University of Stellenbosch

Faculty of Engineering

Study Guide

Applied Mathematics B224

Dynamics of Rigid Bodies
2018

Compiled by:
Francois Smit, Hanno Coetzer and Marèt Cloete
 Contents

1 GENERAL INFORMATION ............................................................................................................................3

1.1 CALCULATOR ...................................................................................................................................................3
1.2 LECTURES .........................................................................................................................................................3
1.3 PRESCRIBED BOOKS .........................................................................................................................................3
1.4 HOMEWORK AND EXTRA PROBLEMS ................................................................................................................3
1.5 TUTORIALS .......................................................................................................................................................3
1.7 IMPORTANT DATES ...........................................................................................................................................4

1.8 LECTURER ........................................................................................................................................................4

2 MODULE PARTICULARS ..............................................................................................................................4
3 ASSESSMENT METHOD .................................................................................................................................4
3.1 MAIN ASSESSMENT OPPORTUNITIES.................................................................................................................4
3.2 SEMESTER MARK (SM) ....................................................................................................................................5
3.3 FINAL MARK FORMULA ....................................................................................................................................5
3.4 SUBMINIMA ......................................................................................................................................................5
3.5 ACCESS TO ASSESSMENTS OPPORTUNITIES ......................................................................................................5
4 MODULE-CONTENT AND PRESENTATION PLAN..................................................................................6
4.1 REFERENCES .....................................................................................................................................................6
4.2 PART 1 - PLANE KINEMATICS OF A RIGID BODY ...............................................................................................6
4.2.1 Teaching goals .......................................................................................................................................6
4.2.2 Study units ..............................................................................................................................................6
4.2.3 Assessment criteria .................................................................................................................................6
4.3 PART 2 - PLANE KINETICS OF A RIGID BODY .....................................................................................................7
4.3.1 Teaching goals .......................................................................................................................................7
4.3.2 Study units ..............................................................................................................................................7
4.3.3 Assessment criteria .................................................................................................................................8
4.4 PART 4 – VIBRATIONS.......................................................................................................................................8
4.4.1 Teaching goals .......................................................................................................................................8
4.4.2 Study units ..............................................................................................................................................8
4.4.3 Assessment criteria .................................................................................................................................8
4.5 SUMMARY OF RECOMMENDED PRESENTATION PLAN .....................................................................................10

2
12 Jan-18
1 GENERAL INFORMATION
1.1 CALCULATOR

Calculators must always be available during classes, tutorials, tests and exams. No course
material may be stored on the calculator during tests and exams.

1.2 LECTURES

Students should make provision to take notes on examples and problems discussed in class.

1.3 PRESCRIBED BOOKS

 Hibbeler, R.C., ENGINEERING MECHANICS DYNAMICS, Fourteenth Edition in SI units,

2016.
 Additional keynotes provided.

1.4 HOMEWORK AND EXTRA PROBLEMS

A list of textbook problems discussed in class, as well as additional homework assigned, will be
posted regularly on SUNLearn.

1.5 TUTORIALS

Tutorials for this course are on Tuesdays from 14:00 to 16:50. All tutorials must be attended –
also by students repeating the course. Leave of absence can only be granted if the student
presents a medical certificate or written leave has been granted by the Registrar (Academic).
The mark obtained for the weekly tutorial test contributes towards a student's semester mark (SM
Students may also use the tutorial time to discuss the past week's work with the lecturer.

3
12 Jan-18
1.7 IMPORTANT DATES

Important dates are posted on the course website as they become available.

1.8 LECTURER

Prof. Francois Smit (Office No. A412, Tel. 021 808-4219)

Dr Hanno Coetzer (Office No. A415, Tel. 021 808-4213)
Dr Marèt Cloete (Office No. A414, Tel. 021 808-4221)

2 MODULE PARTICULARS

MODULE CODE MODULE US CREDITS

20753-B224 Applied Mathematics B224 15
YEAR SEMESTER LECTURING LOAD HOME DEPARTMENT
2 1 3l, 0p, 3.0t, 0s (per week) Department of Mathematical Sciences
Division Applied Mathematics
LECTURES: OFFICE: TELEPHONE EMAIL
Prof Francois Smit A412 021 808-4219 fsmit@sun.ac.za
Dr Hanno Coetzer A415 021 808-4213 jcoetzer@sun.ac.za
Dr Marèt Cloete A414 021 808-4221 mcloete@sun.ac.za
PASS (PP50) PREREQUISITES (PP40)
Any one of:
REQUIREMENTS None App Math 144
App Math B154

3 ASSESSMENT METHOD
This module uses the "Flexible Assessment" method, as applied in the Engineering Faculty. For
details, please refer to the Faculty's Assessment Rules, which is available on the webpages (e.g.
through MyMaties) of modules offered by the Engineering Faculty.

3.1 MAIN ASSESSMENT OPPORTUNITIES

Three formal assessment opportunities are scheduled, that is the first main assessment
opportunity (A1) in the period of the mid-semester test week, the second main assessment
opportunity (A2) in the period of the first examinations and the third main assessment
opportunity (A3) in the period of the second examinations.

4
12 Jan-18
3.2 SEMESTER MARK (SM)

The marks obtained for the weekly tutorial tests contribute towards a student's semester (SM).

3.3 FINAL MARK FORMULA

In the following formulas wsm, wA1 and wA2 represent the weighting factors for the composition
of the final mark (FM). For this course the weighting factors are as follows:
wsm = 0.12 wA1 = 0.38 wA2 = 0.5
SM, A1, A2 and A3 represent the respective marks (each out of 100) that were achieved for the
semester mark and the three main assessments.
 For students who wrote A1 and A2, but not A3, the FM before rounding is given by:

FM = wsm SM + wA1 A1 + wA2 A2

 For students who missed either A1 or A2, and therefore wrote A3, the FM is calculated
using the above formula, except that A3 is used instead of the missed assessment. The
weighting factors are not adjusted.

 For students who wrote A1, A2 and A3, A3 is used where it makes the largest
contribution without adjusting the weighting factors, while PP is not reduced by taking
A3 into account.

NB: A2 ≥ 50 or A3 ≥ 50 are not necessarily sufficient to pass the module and A1 ≥ 40 is not
required to have access to A2.

3.4 SUBMINIMA

 Students must achieve at least 40 in either A2 or A3 to pass

NB: If a student has not achieved at least 40 in A2 or A3, then his/her FM may not exceed
45.

3.5 ACCESS TO ASSESSMENTS OPPORTUNITIES

 All students registered for the module have access to A1.

 A student only has access to A3 if he/she has submitted an acceptable excuse (e.g.
medical certificate or a letter of excuse from the Registrar) for A1 or A2, or if he/she has
achieved 40 ≤ FM< 50 after completion of A2.
 A3 also serves as sick-assessment for either A1 or A2.
NB: A student may not choose to "defer" A2, i.e. he/she may not choose to miss A2 and
rather write A3.

5
12 Jan-18
4 MODULE-CONTENT AND PRESENTATION PLAN
4.1 REFERENCES

Hibbeler, R.C., ENGINEERING MECHANICS DYNAMICS, Fourteenth in SI units, Prentice

Hall, Singapore, 2016.

4.2 PART 1 - PLANE KINEMATICS OF A RIGID BODY

4.2.1 Teaching goals

 To classify the different types of rigid body plane movements.

 To investigate rigid body translation and to show how to analyze movement about a fixed
axis.
 To study rigid body movement by utilizing absolute movement analyses.
 To provide a relative movement analyses of velocity and acceleration in terms of a translating
frame of reference.
 To determine the instantaneous center of zero velocity and to determine the velocity of a
point on the body by using the said method.
4.2.2 Study units

 Planar rigid body motion # 16.1

 Translation # 16.2
 Rotation about a fixed axis # 16.3
 Absolute motion # 16.4
 Relative motion: Velocity # 16.5
 Instantaneous center of zero velocity # 16.6
 Relative motion: Acceleration # 16.7
4.2.3 Assessment criteria

Credit will be given if the student:

 can list and, with the aid of a sketch, explain the types of planar movement of rigid bodies.
 can calculate the velocity and acceleration, in terms of angular velocity and acceleration, of
any point on a rigid body which rotates about a fixed axis.
 can solve any problem with regard to the movement of rigid bodies through aid of:
- absolute movement analyses.
- relative movement analysis of velocity and acceleration in terms of a translating frame of
reference.
- the instantaneous center of zero velocity.

6
12 Jan-18
4.3 PART 2 - PLANE KINETICS OF A RIGID BODY

4.3.1 Teaching goals

Properties of Rigid Bodies:

 To introduce the methods for the calculation of moments of inertia of a body.
Force and Acceleration:
 To develop plane kinetic equations for rigid bodies.
 The application of above equations on bodies subjected to translation, rotation about a fixed
axis, and general plane movement.
Work and Energy:
 The development of formulae for the kinetic energy of a body and the definition of different
methods of work done by a force and force couple.
 The application of the principles of work and energy to solve rigid body problems with
regard to force, velocity, and displacement.
 To show how the conservation of energy can be used to solve problems with regard to plane
kinetics of rigid bodies.
Impulse and Momentum:
 To develop formulae for linear and angular momentum of rigid bodies.
 To apply the principles of linear and angular impulse and momentum for solving plane
kinetic rigid body problems involving force, velocity, and time.
 To discuss the application of conservation of momentum.
4.3.2 Study units

 Moment of inertia # 17.1

 Planar kinetics equations of motion # 17.2
 Equations of motion: Translation # 17.3
 Equations of motion: Rotation about a fixed axis # 17.4
 Equations of motion: General plane motion # 17.5
 Kinetic energy # 18.1
 Work of a force # 18.2
 Work of a couple # 18.3
 The principles of work and energy # 18.4
 Conservation of energy # 18.5
 Linear and angular momentum # 19.1
 Principles of impulse and momentum # 19.2
 Conservation of momentum # 19.3

7
12 Jan-18
4.3.3 Assessment criteria

Properties of Rigid Bodies

Credit will be given if the student:
 can utilize integrals correctly to solve properties such as (among others) areas, volumes,
mass, centre of mass and moments of inertia of rigid bodies.
Force and Acceleration
Credit will be given if the student:
 can apply plane kinetics equations for symmetrical bodies subjected to translation, rotation
about a fixed axis, and general plane movement.
Work and Energy
Credit will be given if the student:
 can identify the different ways a force and force couple can do work, and apply this to solve
problems in this regard.
 can apply the principle of work and energy of rigid body plane kinetics to solve problems
with regard to force, velocity and displacement.
 use the conservation of energy to solve problems regarding rigid body plane kinetics.
Impulse and Momentum
Credit will be given if the student:
 can utilize the principles of linear and angular impulse to solve problems on rigid body plane
kinetics with regard to force, velocity, and time.
 can apply conservation of momentum on relevant problems.

4.4 PART 4 – VIBRATIONS

4.4.1 Teaching goals

 To discuss undamped, one degree of freedom, free and forced, vibrations of a particle and
rigid body by using equations of motion, and energy methods.
 To analyse undamped and damped vibrations.
4.4.2 Study units

 Undamped free vibrations # 22.1

 Undamped forced vibrations # 22.3
 Viscous damped free vibrations # 22.4
 Viscous damped forced vibrations # 22.5
4.4.3 Assessment criteria

Credit will be given if the student:

 can derive the equation of motion by using plane motion mechanics of particles and rigid
bodies.

8
12 Jan-18
 can solve the differential equations.
 can interpret x-t diagrams: over, critical and under damping.
 can interpret concepts such as (amongst others) frequency; period; amplitude; damping
factor.
 can interpret concepts such as steady state; magnification factor (MF); resonance.
 can use the general solutions for calculations.

9
12 Jan-18
4.5 SUMMARY OF RECOMMENDED PRESENTATION PLAN

Part 1 – Plane Kinematics of Rigid Bodies

 Planar rigid body motion # 16.1
 Translation # 16.2
 Rotation about a fixed axis # 16.3
 Absolute motion # 16.4
 Relative motion: Velocity # 16.5
 Instantaneous centre of zero velocity # 16.6
 Relative motion: Acceleration # 16.7
Part 2 – Plane kinetics of Rigid Bodies
 Moment of inertia # 17.1
 Planar kinetics equations of motion # 17.2
 Equations of motion: Translation # 17.3
 Equations of motion: Rotation about a fixed axis # 17.4
 Equations of motion: General plane motion # 17.5
 Kinetic energy # 18.1
 Work of a force # 18.2
 Work of a couple # 18.3
 The principles of work and energy # 18.4
 Conservation of energy # 18.5
 Linear and angular momentum # 19.1
 Principles of impulse and momentum # 19.2
 Conservation of momentum # 19.3
Part 4 – Vibrations
 Undamped free vibrations # 22.1
 Undamped forced vibrations # 22.3
 Viscous damped free vibrations # 22.4
 Viscous damped forced vibrations # 22.5

10
12 Jan-18