Curvilinear motion is the motion where particles

move along a curved path. The position of a particle is

given by the position vector r. The velocity, v, and the
acceleration, a, for curvilinear motion are defined as:
v = dr/dt, |v| = v = ds/dt (particle velocity, v, is tangent
to the particles path, s), a = dv/dt (particle accelera-
tion, a, is not tangent to the particles path, s).
A. Cartesian Coordinate System (Rectangular
Components):
r = r(x, y, z); v = v(v
x
, v
y
, v
z
); a = a(a
x
, a
y
, a
z
);
v
x
= dx/dt; v
y
= dy/dt; v
z
= dz/dt,
a
x
= dv
x
/dt; a
y
= dv
y
/dt; a
z
= dv
z
/dt.
Circular Periodic Motion:
x = r cos( t); y = r sin( t); x
2
= y
2
= r
2
;
v
x
= -r sin(t); v
y
= r cos(t); v = r,
a
x
= -r
2
cos(t); a
y
= -r
2
sin(t); a = r
2
Relative Motion Between Two Particles A and B:
r
B
= r
A
+ r
B/A
; v
B
= v
A
+ v
B/A
; a
B
= a
A
+ a
B/A
B. Tangential and Normal Components:
1. Two-Dimensional Motion: For plane motion,
the particle acceleration can be separated into
two components, one tangential, a
t
, and one
normal, a
n
: v = ve
t
; a = a
t
+ a
n
= (dv/dt) e
t
+
(u
2
/p)e
n
. where a
t
is the tangential acceleration,
a
n
is the normal acceleration,

is the radius of
curvature, e
t
is the tangential unit vector, and e
n
is the normal unit vector to the curved path of
the particle.
2. Three-Dimensional Motion: Osculating plane
in a three dimensional motion is the plane in the
neighborhood of the moving particle that
includes the unit vectors, e
t
, (tangent) and e
n
,
(principal normal). The binormal unit vector,
e
b
, is perpendicular to the osculating plane.
C. Polar Coordinates System (Radial and
Transverse Components in Plane Motion):
1. Particle Velocity:
v = v
r
e
r
+ v

= (dr/dt)e
r
+ r(d/dt)e

;
2. Particle Acceleration:
a = a
r
e
r
+a

= [d
2
r/dt
2
- r
(d/dt
2
]e
r
+ [r(d
2
/dt
2
) + 2(dr/dt)
(d/dt)]e

, where e
r
and e

are the unit radial

and transverse unit vectors respectively.
Rectilinear motion is whenever particles move along
a straight line. The governing equations regarding
acceleration, a, velocity, v, and displacement (posi-
tion coordinate), s, for rectilinear motion are:
a = dv/dt = d
2
s/dt
2
= v(dv/ds);
v = ds/dt = a dt; s = vdt = [ adt]dt.
Generally, all three variables, a, v, and s, are vectors.
However, in the above equations these variables are
treated as scalars, since the motion is rectilinear and
their direction can be defined only by their sign (pos-
itive or negative).
A. Formulas for Uniformly Accelerated Rectilinear
Motion. Denoting the initial conditions (t = 0) of
the various variables by the subscript (o), the rela-
tionships between position coordinate, s, velocity,
v, acceleration, a, and time, t, are given as follows:
Given: Estimate:
s
o
,v
o
, a, t s = s
o
+ v
o
t +
1
/
2
at
2
s
o
, v
o
, v, a s = s
o
+
1
/
2
(v
2
- v
o
2
)/a
s
o
, v
o
, v, t s = s
o
+
1
/
2
(v
o
+ v)t
s
o
, s, a, t v
o
= (s - s
o
)/t -
1
/
2
at
v
o
, a, t v = v
o
+ at
s
o
, s, v
o
, a v = [v
o
2
+ 2a(s - s
o
)]
1
/2
v
o
, v, t a = (v - v
o
)/t
s
o
, s, v
o
, t a = 2[(s - s
o
) - v
o
t]/t
2
s
o
, s, v
o
, v a =
1
/
2
(v
2
- v
o
2
)/(s - s
o
)
v
o
, v, a t = (v - v
o
)/a
s
o
, s, v
o
, a t ={[2a(s - s
o
) + v
o
2
]
1
/2
-v
o
}/a
s
o
, s, v
o
, v t = 2(s - s
o
)/(v
o
+ v)
B. A main example of uniformly accelerated recti-
linear motion of free falling particles.
Other types of rectilinear motion include:
Non-accelerating motions, s = s
o
+ v
o
t; v = v
o
;
a = 0, or motions where the displacement
decreases exponentially in time at a constant rate,
-k, s = s
o
exp(-kt); v = -ks
o
exp(-kt); and
a = k
2
s
o
exp(-kt).
C. Relative Motion Between Two Particles A and B.
The position coordinate, velocity, and acceleration
of particle B as related to particle A are defined as:
s
B
= s
A
+ s
B/A
; v
B
= v
A
+ v
B/A
; a
B
= a
A
+ a
B/A
,
where s
B/A
is the distance between the two parti-
cles A and B, and v
B/A
, a
B/A
are respectively the
relative velocity and acceleration of particle B with
respect to particle A.
A. Vector Components. Any vector can be decom-
posed to a certain number of components based on
the reference coordinate system.
1. Cartesian (Orthogonal) Coordinate System,
x-y-z:
a = a
x
+ a
y
+ a
z
= a
x
i + a
y
j + a
z
k = a(a
x
, a
y
, a
z
),
where a
x
, a
y
, a
z
are the vector components and
i, j, k are the unit vectors along the axes x, y, z
respectively.
2. Polar Coordinate System, r-:
a = a
r
+ a

= a
r
e
r
+ a

= a(a
r
, a

), where a
r
, a

are the vector components and e

r
and e

are the
radial and transverse unit vectors respectively.
3. Spherical Coordinates System, (r- -):
a
x
= a cos sin
a
y
= a sin sin
a
z
= a cos
4. Cylindrical Coordinate System, (r--z):
a
x
= a cos
a
y
= a sin
z = z
B. Scalar product between two vectors a and b is
defined as:
ab = |a||b| cos = ab cos where is the angle
formed by the two vectors.
C. Vector product between two vectors a and b is
defined as:
c = a x b = |a||b| sine
p
= ab sine
p
, where is the
angle formed by the two vectors, and e
p
is the unit
vector perpendicular to the plane defined by the
vectors a and b. Using a cartesian coordinate sys-
tem the vector product can be defined as:
c = a x b = (a
y
b
z
-b
y
a
z
)i + (a
z
b
x
-b
z
a
x
)j + (a
x
b
y
-
b
x
a
y
)k.
D. Particles are hypothetical bodies that do not pos-
sess any rotational characteristics. All points of a
particle have the same displacement, velocity, and
acceleration.
E. Rigid bodies are objects whose points may have
different displacement, velocity, and acceleration.
F. Kinematics is the study of motion without consid-
ering the forces that cause the motion. Kinematics
involve displacement, velocity, acceleration, and
time.
G. Kinetics is the study of motion as related to the
forces causing the motion. Kinetics involve force,
mass, and acceleration.
H. Path is the curve that a particle follows as it moves
through the space. The path can be a space curve
called tortouos or a plane curve called plane path.
RECTILINEAR MOTION
DEFINITIONS
CURVILINEAR MOTION
A. All scalar quantities are denoted by normal print,
e.g., time, t. Also, the magnitude of vector quanti-
ties is denoted by normal print, e.g., velocity mag-
nitude, v = |v|.
B. All vectors quantities are denoted by italic bold
print, e.g., velocity vector, v; acceleration vector, a.
KINEMATICS PARTICLE MOTION
BarCharts, Inc. WORLDS #1 ACADEMIC OUTLINES
NOTATIONS
A. First Law (Inertia Law): A particle will remain at
rest or continue to move with constant velocity,
unless an external unbalanced force acts on the
particle.
B. Second Law: The acceleration, a, of a particle of
mass, m, is directly proportional to the resultant
force, F, acting on the particle and inversely pro-
portional to the mass of the particle. The resulting
acceleration has the same direction with the force:
a = F /m.
1. Cartesian Acceleration Components:
a
x
= F
x
/m; a
y
= F
y
/m; a
z
= F
z
/m.
2. Tangential and Normal Force Components:
F
t
= m(dv/dt); F
n
= m(v
2
/r).
3. Dynamic Equilibrium: F - ma = 0.
C. Third Law: For every acting force there is a react-
ing force of equal strength and opposite direction:
F
reacting
= -F
acting.
D. Universal Gravitation Law: The attractive force
between two bodies is proportional to the product
of their masses, m
1
, m
2
, and inversely proportion-
al to the squarepower of the distance, r, between
their centroids:
F = Gm
1
m
2
/r
2
.
The proportionality constant equals:
G=(66.730.03)x10
-12
m
3
/kg-s
2
(3.44x10
-8
ft
4
/lbf-
sec
4
).
1. Gravitational Force of the Earth:
F = mg = mgk, where the gravitational acceler-
ation, g, is approximately equal to:
g = 9.81m/s
2
(32.2 ft/s
2
), and k is the unit vec-
tor pointing at the center of the earth. The accel-
eration due to gravity at a specific location, can
be estimated more accurately by using the for-
mula:
g = 32.089(1+0.00524 sin
2
)(1-0.000000096h)
[ft/s
2
], where is the latitude and h is the eleva-
tion in feet.
2. Orbital Trajectory Subject to a Gravitational
Force:
The governing equation of the conic with
eccentricity e = Ch
2
/GM, describing the trajec-
tory of a particle subject to gravitational force is
given as: (1/r) = GM/h
2
+ Ccos; where r is the
magnitude of the position vector, is the polar
angle, M is the mass of the attracting body (e.g.,
earth), and C, h are constants. Under the initial
conditions (t = 0):
v = v
o
(where v
o
r
o
), r = r
o
, = 0 the constant h
is estimated as: h = r
o
v
o
.
3. Escape velocity, v
esc
, is the minimum initial
velocity required to allow the particle to escape
from and never return to its starting position:
v
esc
= (2GM/r
o
)
1
/
2
WORK, ENERGY,
AND POWER
CIRCULAR MOTION
PROJECTILE MOTION
ON AN X-Y PLANE
Circular motion is whenever the particle moves on a
circular path. The governing equations for the angu-
lar acceleration, a, angular velocity, w, and angular
position, q, in circular motion are:
a = d/dt = d
2
/dt
2
; = d/dt = dt;
= dt = [ dt]dt.
A. Relationships Between Rectangular and Polar
Components For Circular Motion:
1. Tangential Velocity: (v
t
): v
t
= r; v
tx
= -v
t
sin;
v
ty
= v
t
cos, where is between the velocity
vector and the horizontal axis, x.
2. Tangential Acceleration (a
t
): a
t
= r, where
is the magnitude of the angular acceleration.
3. Normal Acceleration (a
n
):
a
n
= v
t
2
/r = r
2
= v
t
.
4. Coriolis Acceleration (a
c
): a
c
= 2v
t
.
KINETICS PARTICLE MOTION
KINETICS OF SYSTEM
OF PARTICLES
A. Resultant Forces and Moments About Point O
for a System of N Number of Particles:
i = N i = N i=N i = N
F
i
= (m
i
a
i
); (r
i
x F
i
) = [r
i
x (m
i
a
i
)]
i = 1 i = 1 i = 1 i = 1
B. Linear and Angular Momentum of a System of
N Number of Particles:
i = N i = N
L = (m
i
v
i
); H
o
= [r
i
x (m
i
v
i
)]
i = 1 i = 1
NEWTONS LAWS
A. Work, W, performed by a force in the direction of
motion (positive work) is estimated as:
1. Variable Force: W = F ds
2. Constant Force: W = F ds
3. Variable Torque: W = T d
4. Constant Torque: W = T d
If F s or T then W = 0.
B. Energy, E, is defined as the capacity to perform
work.
C. Work-Energy Principle. In classical mechanics,
energy cannot be created or destroyed but it can be
transformed from one type of energy to another.
Thus, in a conservative system, the energy level of
the system increases whenever there is positive
work performed: dE = W.
1. Potential Energy, (P.E.):
a. P.E. from Particle Weight: E
p
= mgh.
b. P.E. from Gravitational Force:
E
p
= - GmM/r.
c. P.E. from Elastic Spring: E
p
=
1
/
2
kx
2
, where
k is the spring constant.
2. Kinetic Energy (K.E.):
a. Rectilinear Motion: E
k
= mv
2
/2;
b. Circular Motion: E
k
= Iw
2
/2.
D. Power, P, is the amount of work performed per
unit time: P = W/dt; P = Fv; P = T.
E. Mechanical efficiency is the ratio of power
output over power input.
IMPULSE AND MOMENTUM
KINEMAICS PARTICAL MOTION continued
A. Trajectory Coordinates:
x = (v
o
cos)t; y = v
o
sint -
1
/
2
gt
2
;
y = v
o
sinx/(v
o
cos) -
1
/
2
g [x/(v
o
cos)]
2
;
The equation is a parabola.
1. Maximum Horizontal Distance (Range):
x
max
= (v
o
2
sin2)/g;
For = 45 the range is maximum.
2. Maximum Height:
y
max
= (
1
/
2
v
o
2
sin2)/g, where v
o
is the initial
velocity, and is the angle between the initial
velocity vector and the horizontal axis, x.
B. ProjectileVelocity:
v = (v
o
2
-2gy); v
x
= v
o
cos; v
y
= v
o
sin - gt.
C. Total Flight Time:
t
total
= 2v
o
sin/g.
e < 1 ellipse,
For e = 1 the conic is a/an parabola,
e > 1 hyperbola.
[ [
A. Linear momentum, L, is defined as: L = mv;
F = dL/dt; and; F dt = dL = mdv.
1. Linear Impulse, Imp
1-2
, is defined as:
Imp
1-2
= Ft = m(v
2
- v
1
), t = t
2
- t
1
.
2. Direct impact between two particles occurs
whenever the velocities of the particles are per-
pendicular to the tangential plane at the point of
their contact. Central impact between two par-
ticles occurs whenever the force of impact is
along the line connecting the centroids of the
colliding particles. The velocities after a direct
central impact of two particles of equal mass m
is estimated as: v
2
- v
1
= e(v
2
- v
1
), where v
i
and
v
i
(i = 1, 2) are respectively the velocities before
and after the impact. The factor e is called coef-
ficient of restitution and incorporates the
effects of frictional and other energy losses.
a. Perfect Elastic Impact: e = 1
b. Inelastic (Plastic) Impact: 0 < e < 1
c. Perfect Plastic Impact: e = 0 For perfect
elastic impact (e = 1), the velocities after the
collision of two particles can be estimated by
using along with the impact equation, either
the momentum or the kinetic energy equa-
tions as:
m
1
v
1
+ m
2
v
2
= m
1
v
1
+ m
2
v
2
, or
m
1
v
1
2
+ m
2
v
2
2
= m
1
(v
1
)
2
+ m
2
(v
2
)
2
.
If (e 1), then the kinetic energy equation
cannot be used since there are unknown ener-
gy losses.
d. For oblique central impact, the coefficient
of restitution should be estimated along the
line that is normal to the tangential plane at
the point of contact. The velocity compo-
nents laying on this plane remain unaffected
by the collision.
B. Angular momentum about point O, H
o
, is
defined as: H
o
= r x (mv); H
o
= m[(yv
z
- zv
y
)i +
(zv
x
- xv
z
)j + (xv
y
- yv
x
)k]; and; M
o
= dH
o
/dt,
where M
o
is the resultant moment of the forces
about point O.
1. Plane Motion-Radial and Transverse
Resultant Force Components: F
r
= m
[(d
2
r/dt
2
) - r(d/dt)
2
]; F

= m[r(d
2
/dt
2
) +
2(dr/dt)(d/dt)].
2. Circular Motion: T dt = I d; where T is the
torque and I is the moment of inertia.
A. Fundamental Equations:
1. Motion of the Center of Mass, G:
F = (ma
G
), where a
G
is the acceleration of
the center of mass, G.
2. Motion Relative to Centroidal Coordinate
System:
M
G
= dH
G
/dt, where M
G
is the moment
about the center of mass, G.
B. 2-D (Plane) Motion:
1. Angular Momentum:
H
G
= I
G
; dH
G
/dt = I
G
(d/dt) = I
G
, where I
G
is the moment of inertia of the body about a cen-
troidal axis normal to the coordinate system,
and is the angular velocity.
C. 3-D (Space) Motion:
1. Angular Momentum for Fixed Coordinate
System, x-y-z:
2. Angular Momentum for Principal Axes of
Inertia, x*-y*-z*:
3. Angular Momentum About Point O:
H
o
= r
G
x (mv
G
) + H
G
.
4. General 3-D Motion:
dH
G
/dt = (dH
G
/dt)
xyz
+ x H
G
, where H
G
is
the angular momentum with respect to the coor-
dinate system x- y- z of fixed orientation,
(dH
G
/dt)
xyz
is the rate of change of the angu-
lar momentum with respect to the rotating coor-
dinate system, x- y- z, and is the angular
velocity of the rotating coordinate system, x-
y- z.
5. Kinetic Energy Referred to the Principal
Axes of Inertia x*y*z*:
E
k
=
1
/
2
mv
G
2
+
1
/
2
(I
x*

x*
2
+ I
y*

y*
2
+ I
z*

z*
2
).
6. DAlemberts Principle:
The system of the external forces acting on a
body is equivalent to the effective forces of the
body, i.e., ma and dH
G
/dt.
A. Translation of a rigid body is the motion where
all points of the body have the same velocity and
the same acceleration at any time. If the velocity
and the acceleration are not the same for all points
of the body, then the motion is rotational.
B. Rotational Motion About a Fixed Axis:
1. Velocity:
v = dr/dt = wxr; |v| = ds/dt = r (d/dt)sin.
a. Angular Velocity:
w = wk = (d/dt)k.
2. Acceleration:
a = axr + wx(wxr).
a. Angular Acceleration:
= ak = (d/dt) = d/dt k = (d
2
/dt
2
)k =
[w(dw/d)]k.
C. Motion of a 2-D Body Located on a Plane
Perpendicular to the Axis of Rotation:
1. Velocity:
v = wxr = kxr.
2. Acceleration:
a. Tangential:
a
1
= xr = kxr; a
t
= r
b. Normal:
a
n
= -
2
r; a
n
=
2
r
D. Translation and Rotation in 2-D (Plane Motion):
1. Velocity:
v
B
= v
A
+ v
B/A
= v
A
+ xr
B/A
; |v
B/A
| = r, where
A and B are two points of the same rigid body
that translates and rotates about point A.
2. Acceleration:
a
B
= a
A
+ a
B/A
= a
A
+ (a
B/A
)
n
+ (a
B/A
)
t
; a
B/A
=
[(
2
r)
2
+ (r)
2
]
1/
2
, where again A and B are two
points of the same rigid body, which translates
and rotates about point A.
E. Motion Relative to a Rotating Coordinate
System With an Angular Velocity W:
1. Velocity:
v
p
= v
p
+ v
P/S
= x r + dr/dt|
xyz
, where xyz is
the fixed system and xyzis the rotating sys-
tem, v
p
is the absolute velocity of point P, v
p
is
the velocity of point P of the moving frame S (P
= P), and v
P/S
is the velocity of point P relative
to the moving frame S.
2. Acceleration:
a
P
= a
P
+ a
P/S
+ a
c
; a
c
= 2 x v
P/S
. Where a
P
is
the absolute acceleration, a
P
is the acceleration
of point P of the moving frame S (P = P), a
P/S
is the acceleration of P relative to the moving
frame S, and a
c
is the complementary (Coriolis)
acceleration.
F. Translation and Rotation in 3-D (Space) Motion:
1. Velocity:
v
B
= v
A
+ v
B/A
= v
A
+ x r
B/A
.
2. Acceleration:
a
B
= a
A
+ a
B/A
= a
A
+ x r
B/A
+ x(xr
B/A
).
If the inertial coordinate system xyz is denoted by the
subscript (i) and the moving coordinate system by the
subscript (m), then r
B
= r
A
+ r
B/A
. Acceleration for a
moving observer (d
m
2
r
B/A
)/dt
2
= d
m
[(d
m
r
B/A
)/dt]/dt.
Acceleration for an inertial observer (d
i
2
r
B/A
)/dt
2
=
d
i
[(d
i
r
B/A
)/dt]/dt.
Relationships between the intertial and the moving
observer (d
i
r
B
)/dt = (d
i
r
A
)/dt + (d
m
r
B/A
)/dt = x r
B/A
and (d
i
2
r
B
)/dt
2
= (d
i
2
r
A
)/dt
2
+ (d
m
2
r
B/A
)/dt
2
+ (d
i
)/dt
x r
B/A
+ x( x r
B/A
) + 2 x (d
m
r
B/A
)/dt or
(d
m
2
r
B/A
)/dt
2
= (d
i
2
r
B
)/dt
2
- [(d
i
2
r
A
)/dt
2
+ (d
i
)/dt x
r
B/A
+ x (xr
B/A
) + 2 x (d
m
r
B/A
)/dt].
The term x ( x r
B/A
) is the centripetal acceleration
and the term (d
i
)/dt is the angular acceleration. The
above equations can be used to describe motion with
reference to the sun-earth system, as experienced by
an observer on earth.
3. Using Earth as the Inertial System
a. Acceleration:
(d
2
r
2
)/dt
2
= (d
2
r
1
)/dt
2
- [ x ( x R) + x
( x r
2
) + 2 x (dr
2
)/dt]
In component form, the various terms read as:
x R = iR cos
x ( x R) = j(
2
Rsincos + k(-

2
Rcos
2
)
x r
2
= i(z
2
cos - y
2
sin) + j(x
2
sin) +
k(x
2
cos)
x ( x r
2
) = i
2
x
2
(-cos
2
- sin
2
) +
j(
2
sin)(z
2
cos - y
2
sin) - k
2
cos (z
2
cos
- y
2
sin) x (d
2
r
2
)/dt = x v
2
= i(
2
cos
- v
2
sin) + j(u
2
sin) + k(-u
2
cos)
b. a
x
= du
1
/dt +
2
x
2
+ 2(v
2
sin - w
2
cos) a
y
= dv
1
/dt - w
2
(Rcos - y
2
sin + z
2
cos)sin -
2u
2
sin a
z
= dw
1
/dt + w
2
(Rcos - y
2
sin +
z
2
cos)cos + 2u
2
cos
KINEMATICS-RIGID
BODIES
KINETICS-RIGID
BODIES
C. Mass Center of System of N Number of Particles:
i = N i = N
r
G
= [(m
i
r
i
)]/(m
i
)
i = 1 i = 1
D. Moment Resultant, About the Mass Center, G,
of N Number of Particles:
i = N i = N
H
G
= [r
i
x(m
i
v
i
)]; M
G
= dH
G
/dt.
i = 1 i = 1
KINETICS OF SYSTEM OF PARTICAL continued
H
x
I
x
-I
xy
-I
xz
w
x
H
y
= -I
yx
I
y
-I
yz
w
y
H
z
-I
zx
-I
zy
I
z
w
z
[ [ [ ] ] ]
H
x
I
x
0 0
x
H
y
= 0 I
y
0
y
H
z
0 0 I
z

z
[ [ [ ] ] ]
Moment of Inertia of a body, with respect to a given
axis is given as: I = r
2
dv = r
2
dm where r is
the distance from the axis, is the density, V is the
volume and m is the mass. Generally, the moment of
inertia can be expressed as I = mR
i
2
where R
i
is the
radius of gyration.
Moment of Inertia of Thin Plates.
The moments of inertia in a cartesian coordinate sys-
tem x-y-z of plate thickness, t, laying in the x-y plane,
are given as:
I
x
= y
2
dA I
y
= z
2
dA
I
z
= r
2
dA r
2
= x
2
+ y
2
Disk:
I
x
= r
2
/
4
I
y
= r
2
/
4
I
z
= r
2
/
2
Thin Rectangular Plate:
I
x
= r
2
/
12
I
y
= r
2
/
12
I
z
= (a
2
+b
2
)/
12
Thin Elliptic Plate:
I
x
= b
2
/
4
I
y
= a
2
/
4
I
z
= (a
2
+ b
2
)/
4
Thin Triangular Plate:
I
x
= b
2
/
18
I
y
= a
2
/
18
I
z
= (a
2
+ b
2
)/
18
Thin Rod:
I
x
= L
2
/
12
I
y
= 0 I
z
= L
2
/
12
Moment of Inertia of Three-Dimensional Bodies
Sphere:
I
x
= (2r
2
)/
5
I
y
= (2r
2
)/
5
I
z
= (2r
2
)/
5
Orthogonal Parallelepiped:
I
x
= (b
2
+ c
2
)/
12
I
y
= (a
2
+ c
2
)/
12
I
z
= (a
2
+ b
2
)/
12
Ellipsoid:
I
x
= (b
2
+ c
2
)/
5
I
y
= (a
2
+ c
2
)/
5
I
z
= (a
2
+ b
2
)/
5
Cylinder:
I
x
= (3r
2
+ h
2
)/
12
I
y
= (3r
2
+ h
2
)/
12
I
z
= r
2
/
2
Cone:
I
x
= (12r
2
+ 3h
2
)/
80
I
y
= (12r
2
+ 3h
2
)/
20
I
z
= 3r
2
/
10
A. Free vibrations of a particle involves the study of
the motion of a particle subject to a restoring force
proportional to the displacement.
1. The governing equation for simple harmonic
motion is: d
2
x/dt
2
+ (k/m)x = d
2
x/dt
2
+
2
x = 0;

2
= k/m, where x is the displacement, k is the
spring constant, m is the mass of the oscillating
particle, and is the circular (natural) fre-
quency.
a. Displacement, Maximum Velocity and
Maximum Acceleration:
x(t) = x
max
sin(t + ); v
max
= x
max
;

max
= x
max

2
; x
max
=[(x
o
)
2
+ (v
o
/)
2
]
1/
2
; =
tan
-1
[v
o
/(x
o
)], where x
max
is the maximum
displacement, x
o
and v
o
are the initial dis-
placement and velocity respectively, and is
the phase angle.
b. Period of Vibration: T = (2)/.
c. Frequency of Vibration: f = 1/T= /(2).
d. For small oscillations of a simple pendulum
motion the circular frequency is defined as:
= (g/l)
1
/
2.
e. Tortional Vibration of a disk, with respect
to an axis perpendicular to its center, is
defined as I d
2
/dt
2
= m, where I is the
moment of inertia, is the angle of rotation,
and M is the moment. Generally, M = -k,
where k is the tortional spring constant. For a
cylindrical shaft of length L and shear modu-
lus of elasticity G, the angle of rotation is
given as = (ML)/(GJ), where J is the polar
moment of inertia. Thus, the governing equa-
tion becomes d
2
/dt
2
+ (GJ)/(IL) = 0. The
period of tortional vibration is T =
2[(IL)/(GJ)]
1
/
2.
The frequency of tortional vibration is
= [(GJ)/(IL)]
1
/
2/(2).
B. Free vibrations of a rigid body are governed by
the same differential equation written in terms of
the displacement, x, or an oscillating angle,
:d
2
x/dt
2
+
2
x = 0; d
2
/dt
2
+
2
= 0, where s
is an appropriate circular frequency.
Compound Pendulum is any body that is free to
rotate about a horizontal axis passing through any
point. The moment of a compound pendulum of
weight G is M = G1 sin, where 1 is the length
from the point of rotation to the center of gravity of
the body. Thus, mR
i
2
d
2
/dt
2
=-G1sin. For small
angle of oscillation sin .
Thus, d
2
/dt
2
+ (lg)/R
i
2
= d
2
/dt
2
+ g/L
e
= 0,
where Le=R
i
2
/1 is
the equivalent
length of the com-
pound pendulum.
The point at the end
of the equivalent
length is called cen-
ter of oscillation.
C. Damped free vibrations subject to viscous
damping are described by the differential equa-
tion: m(d
2
x/dt
2
) + c(dx/dt) + kx = 0, where c is the
coefficient of viscous damping.
1. Critical Damping Coefficient:
c
cr
= 2m(k/m)
1
/2
= 2m.
2. Damping Ratio: R = c/c
cr
a. Heavy Damping (Overdamped):
R > 1, (the system returns to its equlibrium
position without any oscillations).
b. Critical Damping (Dead-beat Motion):
R = 1, (the system returns to its equilibrium
position without any oscillations).
c. Light Damping (Underdamped):
R < 1, (the system returns to its equilibrium
position after an attenuating oscillatory
motion).
3. Displacement: x(t) = exp(-t) [c
1
cos (
d
t) +
c
2
sin (
d
t)]; m = c/(2m); where c
1
and c
2
are
constants, is the damping modulus, and
d
is
the damped frequency defined as:

d
= (
2
-
2
)
1/
2
.
4. Forced Vibrations occur whenever a system is
subject to a periodic force, P(t): P(t) = P
0
sin(t)
where P
0
is the amplitude of the force, and is
the forced frequency.
D. Vibrations Without Damping. The governing
equation for the motion is given as: m(d
2
x/dt
2
) +
kx = P
0
sin(t). The general solution is obtained by
adding a particular solution x
p
to the solution of
the homogeneous equation. The form of the partic-
ular solution is: x
p
= x
max
sin(t).
1. The steady-state vibration of the system is
described by the particular solution.
2. The transient free vibration of the system is
described by the solution of the homogeneous
equation and it can be practically neglected.
3. Magnification Factor: f
M
= x
max
/(P
0
/k) = 1/[1-
(/)
2
].
The forcing is in resonance with the system if
the amplitude of the forced vibration becomes
theoretically infinite (f
M
), i.e., whenever
the forced frequency, , equals the natural fre-
quency, .
E. Damped Vibrations. The governing equation for
the motion is given as: m(d
2
x/dt
2
) + c(dx/dt) + kx
= P
o
sin(t). The general solution is obtained by
adding a particular solution x
p
to the solution of
the homogeneous equation. The form of the partic-
ular solution is: x
p
= x
max
sin(t - ), where is a
phase difference defined as:
= tan
-1
[2(c/c
cr
)(/)/[1-(/)
2
].
Magnification Factor: f
M
= x
max
/(P
o
/k) = 1/{[1 -
(/)
2
]
2
+ [2(c/c
cr
)(/)]
2
}
1
/
2.
MECHANICAL VIBRATIONS
Involves the study of the motion of particles and rigid
bodies, oscillating about a position of equilibrium.
FREE VIBRATIONS
VIBRATIONS
MOMENTS OF INTERTIA
OF 3-D BODIES
ISBN-13: 978-142320439-8
ISBN-10: 142320439-5
PRICE
U.S. $4.95
CAN $7.50
WEBSITE
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October 2007
NOTE TO STUDENT
This QUICK STUDY chart is an outline of the basic
topics taught in Dynamics courses. Keep it handy
as a quick reference source in class and while
doing homework. Also use it as a memory refresher
just prior to exams. This chart is an inexpensive
course supplement designed to save you time! Due
to its condensed format, use it as a Dynamics guide
but not as a replacement for assigned class work.
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