Chapter 1

Dynamics is a branch of mechanics that deals with forces and their relation primarily to the
motion but sometimes also to the equilibrium of bodies.
Kinematics
- Study of the geometry of motion

- Is used to relate DISPLACEMENT, VELOCITY, ACCELERATION, and TIME
WITHOUT REFERENCE TO THE CAUSE OF MOTION
Kinetics
- Study of the relationship between the FORCES acting on a body, the MASS of the
body, and the MOTION of the body
- It is used to predict the motion caused by given forces or to determine the forces
required to produce a given motion
Rectilinear Motion
1. General Rectilinear Motion

2. Uniform Rectilinear Motion
3. Curvilinear Motion
Rectilinear Motion
- POSITION, VELOCITY, and ACCELERATION of a particle as it moves along a

straight line
General Rectilinear Motion Formulas:
Average Velocity Average Acceleration
∆x ∆v
V ave = a ave =
∆t ∆t
Instantaneous Velocity Instantaneous Acceleration
∆ x dx ∆ v dv
V = lim = a= lim =
∆t→0 ∆ t dt ∆ t →0 ∆ t dt
CASES:
Position given as a function of time x=f (t)

Velocity given as a function of time v=f (t)
Acceleration given as a function of time a=f (t)
Acceleration given as a function of position a=f (x)
Acceleration given as a function of velocity a=f (v )
Velocity given as a function of position v=f (x)
Example at 12:51
v t
∫ dv=∫ a dt
v0 0
Uniform Rectilinear Motion
- VELOCITY IS CONSTANT
x=x 0 + vt
2
at
x=x 0 + v 0 t +
2
v=v 0 + at
2 2
v =v 0 +2 a ∆ x
Example at 11:38
Curvilinear Motion
- When a particle is moving in a curve other than a straight line, the particle is in
curvilinear motion
∆ ⃗r ∆ s ds
average ⃗v = instantaneous velocity=v= lim =
∆t ∆ t →0 ∆ t dt
∆ ⃗r d r⃗ ∆ ⃗v
instantaneous velocity= v⃗ = lim = average acceleration=
∆ t →0 ∆ t dt ∆t
∆s ∆ v⃗ d ⃗v
average speed= instanteneous acceleration=⃗a = lim =
∆t ∆t→0 ∆ t dt
d(⃗
P+ ⃗
Q) d ⃗
P d⃗Q
= +
du du du
d(f ⃗
P) d⃗
P ⃗ df
=f +P
du du du
d(⃗
P∙⃗Q) ⃗ d ⃗Q ⃗ d⃗ P
=P ∙ +Q ∙
du du du
d(⃗
P×⃗ Q) ⃗ d ⃗
Q ⃗ d⃗ P
=P× + Q×
du du du
Ways of Curvilinear Motion
1. Rectangular Components of Velocity and Acceleration
^ y ^j+ z ^k
r⃗ =x i+
^ ẏ ^j+ ż k^
⃗v = ẋ i+
d ⃗v
a⃗ = = ẍ i^ + ÿ ^j + z̈ k^
dt
ẋ , ẏ , ż=first derivative of the function with respect ¿ time

2. Motion Relative to a Frame in Translation
r⃗ B=⃗r A +⃗r B
A
⃗v B=⃗v A + ⃗v B
A
a⃗ B=⃗a A + ⃗a B
A
Normal and Tangential Components of Acceleration
a⃗ =a n ⃗
e n +a t ⃗
et
dv v B−v B
a t= =
dt t
2
v
a n=
ρ
Where ρ = radius of curvature of the path

3
ρ=
[ 1+ ( dy /dx ) ] 2 2
| | d2 y
dx
2
θ=tan
−1
( )
an
at
a=√ an +a t
2 2
Tangential component of acceleration reflects change of speed and normal component

reflects change in direction.
Tangential component may be positive or negative. Normal component always points toward
the center of the curvature.
Newton’s Second Law
If the resultant force acting on a particle is not zero, the particle will have an acceleration
proportional to the magnitude of the resultant and in the direction of this resultant force.
We find each time that the particle moves in the direction of the force acting on it and that the
magnitudes a1, a2, a3, …, of the accelerations are proportional to the magnitudes F1, F2, F3, …,
of the corresponding forces:
F1 F2 F3
= = =constant
a1 a2 a3
The constant value obtained for the ratio of the magnitudes of the forces and accelerations is
a characteristic of the particle under consideration; it is called the mass of the particle and is
denoted by m. When a particle of mass is acted upon by a force F, the force F and the
acceleration a of the particle must therefore satisfy the relation:
F = ma
When a particle is simultaneously subjected to several forces:
∑ F=ma
Where ⅀F represents the sum, or resultant, of all the forces acting on the particle.
Replacing the acceleration a by the derivative dv/dt, we write
∑ F=mdv/dt
Or, since the mass m of the particle is constant,
d
∑ F= dt ( mv)
The vector mv is called the linear momentum, or simply the momentum, of the particle.
Denoting by L the linear momentum of the particle,
L = mv
And by L’ its derivative with respect to t, we can write in the alternative form
∑ F=L '
SI System
2
F=N=kg ∙ m/s
m=kg
2
a=m/s
English System
2
F=lb=lb ∙ ft /s
m=lb
2
a=ft /s
F=lb
2
m=slug=lb ∙ s / ft
2
a=ft /s
1 ft =0.3048 m
1 lb=4.448 N
2
s
1 slug=1lb ∙ =14.59 kg
ft
1 pound −mass=0.4536 kg
∑ ( F x i^ + F y ^j+ F z k^ )=m ( a x i^ +a y ^j + az k^ )
dv
∑ F t =m dt
2
∑ F n=m vρ
The vector -ma, of magnitude ma and of direction opposite to that of the acceleration, is
called an inertia vector. The particle may thus be considered to be in equilibrium under the
given forces and the inertia vector. The particle is said to be in dynamic equilibrium, and the
problem under consideration can be solved by the methods developed earlier in statics.

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Dynamics is a branch of mechanics that deals with forces and their relation primarily to the

motion but sometimes also to the equilibrium of bodies.

- Study of the geometry of motion

1. General Rectilinear Motion

- POSITION, VELOCITY, and ACCELERATION of a particle as it moves along a

General Rectilinear Motion Formulas:

Average Velocity Average Acceleration

Instantaneous Velocity Instantaneous Acceleration

Position given as a function of time x=f (t)

Ways of Curvilinear Motion

1. Rectangular Components of Velocity and Acceleration

ẋ , ẏ , ż=first derivative of the function with respect ¿ time

Normal and Tangential Components of Acceleration

Where ρ = radius of curvature of the path

Tangential component of acceleration reflects change of speed and normal component

When a particle is simultaneously subjected to several forces:

Replacing the acceleration a by the derivative dv/dt, we write

Denoting by L the linear momentum of the particle,

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