations of motion
to analyse kinetics of particles and rigid bodies.
3. Apply principle of work and energy to solve problems related
to kinetics of particles and rigid bodies.

4. Apply principle of impulse and momentum to solve problems

related to kinetics of particles and rigid bodies.

8
9

July 7-11

Rigid Body
Kinematics
July 14-18 Rigid Body
Kinematics

July 21-25 Rigid Body

Kinetics : Force &
10
Acceleration
11

12

Translation & Rotation

General Plane Motion Analysis

Curvilinear Motion:
Instantaneous Centre of Zero
Velocity
Relative Motion Analysis
Moment of Inertia
Equations of Motion
Translation & Rotation

Chap
16.1-5
Chap
16.6-16.8

Quiz 5

Chap
17.1-17.3

Assignment 3
Quiz 6

General Plane Motion

Chap
17.4-17.5

Quiz 7

Kinetic Energy
Work by a Force & Couple

Chap
18.1-18.3

Principle of Work & Energy

Conservation of Energy

Chap
18.4-18.5

Assignment 4
Quiz 8
Test 2

July 28 Aug 1
Aug 4-8

Rigid Body
Kinetics : Force &
Acceleration

Aug 11-15 Rigid Body

Kinetics :Work &
13
Energy
Aug 18-22 Rigid Body
Kinetics : Work &
14
Energy

Kinematics of Rigid Bodies

Outline: Chapter 16
Rigid-Body Motion

Translation
Rotation about a Fixed Axis

Absolute Motion Analysis

Relative-Motion Analysis: Velocity
Instantaneous Centre of Zero Velocity
Relative-Motion Analysis: Acceleration
Relative-Motion Analysis Using Rotating

Not covered
Axis
in syllabus

Kinematics of Rigid Bodies

Outline: Chapter 16
Rigid-Body Motion

Translation
Rotation about a Fixed Axis

Absolute General Plane Motion Analysis

Relative-Motion Analysis: Velocity
Instantaneous Centre of Zero Velocity
Relative-Motion Analysis: Acceleration

Particle or Rigid Body?

Treat object as a particle if:
Size and shape of object
Rotation of object

Treat object as a rigid body if:

Size and shape of object
Rotation of object

does not significantly affect

the motion path taken by the
object

does affect the motion path

taken by the object

Rigid Body Motion

Dimension of motion
1. rectilinear motion (1-D)

2. planar motion (2-D)

3. spatial motion (3-D)

Types of planar motion:

1. Pure translation
2. Pure rotation (rotation about a fixed axis)

3. General plane motion (translation + rotation)

Translation

Rectilinear translation

Curvilinear translation

Rectilinear translation the path taken by the body is

straight
Curvilinear translation The path taken by the body is
curved
Note: In both cases, no rotation of the body takes place!

Translation of a Rigid Body

Consider a rigid body which is subjected to either rectilinear
or curvilinear translation in the x-y plane.
Position

rB rA rB / A
Displacement

rB rA rB / A 0

Velocity

vB vA

Acceleration

aB a A

All points in a translating body move with the same velocity and acceleration.
If motion is pure translation, particle analysis = rigid body analysis

Rotation about a fixed axis (Pure Rotation)

When a rigid body rotates

about a fixed axis, all the
particles of the body,
except those which lie on
the axis of rotation, move
along circular paths.

General Plane Motion

When a body is subjected to general plane motion,
it undergoes a combination of translation and
rotation. The translation occurs within a reference
plane, and the rotation occurs about an axis
perpendicular to the reference plane.

Kinematic Parameters in Rotation

Consider P a point on a rotating body which is
located at radius r from O at an angular position .
r measured from O on the axis of rotation
, measured between a fixed reference line

Angular Velocity

dt

2
d

Angular Acceleration

2
dt
dt

dt

d d

Constant Angular Acceleration

If the angular acceleration of the body is constant,
= c

0 c t
1 2
0 0 t c t
2
2
2
0 2 c ( 0 )
To be applied only when is constant!

Velocity of a Point in a Rotating Rigid Body

Position of point P : rP
Velocity of P : vP

vP

Magnitude

v r

Direction

v rp

The direction of v is tangent to the circular path.

Acceleration of a Point in a Rotating Rigid

Body
Acceleration of P :

dv P d ( rP ) d
drP
aP

rP
dt
dt
dt
dt

a P rP rP
a P rP ( 2 )rP
a P at a n

at r
an 2 r

Tangential component
Normal component

a an2 at2

Directions of Acceleration in a Rotation

increasing
>0

same direction
as

decreasing
<0
direction
opposite to

For point P

For point P

at same direction
as v

at direction
opposite to v

Example 1
A cord is wrapped around a wheel which is
initially at rest. If a force is applied to the cord
and gives it an acceleration a = 4t m/s2,
where t is in seconds, determine (as a
function of time):
(a) the angular velocity of the wheel, and
(b) the angular position of the line OP in
radians.
+ d 20t

+ aP t r

dt

t
d 20t dt

4t (0.2)

20t rad/s

10t 2 rad/s

Example 1
A cord is wrapped around a wheel which is
initially at rest. If a force is applied to the cord
and gives it an acceleration a = 4t m/s2,
where t is in seconds, determine as a
function of time:
(a) the angular velocity of the wheel, and
(b) the angular position of the line OP in
radians.
d
2

10t

dt

t
2
d 10t dt
0

3.33t 3 rad

Example 2
A motor is used to turn a wheel and
attached blower contained with the
housing. If the pulley A connected to the
motor begins rotating from rest with an
angular acceleration of A = 2 rad/s2,
determine the magnitudes of the
velocity and acceleration of point P on
the wheel, after the wheel B has turned
one revolution.

B 2 6.283 rad

s A rA B rB ;

A (0.15) 6.283(0.4)
A 16.76 rad

Example 2
Since A is constant, the angular velocity of pulley A is
therefore

+ 2 c ( 0 )
A2 0 2(2)(16.76 0)
A 8.19 rad/s
v A rA B rB
2

2
0

B 3.07 rad/s

vP B rB 1.23 m/s

at A rA B rB

B 0.75 rad/s 2

(aP )t B rB 0.3 m/s 2

(aP ) n r 3.77 m/s
2
B B

aP (0.3) (3.77)
2

3.78 m/s 2