Welcoming and general information

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Applied Mathematics: B154 (GROUP 4)

DYNAMICS

Prof GJF (Francois) Smit

Tel 021 808 4215
Email: fsmit@sun.ac.za
K 222 General engineering building
Or at home

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General Information
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Introduction

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 Mechanics

• Statics (AMB124) • Dynamics (AMB154 & AMB224)

• Statics: Is about “something” that is accelerating
Body is in rest or moves at a
constant velocity (Newton I). • Kinematics:
Study the motion of “something”
• ∑𝐹 0 without referring to the forces acting
• ∑𝑀 0 on it.
Kinematic equations, relative motion,
• Vector algebra: etc.
dot products, cross products,
unit vectors, perpendicular • Kinetics:
projections, etc. Look at the forces causing the
motion.
• Other stuff:
Equations of motion (kinetics)
centre of mass, areal moment of
inertia, trusses (maybe now in Strength • ∑𝐹 𝑚𝑎
of Materials?), etc…
• ∑𝑀 𝐼 𝛼
Dynamics (Kinematics)
• AMB224: Rigid Bodies
• General plane motion
– translation and rotation
• Relative motion between two
interconnected points on a
rigid body – i.e. the motion of
one point will depend on the
motion of the other point
 Dynamics (Kinematics)
• AMB154: Particles • AMB224: Rigid Bodies
• Linear and curvilinear motion • General plane motion
– only translation – translation and rotation
• - Cartesian axis system • Relative motion between two
e.g. projectile motion interconnected points on a
- polar coordinates (cylindrical) rigid body – i.e. the motion of
- normal-tangential coordinates one point will depend on the
motion of the other point
• Relative motion between
particles moving independent
of each other
• Pulleys (with negligible mass)
 Dynamics (Kinematics)
• AMB154: Particles • AMB224: Rigid Bodies
• Linear and curvilinear motion • General plane motion
– only translation – translation and rotation
• - Cartesian axis system • Relative motion between two
e.g. projectile motion interconnected points on a
- polar coordinates (cylindrical) rigid body – i.e. the motion of
- normal-tangential coordinates one point will depend on the
motion of the other point
• Relative motion between
particles moving independent
of each other
• Pulleys (with negligible mass)

Curvilinear motion of a point particle: circular path

 Dynamics (Kinetics)
• AMB224: Rigid Body
•  F  ma G

• + M G  I G

Mass moment of inertia

𝐼 ?,? :
 Dynamics (Kinetics)
• AMB224: Rigid Body
•  F  ma G

• + M G  I G

Mass moment of inertia

I G r , m  : That is why in AMB154, since we do not

consider rotating motion, we considered
either a point with negligible dimension or a
body with negligible mass (e.g. the pulleys).
 Dynamics (Kinetics)
• AMB154: Particle • AMB224: Rigid Body
•  F  ma G M  0  •  F  ma G

• + M G  I G

• ∑𝑀 𝐻 Mass moment of inertia

I G r , m  : Therefore, many times in B154 the mass of a

body (usually a wheel or a pulley) will be
regarded as negligible, or we will disregard
the size of the body.

G G

G
Particle:
has mass, but the size is negligible
Even though we will consider bodies such as cars, rockets,
aeroplanes, etc. – but we will only consider the motion of the
centre of mass.
We neglect any rotation of the body.

G
G

G
 Outline of the module: Chapters 12 – 15
(Only the main content)

• 3rd Block • 4th Block

• Kinematics of a particle • Kinetics of a particle
• Rectilinear motion • Newton II
• Curvilinear motion • Work and Energy
• Coordinate systems • Impulse and momentum
• Pulleys • Momentum conservation and
collisions
• Relative motion
Chapter 12: Kinematic of a particle
Introduction
pp. 3 to 9

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 CHAPTER 12
12.2 Rectilinear kinematics: Continuous motion

This section is w.r.t. a certain

SENSE OF DIRECTION!

We therefore consider the scalar components of a

VECTOR.
( + ) ( + ) ( + ) (+ )
 Particle motion
• Dimensions of particles are
negligible.
• Constraint and unconstraint
motion.
• Choice of coordinate system
is important.
 Position (VECTOR), distance travelled (SCALAR)
and displacement (VECTOR):

Position :

Choose an appropriate coordinate system!

Displacement :

Distance:
 Position (VECTOR), distance travelled (SCALAR)
and displacement (VECTOR):

Position :

Choose an appropriate coordinate system!

Displacement :

Distance:
 Position (VECTOR), distance travelled (SCALAR)
and displacement (VECTOR):

Position :

Choose an appropriate coordinate system!

Displacement :

Distance:
 Position (VECTOR), distance travelled (SCALAR)
and displacement (VECTOR):

()
Position :  : s
Choose an appropriate coordinate system!

Displacement :

Distance:
 Position (VECTOR), distance travelled (SCALAR)
and displacement (VECTOR):

()
Position :  : s
Choose an appropriate coordinate system!
()
Displacement :  : s

Distance: sT
 Position (VECTOR), distance travelled (SCALAR)
and displacement (VECTOR):

()
Position :  : s
Choose an appropriate coordinate system!
()
Displacement :  : s

Distance: sT
Average velocity (VECTOR), velocity (VECTOR):

()
Average velocity:  :

Instantaneous velocity (velocity at a certain instant at a specific

position):
()
 :
∆ →
Average speed (SCALAR), speed (SCALAR):

Average speed :  
vsp
avg

sT
t
 vavg

Speed (magnitude of the velocity):

ds
v v
dt
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 Average acceleration (VECTOR), acceleration (VECTOR):

() v
Average acceleration: 
 : aavg 
t

Instantaneous acceleration (acceleration at a certain instant at a specific

position):

() 𝑑𝑣

 : 𝑎 𝑣 𝑠
𝑑𝑡
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Acceleration

() 𝑑𝑣

 : 𝑎
𝑑𝑡
𝑑𝑣 𝑑𝑠
∴𝑎
𝑑𝑠 𝑑𝑡
𝑑𝑣
∴𝑎 𝑣
𝑑𝑠

∴ 𝑎𝑑𝑠 𝑣 𝑑𝑣

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Important equations to remember:

() ds 1
 : v
dt
2
() dv d s
 : a  2 2
dt dt

() dv dv ds dv
 : a   v
dt ds dt ds
 ads  vdv 3
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 Questions

1. In dynamics, a particle is assumed to have _________.

A) both translation and rotational motions
B) only a mass
C) a mass but the size and shape cannot be neglected
D) no mass or size or shape, it is just a point

2. The average speed is defined as __________.

A) Δ𝑟/Δ𝑡 B) Δ𝑠/Δ𝑡
C) 𝑠 /Δ𝑡 D) None of the above.
 Questions
3 m/s 5 m/s

𝑡 2s 𝑡 7s

1. A particle moves along a horizontal path with its velocity varying

with time as shown. The average acceleration of the particle is
_________.
A) 0.4 m/s2 B) 0.4 m/s2 () v

 : aavg 
C) 1.6 m/s2 D) 1.6 m/s2 t
2. A particle has an initial velocity of 30 m/s to the left. If it then passes
through the same location 5 seconds later with a velocity of 50 m/s
to the right, the average velocity of the particle during the 5 s time
interval is _______.
∆𝑠 A) 10 m/s B) 40 m/s
𝑣
∆𝑡 C) 16 m/s D) 0 m/s
Chapter 12: Kinematic of a particle
Pr 12-5

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Chapter 12: Kinematic of a particle
Constant acceleration

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If the ACCELERATION is CONSTANT:
At time 𝑡 the velocity is 𝑣 and the position is 𝑠 .
Important equations to remember:

() ds 1
 : v
dt
2
() dv d s
 : a  2 2
dt dt

() dv dv ds dv
 : a   v
dt ds dt ds
3
 ads  vdv
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 CONSTANT ACCELERATION

Δ𝑡
𝑑𝑣
𝑎 ⇒ 𝑑𝑣 𝑎 𝑑𝑡 ⇒𝑣 𝑣 𝑎 𝑡 𝑡
𝑑𝑡

𝑑𝑠 1
𝑣 ⇒ 𝑑𝑠 𝑣𝑑𝑡 𝑣 𝑎 𝑡 𝑡 𝑑𝑡 ⇒ 𝑠 𝑠 𝑣 Δ𝑡 𝑎 Δ𝑡
𝑑𝑡 2

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If the ACCELERATION is CONSTANT:
At time 𝑡 the velocity is 𝑣 and the position is 𝑠 .

From (2) it follows that:

+ 𝑣 𝑣 𝑎 𝑡 𝑡 4

From (1) and (4) it follows that:

1
+ 𝑠 𝑠 𝑣 𝑡 𝑡 𝑎 𝑡 𝑡
2
Equation (3) yields: 3
𝑎𝑑𝑠 𝑣𝑑𝑣
+ 𝑣 𝑣 2𝑎 𝑠 𝑠
Self-study:

• Revise the use if kinematic equations of motion for

constant acceleration:
Δ𝑡
+ 𝑣 𝑣 𝑎 𝑡 𝑡

+ 1
𝑠 𝑠 𝑣 𝑡 𝑡 𝑎 𝑡 𝑡
2
+ 𝑣 𝑣 2𝑎 𝑠 𝑠
Chapter 12: Kinematic of a particle
Pr 12-15

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Chapter 12: Kinematic of a particle
Pr 12-18

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Chapter 12: Kinematic of a particle
Pr 12-22

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Chapter 12: Kinematic of a particle
Pr 12-29

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Erratic motion: pp. 20 to 21

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 12.3 Rectilinear kinematics: Erratic motion

• There exists no continuous function to describe the position,

velocity or the acceleration.
• Consists of several different functions over different time
intervals.

• From 𝑣 and 𝑎 relationships between different

types of graphs can be obtained.

(Also from 𝑎 𝑣 – but outside our curriculum.)

 Position-time, Velocity-time, Acceleration-time graphs:
() ds
 : v
dt

Find the velocity from the gradient of the

position-time graph (or differentiate 𝑠 𝑡 )
 Position-time, Velocity-time, Acceleration-time graphs:
() dv
 : a
dt
Find the acceleration from the gradient of the
velocity-time graph (or differentiate 𝑣 𝑡 )
 Acceleration-time, Velocity-time, Position-time graphs:
()
 : v   a dt

Find the change in the velocity from the area

under the acceleration-time graph (or integrate
𝑎 𝑡 over the specified time interval)
 Acceleration-time, Velocity-time, Position-time graphs:
()
 : s   v dt

Find the displacement (change in the

position) from the area under the velocity-
time graph (or integrate
𝑣 𝑡 over the specified time interval)
 Complete the
Position and
Position Acceleration
graphs.

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Velocity

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4 7 23 27

Acceleration

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Pr. 12-37

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Pr. 12-42

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Pr. 12-43

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Pr. 12-66

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