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A Strong Partner for Sustainable Development

Module
in
ES105B

DYNAMICS OF RIGID BODIES

College of Engineering and Technology

BS in Mechanical Engineering
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Module No. 1

Introduction to Dynamics

2nd Semester, AY 2020-2021

Engr. Sarah Jane O. Regenio

Engr. Reycielo B. Denzon
Engr. Josue L. Peneyra

Instructor

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Table of Contents

Contents Page

Cover Page i
Title Page ii
Table of Contents iii
Instruction to Users iv
Introduction 1
Chapter: 1 2
Title of the Chapter 2
Overview 2
Learning Outcomes 2
Time Allotment 2
Pre-Test 3

Introduction 4
Discussions 4
Exercises 14
Post-test 15

References 16
Students Information 17

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INSTRUCTION TO THE USER

This module would provide you an educational experience while

independently accomplishing the task at your own pace or time. It aims as well to
ensure that learning is unhampered by health and other challenges. It covers the
topic about various mechanical properties of engineering materials in lieu of the
determination of design factor and design stresses. It includes the analyses of simple,
variable and combined stresses applied to different mechanical elements such as
shafts, mechanical springs.

Reminders in using this module:

1. Keep this material neat and intact.

2. Answer the pretest first to measure what you know and what to be
learned about the topic discussed in this module.
3. Accomplish the activities and exercises as aids and reinforcement for
better understanding of the lessons.
4. Answer the post-test to evaluate your learning.
5. Do not take pictures in any parts of this module nor post it to social
media platforms.
6. Value this module for your own learning by heartily and honestly
answering and doing the exercises and activities. Time and effort were
spent in the preparation in order that learning will still continue
amidst this Covid-19 pandemic.
7. Observe health protocols: wear mask, sanitize and maintain physical
distancing.

Hi! I’m Blue Bee, your WPU Mascot.

Welcome to Western Philippines

University!
Shape your dreams with quality learning
experience.

STAY SAFE AND HEALTHY!

WPU-QSF-ACAD-82A Rev. 00 (09.15.20)
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INTRODUCTION

This material will be your mode of instruction for the rest of the semester
amidst of this trying time. It consists of pre-test, lesson proper, activities and post-
test to ensure that you can learn something.

This module discusses the study of dynamics, the part of mechanics that deals
with the analysis of bodies in motion. As a student enrolled in a distance learning
course, you have taken on a dual role—that of a student and a teacher. As a student,
you are responsible for mastering the lessons and completing the learning activities
and assignments. As a teacher, you are responsible for checking your work carefully,
noting areas in which you need to improve and motivating yourself to succeed.
Taking an independent study course is different from taking a course in a classroom.
Instead of relying on the teacher to tell you to complete a learning activity or an
assignment, you must tell yourself to be responsible for your learning and for
meeting deadlines.

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Chapter 1
KINEMATICS OF PARTICLES

Overview:
In this chapter the kinematics of particles will be considered. The use of
the word particles does not mean that our study will be restricted to small
corpuscles; rather, it indicates that in these first chapters the motion of
bodies—possibly as large as cars, rockets, or airplanes— will be considered
without regard to their size. By saying that the bodies are analyzed as
particles, we mean that only their motion as an entire unit will be considered;
any rotation about their own mass center will be neglected. There are cases,
however, when such a rotation is not negligible; the bodies cannot then be
considered as particles.

Learning Outcomes:
After completing this chapter, you can:
 Distinguish average and instantaneous velocity.
 Solve problems by applying the concept of constant velocity and constant
acceleration.
 Solve problems involving motion in a straight line.

Time Allotment:

 2 Weeks

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Pre-Test:
Direction: Answer the following problems and write your answer on the space provided
before the number. Use additional separate sheet for your solutions.
_____1. Velocity tells us how the position of something is changing while
acceleration tells us how the _________is changing.
a)direction c)velocity
b)distance d)time

_____2. It is the study of the geometry of motion.

a)kinematics c)kinetics
b)dynamics d)mechanics

_____3. Kinematics is used to relate displacement, velocity, acceleration, and time

without reference to the cause of motion.
a) displacement, velocity, acceleration, and time
b) displacement, velocity, acceleration and force
c) velocity, acceleration, time and gravity
d) All of the above

_____4. A particle moving along a straight line is said to be in ________.

a) linear motion c)straight motion
b) rectilinear motion d)consistent motion

_____5. The term deceleration is sometimes used to refer to a when the speed of the
particle (i.e., the magnitude of v) decreases; the particle is then moving more slowly.
a) speed decreases c)particle moves slowly
b) negative gravity d)All of the above

_____6. A term used to denote an object of point size.

a) object c)matter
b) body d)particle

_____7. The motion of a particle is known if position is known for all time t.

a) true c)partly true

b) sometimes true d)untrue

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Introduction
Dynamics is a part of mechanics that deals with the analysis of bodies in
motion.
While the study of statics goes back to the time of the Greek philosophers, the
first significant contribution to dynamics was made by Galileo (1564–1642). Galileo’s
experiments on uniformly accelerated bodies led Newton (1642–1727) to formulate
his fundamental laws of motion.
Dynamics includes:
Kinematics, which is the study of the geometry of motion. Kinematics is
used to relate displacement, velocity, acceleration, and time, without reference
to the cause of the motion.
Kinetics, which is the study of the relation existing between the forces acting
on a body, the mass of the body, and the motion of the body. Kinetics is used
to predict the motion caused by given forces or to determine the forces
required to produce a given motion.

Discussion
POSITION, VELOCITY AND
ACCELERATION

A particle moving along a

straight line is said to be in rectilinear
motion. At any given instant t, the
particle will occupy a certain position on the
straight line.

To define the position P of the particle, we choose a fixed origin O on the

straight line and a positive direction along the line. We
measure the distance x from O to P and record it with a
plus or minus sign, according to whether P is reached
from O by moving along the line in the positive or the
negative direction. The distance x, with the appropriate
particle is known. The ―timetable‖ of the motion can be
given in the form of an equation in x and t, such as x
=6t2 – t3, or in the form of a graph of x versus t as shown
sign, completely defines the position of the particle; it is
called the position coordinate of the particle
considered. For example, the position coordinate
corresponding to P in Fig. 11.1a is x = +5 m; the
coordinate corresponding to P in Fig. 11.1b is x’ = -2 m.
When the position coordinate x of a particle is
known for every value of time t, we say that the motion

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of in Fig. 11.6. The units most often used to measure the position coordinate x are the
meter (m) in the SI system of units† and the foot (ft) in the U.S. customary system of
units. Time t is usually measured in seconds (s).
Consider the position P occupied by
the particle at time t and the corresponding
coordinate x (Fig. 11.2). Consider also the
position P’ occupied by the particle at a
later time t+ ∆t; the position coordinate of
P’ can be obtained by adding to the
coordinate x of P the small displacement
∆x, which will be positive or negative according to whether P’ is to the right or to the
left of P. The average velocity of the particle over the time interval ∆t is defined as the
quotient of the displacement ∆x and the time interval ∆t:

Average velocity =

If SI units are used, ∆x is expressed in meters and ∆t in seconds; the

average velocity will thus be expressed in meters per second (m/s). If U.S. customary
units are used, ∆x is expressed in feet and ¢t in seconds; the average velocity will
then be expressed in feet per second (ft/s).
The instantaneous velocity v of the particle at the instant t is obtained
from the average velocity by choosing shorter and shorter time intervals ∆t and
displacements ∆x:

Instantaneous velocity = v =

The instantaneous velocity will also be expressed in m/s or ft/s.

Observing that the limit of the quotient is equal, by definition, to the derivative of x
with respect to t, we write

𝑑𝑥
(11.1) 𝑣=
𝑑𝑡

The velocity v is represented by an algebraic number which can be positive

or negative. † A positive value of v indicates that x increases, i.e., that the particle
moves in the positive direction (Fig. 11.3a); a negative value of v indicates that x
decreases, i.e., that the particle moves in the negative direction (Fig. 11.3b). The
magnitude of v is known as the speed of the particle.

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Consider the velocity v of the particle at time t and also its velocity v + ∆v
at a later time t + ∆t (Fig. 11.4). The average acceleration of the particle over the
time interval ∆t is defined as the quotient of ∆v and ∆t:

If SI units are used, ∆v is expressed in m/s and ∆t in seconds; the average

acceleration will thus be expressed in m/s2. If U.S. customary units are used, ∆v is
expressed in ft/s and ∆t in seconds; the average acceleration will then be expressed
in ft/s2.
The instantaneous acceleration a of the particle at the instant t is obtained
from the average acceleration by choosing smaller and smaller values for ∆t and ∆v:

= =

The instantaneous acceleration will also be expressed in m/s2 or ft/s2

. The limit of the quotient, which is by definition the derivative of v with respect to t,
measures the rate of change of the velocity. We write,

𝑑𝑣
(11.2) 𝑎=
𝑑𝑡

Or, substituting for v from (11.1)

𝑑2𝑥
(11.3) 𝑎=
𝑑𝑡 2

The acceleration a is represented by an algebraic number which can be

positive or negative.† A positive value of a indicates that the velocity (i.e., the
algebraic number v) increases. This may mean that the particle is moving faster in
the positive direction (Fig. 11.5a) or that it is moving more slowly in the negative
direction (Fig. 11.5b); in both cases, ∆v is positive. A negative value of a indicates that
the velocity decreases; either the particle is moving more slowly in the positive
direction (Fig. 11.5c) or it is moving faster in the negative direction (Fig. 11.5d).

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The term deceleration is sometimes used to refer to a when the speed of

the particle (i.e., the magnitude of v) decreases; the particle is then moving more
slowly. For example, the particle of Fig. 11.5 is decelerated in parts b and c; it is truly
accelerated (i.e., moves faster) in parts a and d.
Another expression for the acceleration

(11.4) 𝑑𝑣
𝑎=𝑣
𝑑𝑥

 Example. Consider a particle moving in a straight line, and assume that its
2
position is defined by the equation = .

where t is expressed in seconds and x in meters. The

velocity v at any time t is obtained by differentiating x
with respect to t:
2
= =
The acceleration a is obtained by differentiating again
with respect to t:
= =
The position coordinate, the velocity, and the
acceleration have been plotted against t in Fig. 11.6.
The curves obtained are known as motion curves.
Keep in mind, however, that the particle does not move
along any of these curves; the particle moves in a
straight line. Since the derivative of a function
measures the slope of the corresponding curve, the
slope of the x–t curve at any given time is equal to the
value of v at that time and the slope of the v−t curve is
equal to the value of a. Since a = 0 at t = 2s, the slope of
the v−t curve must be zero at t = 2s; the velocity
reaches a maximum at this instant. Also, since v = 0 at
t 5=0 and at t =4s, the tangent to the x−t curve must be
horizontal for both of these values of t.

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A study of the three motion curves of Fig. 11.6 shows that the motion of
the particle from t = 0 to t = ∞ can be divided into four phases:

1. The particle starts from the origin, x = 0, with no velocity but

with a positive acceleration. Under this acceleration, the particle
gains a positive velocity and moves in the positive direction.
From t = 0 to t = 2s, x, v, and a are all positive.
2. At t = 2 s, the acceleration is zero; the velocity has reached its
maximum value. From t = 2s to t = 4s, v is positive, but a is
negative; the particle still moves in the positive direction but
more and more slowly; the particle is decelerating .
3. At t = 4s, the velocity is zero; the position coordinate x has
reached its maximum value. From then on, both v and a are
negative; the particle is accelerating and moves in the negative
direction with increasing speed.
4. At t = 6s, the particle passes through the origin; its coordinate x
is then zero, while the total distance traveled since the beginning
of the motion is 64 m. For values of t larger than 6 s, x, v, and a
will all be negative. The particle keeps moving in the negative
direction, away from O, faster and faster.

DETERMINATION OF THE MOTION OF A PARTICLE

We saw in the preceding section that the motion of a particle is said to be known
if the position of the particle is known for every value of the time t. In practice,
however, a motion is seldom defined by a relation between x and t. More often,
the conditions of the motion will be specified by the type of acceleration that the
particle possesses. For example, a freely falling body will have a constant
acceleration, directed downward and equal to 9.81 m/s2 , or 32.2 ft/s2 ; a mass
attached to a spring which has been stretched will have an acceleration
proportional to the instantaneous elongation of the spring measured from the
equilibrium position, etc. In general, the acceleration of the particle can be
expressed as a function of one or more of the variables x, v, and t. In order to
determine the position coordinate x in terms of t, it will thus be necessary to
perform two successive integrations.
Let us consider three common classes of motion:

1. a = f (t). the Acceleration Is a Given Function of t.

dv = a dt
dv = f (t) dt
Integrate both members, we obtain the equation
∫ dv = ∫ f(t) dt

which defines v in terms of t. It should be noted, however, that an arbitrary

constant will be introduced as a result of the integration. This is due to the
fact that there are many motions which correspond to the given
acceleration a = f(t). In order to uniquely define the motion of the particle,
it is necessary to specify the initial conditions of the motion, i.e., the value
v0 of the velocity and the value x0 of the position coordinate at t = 0.
Replacing the indefinite integrals by definite integrals with lower limits

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corresponding to the initial conditions t = 0 and v = v0 and upper limits

corresponding to t = t and v = v, we write
∫ = ∫ ( )

= ∫ ( )
Which yields v in terms of t.
Equation (11.1) can now be solved for dx,
dx = v dt
and the expression just obtained substitute for v. Both members are then
integrated, the left-hand member with respect to x from x = xo to x = x, and
the right-hand member with respect to t from t = 0 to t = t. The position
coordinate x is thus obtained in terms of t; the motion is completely
determined.

2. a = f(x). The Acceleration Is a Given Function of x. Rearranging Eq.

(11.4) and substituting f(x) for a, we write

v dv = a dx
v dv = f(x) dx

Since each member contains only one variable, we can integrate the
equation. Denoting again by v0 and x0, respectively, the initial values of
the velocity and of the position coordinate, we obtain

∫ = ∫ ( )

= ∫ ( )
which yields v in terms of x. We now solve (11.1) for dt,

dt =

and substitute for v the expression just obtained. Both members can
then be integrated to obtain the desired relation between x and t.
However, in most cases this last integration cannot be performed
analytically and one must resort to a numerical method of integration.

3. a = f(v). The Acceleration Is a Given Function of v. We can now

substitute f(v) for a in either (11.2) or (11.4) to obtain either of the
following relations:

( )= ( )=

= =
( ) ( )

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Integration of the first equation will yield a relation between v and t; integration
of the second equation will yield a relation between v and x. Either of these
relations can be used in conjunction with Eq. (11.1) to obtain the relation
between x and t which characterizes the motion of the particle.

 Example. The position of a particle which moves along a straight line is defined
by the relation x = t3 + 6t2 + 15t + 40, where x is
expressed in feet and t in seconds. Determine (a) the
time at which the velocity will be zero, (b) the position
and distance traveled by the particle at that time, (c) the
acceleration of the particle at that time, (d) the distance
traveled by the particle from t = 4s to t = 6s.
The equations of motion are
x = t3 + 6t2 + 15t + 40
2
v= =

a= =

a. Time at which v = 0. We set v = 0 in (2):

3t2 – 12t – 15 = 0 t = -1s and t
= +5
Only the root t = +5s corresponds to a time after the
motion has begun: for t < 5s < v < 0, the particle moves
in the negative direction; for t < 5s < v < 0, the particle
moves in the positive direction.
b. Position and Distance Traveled When v = 0. Carrying t = +5s into (1), we
have
x5 = (5)3 – 6(5)2 – 15 (5) + 40 x5 = - 60 ft
The initial position at t = 0 was x0 = +40 ft. Since v ≠ 0 during the interval t = 0 to t =
5s, we have
Distance traveled = x5 - x0 = -60 ft - 40 ft = -100 ft
Distance traveled = 100 ft in the negative direction
c. Acceleration When v = 0. We substitute t = +5 s into (3):
a5 = 6(5) – 12 a5 = +18 ft/s

d. Distance Traveled from t = 4s to t = 6s. The particle moves in the negative

direction from t = 4s to t = 5s and in the positive direction from t = 5s to t = 6s;
therefore, the distance traveled during each of these time intervals will be
computed separately.
From t =4 s to t = 5s: x5 = - 60 ft
x4 = (4)3 - 6(4)2- 15(4) + 40 = -52 ft
Distance traveled = x5 - x4 = -60 ft - (252 ft) = -8 ft

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= 8 ft in the negative direction

From t = s to t = 6s: x5 = -60 ft
x6 = (6)3 - 6(6)2 - 15(6) + 40 = - 50 ft
Distance traveled = x6 - x5 = - 50 ft - (-60 ft) = +10 ft
= 10 ft in the positive direction

Total distance traveled from t = 4s to t = 6s is 8 ft + 10 ft = 18 ft

UNIFORM RECTILINEAR MOTION

Uniform rectilinear motion is a type of straight-line motion which is
frequently encountered in practical applications. In this motion, the acceleration
a of the particle is zero for every value of t. The velocity v is therefore constant,
and Eq. (11.1) becomes

= v = constant

The position coordinate x is obtained by integrating this equation. Denoting by

xo the initial value of x, we write
∫ = ∫

=
(11.5) =
This equation can be used only if the particle is known to be constant.

UNIFORMLY ACCELERATED RECTILINEAR MOTION

Uniformly accelerated rectilinear motion is another common type of motion.
In this motion, the acceleration a of the particle is constant, and Eq. (11.2)
becomes
= a = constant

The velocity v of the particle is obtained by integrating this equation:

∫ = ∫

=
(11.6) =

where v0 is the initial velocity. Substituting for v in (11.1), we write

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Denoting by x0 the initial value of x and integrating, we have

∫ = ∫ ( )

2
=

(11.7) =

We can also use Eq. (11.4) and write

= =

Integrating both sides, we obtain

∫ = ∫

( 2 2)
= ( )

(11.8) = ( )

The three equations we have derived provide useful relations among position
coordinate, velocity, and time in the case of a uniformly accelerated motion, as soon
as appropriate values have been substituted for a, v0, and x0. The origin O of the x
axis should first be defined and a positive direction chosen along the axis; this
direction will be used to determine the signs of a, v0, and x0. Equation (11.6) relates v
and t and should be used when the value of v corresponding to a given value of t is
desired, or inversely. Equation (11.7) relates x and t; Eq. (11.8) relates v and x. An
important application of uniformly accelerated motion is the motion of a freely
falling body. The acceleration of a freely falling body (usually denoted by g) is equal
to 9.81 m/s2 or 32.2 ft/s2.
It is important to keep in mind that the three equations can be used only when
the acceleration of the particle is known to be constant.

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Example: A stone is thrown vertically upward from the edge of an overhanging cliff
10m high. On its downward flight, it missed the edge of the cliff and hit the ground
30 seconds after it was thrown. Find:
a)Initial Velocity ( )
b)Maximum Height
c) Time to reach the maximum height

a=-9.81m/s2 v1

x=-10m

v2

Solution:
2
a) Using the formula = and by substituting the given we
2
have

= ( ) ( 2
)( )2

=
Note that the gravity=acceleration and is negative (-) because the stone is
thrown ―upward‖.

b) To compute for the maximum height or the Total height reached by the
2
stone is by using = , we will use = 2 ( ).
Substituting the values we have
=( )2 ( 2
)( )
=
Therefore the Total height is
= =

c) For the time the stone reach the maximum height we will use =
therefore we have

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2
=( ) ( )

D. EXERCISES

Name: ___________________________ Year Level: ____ Date: _______

Direction: Answer the following problem as directed. Show your solution in an A4
size bond paper. Provide another sheet if necessary.
1. The elevator in an office building starting from rest at the first
floor accelerated 0.75 m/s2 for 5 seconds. It continues at
constant velocity for 12 seconds more and is then stopped in 3
seconds with constant deceleration. If the floors are 3.75 m
apart, at what floor did the elevator stop?

a) 16th floor c) 18th floor

b) 17th floor d) 19th floor

2. Johnson while riding his sports car to attack the minions

accelerates at a constant rate of 15mi/hr to 45mi/hr in 15
seconds. What is his average acceleration? Use = .
a) 2 ft/s c) 2.39 ft/s
b) 2.12 ft/s d) 2.93 ft/s

3. How far does Johnson’s sports car move while its speed
increases uniformly from 15mph to 45mph in 20 seconds?
a) 185 mi c) 200 mi
b) 167 mi d) 172 mi

4. In the recent SEA Games the individual speeds of the individual

runners of the Philippine team in the 400 m relay run are
recorded as follows:
= 2 =
= =
Find the average velocity of the team as a whole.
a) 8.5 m/s c) 8.35 m/s
b) 8 m/s d) 8.15 m/s

5. A man drove 90km at a constant rate. If he had driven 5km per

hour faster he would be made the trip in 15 minutes less time.
How fast did he drive?
a) 40kph c) 60kph
b) 50kph d) 70kph

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E. POST-TEST

Name: _____________________________ Year Level: ____ Date: _______

Direction: Answer the following problem as directed. Show your solution in an A4
size bond paper. Provide another sheet if necessary.
1. A man driving his car from his home reached his office in 6
hours. If he increases his speed by 24kph, he would reach his
office an hour earlier. Find the distance of his office from his
home.

a) 700 km c) 730 km
b) 270 km d) 720 km

2. A car in overtaking trailer uniformly accelerated its speed from

40km/hr to 90km/hr in 8 seconds. Calculate the distance
travelled during the period of acceleration.
a) 144.44 m c) 167.23 m
b) 234.44 m d) 189.23 m

3. An owner type jeepney 3m long overtakes a truck 30m long

which is travelling at the rate of 20km/hr. How fast must the car
travel to pass the truck in 3 seconds?
a) 59.6 km/hr c) 66.8 km/hr
b) 54.5 km/hr d) 33.5 km/hr

4. A platoon marching at 8km/hr is 3 km long, the rear man runs

and send a message to the front man and then back to his
original position in 30 seconds. Find his velocity.

a) 8.5 m/s c) 8.35 m/s

b) 8 m/s d) 8.15 m/s

5. The velocity of an automobile starting from rest is given

by = . Determine its acceleration after an interval of
10 seconds (in ft/sec2).

a) 2.10 ft/sec2 c) 2.25 ft/sec2

b) 1.71 ft/sec2 d) 2.75 ft/sec2

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REFERENCES

Beer and Johnston. Vector Mechanics for Engineers: Dynamics, 10th SI ed. McGraw-Hill,
2003

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