Chapter 1:
Kinematics of Particles
MEC420: DYNAMICS
College of Engineering (Mechanical)
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Part 1
Introduction and Review
MEC420: DYNAMICS
College of Engineering (Mechanical)
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Basic Terminology
Rigid body: a body whose dimensions are significant and its
shape is unchanged (i.e. the relative movement between points
is negligible)
Particle: a body of negligible dimension
Statics: Study of a rigid body at rest (static equilibrium)
Dynamics: Study of a rigid body in motion (i.e. in dynamic
equilibrium)
Length: applied to the linear dimension of a straight or curved
line
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Basic Terminology
Area: the two-dimensional size of the shape or surface
Volume: the three-dimensional size of the space occupied by
the substance
Force: the vector action of one body on another whether by
contact or no contact (at a distance) such as the force of gravity
and magnetic force.
Mass: the amount of matter in a body or quantitative measure
of inertia (or resistance) to change in motion of a body
Weight: the force with which a body is attracted toward the
center of the Earth 4
Units of Measurements
Four fundamental quantities in mechanics
• Mass
• Length
• Time
• Force
Two different systems of units we dealing with during the course
International System of Units or Metric Units (SI)
• Mass in kilogram (kg)
• Length in metre (m)
• Time in second (s)
• Force in Newton (N)
U.S. Customary or British System of Units (FPS)
• Mass in pound-mass (lbm) or in slugs
• Length in feet (ft)
• Time in second (s)
• Force or weight in pound (lb or lbf) 5
Units of Measurements
Four fundamental quantities in mechanics
• Mass
• Length
• Time
• Force
Two different systems of units we dealing with during the course
International System of Units or Metric Units (SI)
• Mass in kilogram (kg)
• Length in metre (m)
• Time in second (s)
• Force in Newton (N)
U.S. Customary or British System of Units (FPS)
• Mass in pound-mass (lbm) or in slugs
• Length in feet (ft)
• Time in second (s)
• Force or weight in pound (lb or lbf) 6
Type of Coordinate Systems
• The motion of particle P can be described by
specifying its coordinates.
• These coordinates can be measured from fixed
reference axes or Global reference axes
(absolute-motion analysis) or from moving
reference axes or Local reference axes
(relative-motion analysis)
Analysis of the motion in 3-D space: performed using
1. Rectangular coordinates, x-y-z
2. Cylindrical coordinates, r--z
3. Spherical coordinates, R--
4. Normal and Tangential coordinates (path variables), n-t
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Possible
Coordinate
Systems
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4 Fundamental Concepts
Space – to define the position (location) of a point (P)
• The coordinate of a point P relative to a reference point.
Time – to indicate the time of an event
• Measured by the interval between repeated events
• SI unit of time (T) : second (s)
Mass – to characterize and compare bodies
• E.g. Response to earth’s gravitational attraction and resistance to translation motion
(inertia)
• 2 bodies of the same mass will be attracted by the earth in the same manner
• 2 bodies of the same mass will give the same resistance to a change in translation
motion
• SI unit of mass (M) : kilogram (kg)
Force – represents the vector action of one body on another
• Characterized by its point of application, magnitude, and direction (hence has the line
of action)
• Represented by a vector
• Can be exerted by actual contact at a distance
• SI unit of force: Newton (N) 9
Six Fundamental Principles
1. Parallelogram law of vector addition
Two vectors may be replaced by a single vector called the resultant vector: V = P + Q = Q + P
2. Principle of transmissibility
A force acting at a given point on the rigid body may be transmitted to a different point along the
same line of action without changing the condition of equilibrium of a rigid body. The external
effect is the same.
3. Newton’s first law
(Static equilibrium condition ∑ 𝑭 = 𝟎, or linear momentum is constant L = mv = constant)
If the resultant force on a particle is zero, the particle’s velocity is constant (move in a straight
line) OR the particle will remain at rest.
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Six Fundamental Principles
4. Newton’s second law
(Dynamic equilibrium condition ∑ 𝑭 − 𝒎𝒂 = 0, or accelerated motion ∑ 𝑭 = 𝒎𝒂 )
When the sum of the forces acting on a particle is ≠ 0, the particle will have an acceleration
proportional to this nonzero resultant force, or it is equal to the rate of change of the linear
momentum of the particle.
5. Newton’s third law
The forces of action and reaction between two bodies in contact have the same magnitude and line
of action but opposite senses (equal, collinear, and opposite).
6. Newton’s law of gravitation
Two particles are mutually attracted with equal and opposite forces and the magnitude of this
force is
Mm
F G
r2
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Review on Vectors
Scalar
A scalar is a quantity that has only magnitude and no direction.
Examples: mass, distance, speed, length, energy
Vector
A vector is a quantity that has both magnitude and direction.
Examples: velocity, acceleration, force, and displacement
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Review on Vectors
Scalar
A scalar is a quantity that has only magnitude and no direction.
Examples: mass, distance, speed, length, energy
Vector
A vector is a quantity that has both magnitude and direction.
Examples: velocity, acceleration, force, and displacement
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RESOLUTION OF A SPATIAL VECTOR (3D)
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Review on Calculus
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Review on Calculus
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Review on Calculus
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Review on Calculus
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Review on Calculus
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Review on Calculus
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