Sample

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MEC 420
CHAPTER
Dynamics
1 Lecture Notes:
Faculty of Mechanical Engineering
Universiti Teknologi MARA, 40450
Shah Alam, Selangor
Prepared By:
PMZaAR
DrDereh
March–July 2017
Introduction
& Review
For students EM 220 and EM 221 only
Faculty of Mechanical Engineering, UiTM Idris Saad
Chapter 1
Introduction and Review
1. Course Outline.
2. Introduction to Vector Dynamics.
3. Review of Vector Algebra and Vector
Calculus
MEC 420 – DYNAMICS 2

Dynamics Take-off : Kemerinizi Tak…!
3. Go!!!
2. Get set!!
1. Ready!
Mac 2017 MEC420 - DYNAMICS 4
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1. COURSE OUTLINE
• Code : MEC420
• Course : DYNAMICS
• Level : Bachelor Degree
• Credit Unit : 3
• Contact Hours : Lecture : 3 hrs/week
Tutorial : 1 hr/week
Practical : 0 hrs/week
• Part [ 1 / 2 / 3 / 4 / 5 / 6 / 7 / 8 ] : 3
• Course Status [Core/Non Core] : Core
• Prerequisite : MEC412
Mac 2017 COURSE OUTLINE MEC420 - DYNAMICS 5
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Course Outcomes:
CO1: Describe basic concepts and principles of
engineering dynamics [PO1, LO1, SS1]{C2}
CO2: Apply basic principles of dynamics to solve

various engineering problems [PO1, LO1,
SS1]{C4}
CO3: Evaluate engineering dynamics problems

using systematic and logical approaches
[PO2, LO3, SS1]{C6}
Mac 2017 Course information MEC420 - DYNAMICS 6
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• Course Description:
This course covers both kinematics and kinetics of particles
and rigid bodies in planar and spatial motion. Both scalar
and/or vector approaches will be properly emphasized for
solutions of 2-D and 3-D problems. The principles of
dynamics will be applied in machine design involving many
mechanical elements such as gears, pulleys, springs, wheels,
and etc.
Mac 2017 Course Contents MEC420 - DYNAMICS 7
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A. KINEMATICS B. KINETICS
 Particles  Particles
 Rectilinear motion  Newton’s 2nd law
 Curvilinear motion  Work and Energy
 Relative motion  Impulse and Momentum
 Dependent motion
 Rigid bodies
 Rigid bodies o Planar kinetics
o Rectilinear motion • Force and acceleration
o Rotational motion • Work and Energy
o General plane motion •Impulse and Momentum
o Spatial motion o Angular momentum and
Equations of motion
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Mac 2017 Course Information MEC420 - DYNAMICS 8
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• Teaching Methodology: Combination of lecture, tutorial,
assignment and quiz.
• Lectures are given to cover the basic principles of each
topic. Reading materials and relevant examples will be
provided. Students are expected to have a self-study about
3 hours per week.
• Individual and group homework or assignment on related
topics will be assigned on a regular basis, should be
hand-written and must follow EPSM.
• Quizzes may also be given upon completion of several
selected topics.
• The quiz will be given during the tutorial session with
the following time format:
 10 – 15min : quiz
 30 – 35min : problem discussion
 10min : peer marking or assessment
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Assessment:
• Format
 Course Work : 40%

– Test 1 : 10%
– Test 2 : 10%
– Assignments and/or Quizzes : 20%
 Final Examination : 60%
TOTAL : 100%
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Assessment (cont.):
• Structure of Questions :
 There will be two questions in each of the tests.
 There will be five (5) questions in the final examination.
The final example is comprehensive.
 Each of all questions in the tests and the final examination
will consist of three parts, namely, a), b), and c).
 Each part will assess according to the course outcome
(CO) as follows
 Part a) covers CO1 (C2) : 4 – 6 marks [Explain/describe, etc]
 Part b) covers CO2 (C4) : 10 – 12 marks [Solve/determine, etc]
 Part c) covers CO3 (C6) : 4 – 6 marks [Evaluate/judge, etc]
 Free-body, schematics, illustrative diagrams and etc will
also be assessed through these questions.
Mac 2017 PSTips MEC420 - DYNAMICS 11
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1. Read and understand the problem & connect

actual physical situation with theories
2. Draw any necessary diagram (e.g. free-body) &
identify problem data
3. Select a coordinate system (reference frame) &
establish relevant principles (mathematical form)
4. Solve necessary equations algebraically and use a
consistent set of units & complete the solution
5. Verify the answers using technical judgment &
common sense
6. Review the problem to strengthen your insight
7. Use EPSM.
Mac 2017The EPSM MEC420 - DYNAMICS 12
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Engineering Problem Solving Method
1. Problem Statement: write your problem statement using own sentences
to describe what the problem is. Often it contains summary of the
problem.
2. Determine/Find: Identify exactly what to be analysed, found, and
solved.
3. Data & Diagrams: Draw schematic or illustrative diagrams showing all
required dimensions, Write all given data with proper symbols and units.
4. Assumptions: Write down all appropriate assumption(s) to make the
problem solvable.
5. Fundamental principles: Understand the physical system/model
involved and Establish relevant theories or principles.
6. Solution: Draw FBD that isolate a system (of interest) from any
contact/constraint indicating all external forces acting on each body;
and/or kinetics diagrams; and Solve the problem accordingly.
7. Verification: Check your solution for errors in arithmetic and
consistency of units; Always exercise judgment and common sense such
as experience and physical intuition to assess whether results are
“reasonable” and “logical”
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Mac 2017
Course Information 13
MEC420 - DYNAMICS 7
• Recommended Textbook
– Meriam, James L., and Kraige, L. Glenn, Engineering Mechanics:
Dynamics, 6th Ed., John Wiley and Sons, Inc., 2007.
• References
– Ferdinand P. Beer and E. Russell Johnston Jr., Vector Mechanics for
Engineers: Dynamics, 8th International Edition, McGraw-Hill,
Boston, 2007.
– R.C.Hibbeler. Engineering Mechanics:Dynamics, Twelfth Edition,
Prentice Hall, Singapore, 2010.
– Tongue B. H., Dynamics: Analysis and Design of Systems in Motion,
John Wiley and Sons, Inc., 2006.
– Marcelo R.M. Crespo Da Silva. Intermediate Dynamics:
complemented with simulations and animations. USA: McGraw-Hill.
2004.
• Access: http://i-learn.uitm.edu.my/v2/
– Course info
– Announcement/Updates/Lecture materials/Assignments/etc
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• Welcome to DYNAMICS WORLD!!!
• Course info
• Advices/Rules:
Everybody is his/her own best friend or worst enemy…
Make it simple and take it easy, please!
Come to class early and consistently!
Suggest to take lecture notes!
Do your own homework, do it early & Follow EPSM!
Spend some extra hours doing your self-study!
Seek help immediately!
Organize your materials using Dynamics Milestone
Sheet (DMS)! – To be submitted!!!
Heed the advice….insyaaAllah semoga BERJAYA!!!
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Applications of Dynamics
• Modern machines and structures operated with high speed
(acceleration)
• Ground & air transportation vehicles
• Moving structures
• Fixed structures subjected to shock load
• Robotic devices
• Automatic control system
• Rockets, missiles, spacecraft
• Machineries
• Human movement

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Thank You…..
Faculty of Mechanical Engineering, UiTM ZaAR
2. Introduction to Vector Dynamics

Engineering Mechanics
Rigid Bodies Deformable Bodies Fluids
Statics: concerns the equilibrium of bodies under the action of forces at rest
(effects of forces on bodies at rest): Govern by Newton’s 1st Law; F = F𝑅 = 0
Dynamics: concerns … in motion
Kinematics: study of motion of bodies without reference to forces

which cause the motion (r, v, a and t)
Kinetics: relates action of forces on bodies to their resulting motion ;
Governed by Newton’s 2nd Law : F = ma
Expressed in coordinate system
Dynamics – Science that describes and predicts the conditions of rest or motion of
bodies under the action of forces
Kinematics: study of motion of bodies without reference to forces which cause

the motion – position (p), displacement (s), velocity (v), acceleration (a) and
time (t) i.e. p, s, v, a are shown in scalar for simplification.
t=0 t t + dt
v v+ dv
s
p1
s + ds
O
p2
ds dv d 2 s dv
v  s  a  v   2 v
dt dt dt ds
Back

Kinetics: study of motion of bodies with reference to forces which cause the
motion – relates total or resultant forces (F) to acceleration (a) with mass (m)
and time (t).
F1 a
m
Ff
s
N
O p1
t=0 t
 F  ma
Back

Course Contents:
A. KINEMATICS B. KINETICS
 Particles  Particles
 Rectilinear motion  Newton’s 2nd law
 Curvilinear motion  Work and Energy
 Relative motion  Impulse and Momentum
 Dependent motion
 Rigid bodies
 Rigid bodies o Planar kinetics
o Rectilinear motion • Force and acceleration
o Rotational motion • Work and Energy
o General plane motion •Impulse and Momentum
o Spatial motion o Three-dimensional kinetics
Mass moment and Product of Inertia
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
• Area: the two dimensional size of shape or surface
• Volume: the three dimensional size of the space occupied by substance
• Force: the vector action of one body on another whether by contact or
no contact (at a distance) such as 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 centre of
the Earth
Units of Measurement
• 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)

Type of Coordinate Systems

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
• 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)

Possible Coordinate Systems Back

Fundamental Concepts - Revisited

Four fundamental concepts
1. Space – to define the position (location) of a point (P)
– The coordinate of a point P relative to a reference point.
2. Time – to indicate the time of an event
– Measured by the interval between repeated events
– SI unit of time (T) : second (s)
3. Mass – to characterise and compare bodies
– E.g. Response to earth’s gravitational attraction and resistance to translation motion (inertia)
– 2 bodies of the same mass will 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)
4. Force – represent the vector action of one body on another
– Characterised by its point of application, magnitude, and direction (hence has the line of action)
– Represented by a vector
– Can be exerted by actual contact of at distance
– SI unit of force : Newton (N)


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. 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 straight line) OR
the particle will remain at rest.
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 sense (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 W  mg
r2

1.Parallelogram law (vector addition of forces)
– the sum of the squares of the lengths of the four sides of
a parallelogram equals the sum of the squares of the
lengths of the two diagonals (F = FR)

Six fundamental principles (cont.):
– the condition of equilibrium or of motion of a rigid body
will remain unchanged if a force acting at a given point
of the rigid body is replaced by a force of the same
magnitude and same direction but acting at a different
point, provided that the two force have the same line of
action.


3. Newton’s first law (Static equilibrium
condition F=0, or linear momentum is constant
L = mv = constant)
– If the resultant force (external) on a particle is zero, the
particle’s velocity is constant (move in straight line) OR
the particle will remain at rest.


4. Newton’s second law of motion (Dynamic
equilibrium condition F – ma = 0, or accelerated
motion F=ma)
– When the sum of the forces acting on a particle is ≠ 0,
then the sum of forces is equal to the rate of change of
the linear momentum of the particle. If the resultant
force on a particle is not zero, it will have an
acceleration proportional to a nonzero resultant applied
force.


5. Newton’s third law of motion
– The forces of action and reaction between two bodies in
contact have the same magnitude and line of action
and opposite sense (equal, collinear and opposite)


6. Newton’s law of gravitation
– Two particles are attracted with equal and opposite
forces
Mm
F G 2
r


1. Parallelogram law (vector addition of forces)
– the sum of the squares of the lengths of the four sides of a parallelogram equals the sum of the
squares of the lengths of the two diagonals (F = FR)
– the condition of equilibrium or of motion of a rigid body will remain unchanged if a force acting at a
given point of the rigid body is replaced by a force of the same magnitude and same direction but
acting at a different point, provided that the two force have the same line of action.
3. Newton’s first law of motion (Static equilibrium condition F=0, or linear
momentum is constant L = mv = constant)
– If the resultant force (external) on a particle is zero, the particle’s velocity is constant (move in straight
line) OR the particle will remain at rest.
4. Newton’s second law of motion (Dynamic equilibrium condition F – ma = 0, or
accelerated motion F=ma)
– When the sum of the forces acting on a particle is ≠ 0, then the sum of forces is equal to the rate of
change of the linear momentum of the particle. If the resultant force on a particle is not zero, it will have
an acceleration proportional to a nonzero resultant applied force.
5. Newton’s third law of motion
– The forces of action and reaction between two bodies in contact have the same magnitude and line of
action and opposite sense (equal, collinear and opposite)
6. Newton’s law of gravitation Mm
– Two particles are attracted with equal and opposite forces F G
r2
Mac 2017 FBDs MEC420 - DYNAMICS 34
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Schematic vs Free-body Diagrams
34

Introduction to Free-Body Diagram (FBD):
 FBD is one of the most important concepts in mechanics. It is
necessary that we distinguish between action and reaction.
 FBD is a sketch of the isolated body from its supports or other
connected bodies showing all the external forces acting on it.
Wb
(a) (b) Statics FBD (c) Statics FBD

w/o weight of beam with weight of beam

Free-Body Diagram (FBD), Effective Force (or Inertia or Kinetic)

Diagram (EFD, ID, or KD) vs Schematic Diagram (SD):
 EFD/IFD/KD is a diagram which shows the effects of the external
forces called effective or inertia forces.
 SD is a diagram which gives an approximate representation of
actual physical system.
Wb
(a) SD (b) Dynamics FBD (C) EFD/IFD/KD

(a) SD
Wb
(b) Dynamics FBD (C) EFD/IFD/KD

Schematic diagram or representation

of real physical systems:

7
Thank You…..
3. Review of Vector Algebra and Calculus

A vector is a quantity that has both magnitude and direction.
For example, if a quantity has a magnitude A (5N) and
direction  (45°), then it may be represented as a vector A as;
A = A   or A = 5N  45°
and graphically it can be shown as
A F = 10 N  50o F (F = 10 N)
  4
O O O
Vectors obey the parallelogram law of addition, i.e. they

cannot be added algebraically like scalars. Quantities such as
displacement, velocity, acceleration, force, momentum, and
etc. are examples of a vector quantity.

Components of a vector
Any two or more vectors whose sum is equal to a certain vector V are
said to be the components of that vector.
In Figure (a), R and Q are said to be components of V while T and S

form components of V in Figure (b). Notice that the vector can have its
components oriented in many directions. However, for most practical
situations, the vector is usually resolved into rectangular components
i.e. components which are mutually perpendicular to each other as
shown in Figure aside.

Unit vector
• A unit vector is a vector whose magnitude is equal to 1.
• Introducing a unit vector i along the x axis and j along
the y axis where;
𝑖 = 𝑗 =1
• we write V = Vx + Vy as;
V = Vx i + Vy j

RESOLUTION OF A PLANAR VECTOR (2D)

• Using Cartesian coordinate, a vector V can be resolved into components x and y;
where Vx and VY are the x and y components of a vector V, respectively. Introducing

unit vectors and along the x and y axis, these components can be expressed as;
Vx = Vx i and Vy = Vy j
where Vx and Vy are the magnitudes or scalar components in the corresponding x and
y direction and they can be determined as;
Vx = Vcos and Vy = Vsin
The magnitude and direction of V can then be determined by writing

𝑉𝑦 𝑉𝑦
and tan  = ;  = tan-1
𝑉𝑥 𝑉𝑥

RESOLUTION OF A SPATIAL VECTOR (3D)

• A general case of a vector is a vector in space which is a 3-
dimensional or spatial vector as depicted in Figure below
using rectangular coordinate;
cos x , cos y and cos z are known as

direction cosines of V along the
respective x, y, z axes.
Introducing unit vectors i, j and k along
the x – , y – , and z – axis, respectively,
the vector V can be expressed in its
rectangular components as
Where;
RESOLUTION OF A SPATIAL VECTOR (3D)

Defining a Unit Vector: u

Let P(x1, y1, z1) and Q(x2, y2, z2) be any two points in the rectangular coordinate
system. Then the vector R directing along P to Q having unit vector u , may be
written as
Where the magnitude of R is
And the unit vector u is given by
Back

Example 1
Consider two vectors A (directed along OP) and B (directed along DE) as shown in Figure
E1-1. Express each of these vectors in its rectangular components.
Solution:
We may write vector A as a combination of its
magnitude (A = 221) and direction (uOP) as;
where
Similarly, for vector B , we may write it as a

combination of its magnitude (B = 489) and
*P(18, 10, 8), D(–10, 0, –6) direction (uDE) as
and E(18, –9, 8) where
Back

REVIEW OF BASIC VECTOR ALGEBRA AND

VECTOR CALCULUS
Given A = Ax i + Ay j + Az k and B = Bx i + By j + Bz k
Addition and subtraction
A ± B = (Ax ± Bx) i + (Ay ± By) j + (Az ± Bz) k
For example: Let A = 3i + 2j – 5k and B = – 2i + 4j + 3k then
A + B = [3 + (–2)] i + (2 + 4) j + (–5 + 3) k = i + 6j – 2k
A – B = [3 – (–2)] i + (2 – 4) j + (–5 – 3) k = 5i – 2j – 8k

Multiplication
a) Scalar multiplication of two vectors or dot
product
Algebraic operation that takes two equal-length sequences of numbers
(usually coordinate vectors) and returns a single number. This operation can
be defined either algebraically or geometrically
Algebraically - the sum of the products of the Geometrically - A vector can be pictured as an
corresponding entries of the two sequences arrow. Its magnitude is its length, and its
of numbers
direction is the direction that the arrow points.
The dot product of two vectors A = [A1, A2,
..., An] and B = [B1, B2, ..., Bn] is defined as; The magnitude of a vector A is denoted by ǁAǁ.
The dot product of two Euclidean vectors A and
B is defined by;
A • B = AB cos 
o
where Σ denotes summation notation and n is It follows that i•j = (1)(1)cos 90 = 0 ,
the dimension of the vector space. For and similarly, j•k = k•i = 0.
instance, in three-dimensional space, the dot i•i = (1)(1)cos 0o = 1 , similarly, j•j = k•k = 1.
product of vectors [1, 3, −5] and [4, −2, −1] is: Therefore, A • B = A B + A B + A B
x x y y z z
For example: Using the same vectors A = 3i + 2j
– 5k and B = – 2i + 4j + 3k , then
A • B = 3(–2) + 2(4) + (–5)(3) = – 17
Multiplication
b) Vector multiplication of two vectors or cross product
By definition, the cross product is defined as
A  B = AB sin n
where n is a unit vector perpendicular to the plane
containing both A and B.

• It follows that ;
Multiplication
• Therefore;
• Example:

Differentiation Rules
• Some useful vector calculus involving differentiation is given
as follows.

OMEGA THEOREM
• This theorem is used when we have a vector of constant magnitude changes its
direction i.e. it rotates with an absolute angular velocity .
• Consider point P on a rigid body which rotates
about a fixed axis passing through some fixed
point O.
• The position of point P from point O is defined by
a vector R. The velocity of point P can be
expressed as
v =𝑅 =   R (1)
• This illustrates the fact that for a constant vector R

whose direction is changing due to the rotation of
the body, its derivative with respect to time is
equal to the vector product of the angular velocity Note: symbol for angular
 with which it rotates and that vector R itself. It velocity in vector form;  or 
represents the rate at which a vector of constant
length changes its direction.
OMEGA THEOREM
• For example: Consider unit vectors i, j, and k which has a
rotation . It follows that the rate of change of these unit
vectors using the Omega theorem are, respectively, obtained
as;

REFERENCE COORDINATE SYSTEMS

In the analysis of problems in dynamics, there are two reference
coordinate systems commonly used: global coordinate system (or
fixed reference axis) and local coordinate system (or moving
reference axis).
(a) Global Coordinate System (or Fixed Reference Axis)
OXYZ is chosen to be fixed in space i.e. the origin O and

the orientation of each axis is fixed. It forms what is
called as global coordinate system.
Unit vectors along the X-, Y-, and Z-axis are,

respectively: I, J, K.
All quantities measured in this coordinate system are

absolute quantities.

(b)Local Coordinate System (or Moving Reference Axis)

1. Local Coordinate System with origin 2. Local Coordinate System with origin at a
at a fixed point O moving point A
• Oxyz is moving in space i.e. the • Axyz is moving in space i.e. the origin A and the
orientation of each axis is changing, but orientation of each axis is changing with time..
its origin O is fixed. This type of axis is • Unit vectors along the x-, y-, and z-axis are,
called a local coordinate system. respectively: i, j, k.
• Unit vectors along the x-, y-, and z-axis • All quantities measured in this coordinate
are, respectively: i, j, k. system are relative quantities with respect to
• All quantities measured in this point A and to obtain the absolute quantities,
coordinate system are relative quantities we must determine the motion of point A
and they must be converted to global relative to point O and later add them together.
axis to obtain the absolute quantities.

RATE OF CHANGE OF A VECTOR WITH RESPECT TO

A ROTATING FRAME
• Consider a vector R(t) as shown in Figure. There are two reference frames
used to characterized this vector and its derivatives.
OXYZ is a fixed (or inertia)

reference frame with I, J, K as unit
vectors.
Oxyz is a moving (i.e. rotating)
reference frame which rotates at
the absolute angular velocity 
with respect to OXYZ frame and has
unit vectors i , j and k.

RATE OF CHANGE OF A VECTOR WITH RESPECT

TO A ROTATING FRAME
We observe that as time t varies, the magnitude and
direction of R also change i.e. its length and orientation
vary with time. Writing the vector R in the Oxyz frame we
have
Its derivative with respect to this frame is then given by
which represents the rate of change of R with respect to

the rotating frame Oxyz.
The derivative of the vector R with respect to the inertial
frame OXYZ can be obtained by differentiating the vector R
as follows:
which represents the rate of change of R with respect to

the fixed reference frame.
RATE OF CHANGE OF A VECTOR WITH

RESPECT TO A ROTATING FRAME
Using Omega Theorem, we may write;
It follows that;
then
Note that the use of this equation simplifies the solution for the rate of change of a vector
R with respect to a fixed inertial reference frame OXYZ when R is defined by its
components along the axes of a rotating frame Oxyz.
Motion with Respect To A Fixed Point

• Let’s now consider a vector R moving in space with an absolute angular velocity 
rad/s and absolute angular acceleration  = rad/s2.
where R is the magnitude and u is the unit vector

that shows the direction of R.
Differentiating eq(1) with respect to time yields
Differentiating eq(2) with respect to time

yields • Note that the unit vector u is generally
expressed using a local coordinate i, j
and k which may be later be
transformed into a global coordinate.
• If R represents a position vector of a
moving point P, then eq.(2) and (3)
give the absolute velocity and absolute
acceleration of point P, respectively.

Motion with Respect To A Moving Point

Consider a particle P moving in space indicated by
the local coordinate Axyz. At the same time, this
space is moving in global coordinate OXYZ with
angular velocity .
Position of P relative to A
(1)
Velocity of P relative to A
(2a)
Acceleration of P relative to A
(3a)

Motion with Respect To A Moving Point

Observe that if the magnitude of the vector r is constant
and its position in the local coordinates Axyz is fixed, then
the terms 𝑥, 𝑦, 𝑧, 𝑥, 𝑦 and 𝑧 are all equal to zero!!!
Denoting terms as follows:
Eq(2) and Eq(3) can be expressed as;
(2b)
(3b)
Note that the derivative terms without a subscript are all the absolute quantities i.e. with
respect to the OXYZ coordinate system.
Also note that if point P is a fixed point in the Axyz coordinate system, then the terms ( 𝑥i + 𝑦j
+ 𝑧k) and ( 𝑥i + 𝑦j + 𝑧k) are all zero

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1

MEC 420 – DYNAMICS 2

CO2: Apply basic principles of dynamics to solve

CO3: Evaluate engineering dynamics problems

 Course Work : 40%

1. Read and understand the problem & connect

MEC 420 – DYNAMICS 15

2. Introduction to Vector Dynamics

Rigid Bodies Deformable Bodies Fluids

Kinematics: study of motion of bodies without reference to forces

Expressed in coordinate system

Kinematics: study of motion of bodies without reference to forces which cause

MEC 420 – DYNAMICS 18

MEC 420 – DYNAMICS 19

MEC 420 – DYNAMICS 22

Type of Coordinate Systems

• The motion of particle P can be

MEC 420 – DYNAMICS 23

Possible Coordinate Systems Back

MEC 420 – DYNAMICS 24

Fundamental Concepts - Revisited

MEC 420 – DYNAMICS 25

Fundamental Concepts - Revisited

Fundamental Concepts - Revisited

MEC 420 – DYNAMICS 27

Six fundamental principles (cont.):

MEC 420 – DYNAMICS 28

Six fundamental principles (cont.):

MEC 420 – DYNAMICS 29

Six fundamental principles (cont.):

MEC 420 – DYNAMICS 30

Six fundamental principles (cont.):

MEC 420 – DYNAMICS 31

Six fundamental principles (cont.):

MEC 420 – DYNAMICS 32

Fundamental Concepts - Revisited

Fundamental Concepts - Revisited

(a) (b) Statics FBD (c) Statics FBD

MEC 420 – DYNAMICS 35

Free-Body Diagram (FBD), Effective Force (or Inertia or Kinetic)

MEC 420 – DYNAMICS 36

MEC 420 – DYNAMICS 37

Schematic diagram or representation

MEC 420 – DYNAMICS 38

3. Review of Vector Algebra and Calculus

Vectors obey the parallelogram law of addition, i.e. they

MEC 420 – DYNAMICS 40

In Figure (a), R and Q are said to be components of V while T and S

MEC 420 – DYNAMICS 41

MEC 420 – DYNAMICS 42

RESOLUTION OF A PLANAR VECTOR (2D)

where Vx and VY are the x and y components of a vector V, respectively. Introducing

Vx = Vcos and Vy = Vsin

The magnitude and direction of V can then be determined by writing

MEC 420 – DYNAMICS 43

RESOLUTION OF A SPATIAL VECTOR (3D)

cos x , cos y and cos z are known as

RESOLUTION OF A SPATIAL VECTOR (3D)

MEC 420 – DYNAMICS 45

Defining a Unit Vector: u

Where the magnitude of R is

And the unit vector u is given by

MEC 420 – DYNAMICS 47

Similarly, for vector B , we may write it as a