Particle Kinematics

r i j k ( ) ( ) ( ) ( ) t x t y t z t = + +
r(t)
r(t+dt)
v(t) dt
i
j
path of particle
k
O
( )
( ) ( ) ( ) ( )
( ) ( ) ( )
x y z
x y z
t v t v t v t
d dx dy dz
x y z
dt dt dt dt
dx dy dz
v t v t v t
dt dt dt
= + +
= + + = + +
= = =
v i j k
i j k i j k
Direction of velocity vector is parallel to path
Magnitude of velocity vector is distance traveled / time
Inertial frame non accelerating, non rotating reference frame
Particle point mass at some position in space
Position Vector
Velocity Vector
Acceleration Vector
( )
2 2 2
2 2 2
( ) ( ) ( ) ( )
( ) ( ) ( )
y
x z
x y z x y z
y
x z
x y z
dv
dv dv d
t a t a t a t v v v
dt dt dt dt
dv
dv dv d x d y d z
a t a t a t
dt dt dt
dt dt dt
= + + = + + = + +
= = = = = =
a i j k i j k i j k
Particle Kinematics
Simple Harmonic Motion
x(t)
k,L
0
m
i
j
| |
0
2
2
sin(2 / ) cos(2 / ) sin(2 / )
2 2 4
X X t T V t T A t T
X V X
V A
T T
T
t t t
t t t
= + A = =
A A
= = =
r i v i a i
Circular Motion at const speed
( )
( )
2
2 2
cos sin
sin cos
(cos sin )
R
R V
V
R R
R
u u
e u u
e u u e
= +
= + =
= + = =
r i j
v i j t
a i j n n
Straight line motion with constant acceleration
( )
2
0 0 0
1
2
X V t at V at a
(
= + + = + =
(

r i v i a i
t s R V R u e u e = = =
u=e
t
R
i
j
Rcos
u
Rsin
u
t
sin
cosu
n
u
Summary
General circular motion







Arbitrary path
u
R
i
j
Rcos
u
Rsin
u
t
sin
cosu
n
u
( )
( )
2
2
2
cos sin
sin cos
( sin cos ) (cos sin )
R
R V
R R
dV V
R R
dt R
u u
e u u
o u u e u u
o e
= +
= + =
= + +
= + = +
r i j
v i j t
a i j i j
t n t n
2 2
/ / /
/
d dt d dt d dt
s R V ds dt R
e u o e u
u e
= = =
= = =
2
V
dV V
dt R
=
= +
v t
a t n

t
R
t
n
2 2
2 2
3/2
2 2
1
d y dy dx d x
d d
d d
R
dy dx
d d

=

| | | |
+
`
| |
\ . \ .

)
( ) ( ) x y = + r i j
Summary
Polar Coords

u
r
i
j
u
e
e
r
2
2 2
2 2
2
r
r
dr d
r
dt dt
d r d d dr d
r r
dt dt dt
dt dt
u
u
u
u u u
= +
| |
| |
| |
| = + + |
|
|
|
\ .
\ .
\ .
v e e
a e e
Newtons laws
For a particle


For a rigid body in motion without rotation, or
a particle on a massless frame
i
j
N
A
N
B
T
B
W
m = F a
c
= M 0
You MUST take moments
about center of mass
Calculating forces required to cause prescribed
motion of a particle
Idealize system
Free body diagram
Kinematics
F=ma for each particle.
(for rigid bodies or frames only)
Solve for unknown forces or accelerations

c
= M 0
Deriving Equations of Motion for particles
1. Idealize system
2. Introduce variables to describe motion
(often x,y coords, but we will see other
examples)
3. Write down r, differentiate to get a
4. Draw FBD
5.
6. If necessary, eliminate reaction forces
7. Result will be differential equations for coords
defined in (2), e.g.

8. Identify initial conditions, and solve ODE
m = F a
2
0
2
sin
d x dx
m kx kY t
dt
dt
e + + =
Motion of a projectile
i
j
k
X
0
V
0
0 0 0
0 0 0
0
x y z
X Y Z
t
d
V V V
dt
= + +

=
`
= + +

)
r i j k
r
i j k
( )
( )
( )
( )
( )
2
0 0 0 0 0 0
0 0 0
1
2
x y z
x y z
X V t Y V t Z V t gt
V V V gt
g
| |
= + + + + +
|
\ .
= + +
=
r i j k
v i j k
a k
Work and Energy relations
Rate of work done by a force
(power developed by force)
i
j
k
O
P
F
v
P = F v
Total work done by a force

i
j
k
O
P
F(t)
r
0
r
1
1
0
t
W dt =
}
F v
1
0
W d =
}
r
r
F r
( )
2
2 2 2
1 1
2 2
x y z
T m m v v v = = + + v
Kinetic energy
i
j
k
O
P
v
r
0
r
1
Work-kinetic energy relation
1
0
0
W d T T = =
}
r
r
F r
Power-kinetic energy relation
dT
P
dt
=
Potential energy
i
j
k
O
P
F
r
0
r
1
0
( ) constant V d = +
}
r
r
r F r
Potential energy of a
conservative force (pair)
grad( ) V = F
Type of force Potential energy
Gravity acting on a
particle near earths
surface
V mgy =
F
m
j
i
y

Gravitational force
exerted on mass m by
mass M at the origin
GMm
V
r
=
r
F
r
m

Force exerted by a
spring with stiffness k
and unstretched length
0
L
( )
2
0
1
2
V k r L = F
i
j
r

Force acting between
two charged particles
1 2
4
QQ
V
r tc
=
r
+Q
1
+Q
2
i
j
1
F
2

Force exerted by one
molecule of a noble gas
(e.g. He, Ar, etc) on
another (Lennard Jones
potential). a is the
equilibrium spacing
between molecules, and
E is the energy of the
bond.
12 6
2
a a
E
r r
(
| | | |
(
| |
\ . \ . (


r
i
j
1
F
2


m
1
m
2
m
3
m
4
R
21
R
12
R
13
R
31
R
23
R
32
F
2
ext
F
3
ext
F
1
ext
Energy relations for
conservative systems subjected to external forces
ij
R
Internal Forces: (forces exerted by
one part of the system on another)
External Forces: (any other forces)
ext
i
F
0
0
( ) ( )
t t
ext
ext i
forces
t
W t t dt
+A
=

}
F v
Work done by external forces
( )
0 0 ext
W T V T V = + +
System is conservative if all internal forces are
conservative forces (or constraint forces)
Energy relation for a conservative system
0 0
t t t t < < +A
Kinetic and potential energy at time
0
t ( )
0 0
T V +
Kinetic and potential energy at time
t
( )
T V +
Linear Impulse of a force
i
j
k
O
F(t)
v
m
1
0
( )
t
t
t dt =
}
F
Linear momentum of a particle m = p v
Impulse-momentum relations
d
dt
=
p
F
1 0
= p p
Impulse-momentum relations
m
1
m
2
m
3
m
4
R
21
R
12
R
13
R
31
R
23
R
32
F
2
ext
F
3
ext
F
1
ext
0
0
( )
t t
ext
tot i
particles
t
t dt
+A
=

}
F Total external impulse
tot i i
particles
m =

p v
Total linear momentum
( )
ext
tot
i
particles
d
t
dt
=

p
F Conservation law
tot tot
= Ap
Impulse-momentum for a system of particles
Impulse-momentum for a single particle
Collisions

*
A
B
A
B
v
x
B1
v
x
A1
v
x
B0
v
x
A0
1 1 0 0 A B A B
A x B x A x B x
m v m v m v m v + = +
( )
1 1 0 0 B A B A
v v e v v =
( )
( )
1 0 0 0
1 0 0 0
(1 )
(1 )
B B B A
A
A B
A A B A
B
A B
m
v v e v v
m m
m
v v e v v
m m
= +
+
= + +
+

A
B
A
B
B0
v
A0
v
v
A1
B1
v
n
( ) ( ) ( )
1 1 0 0 0 0
(1 )
B A B A B A
e
(
= +

v v v v v v n n
1 1 0 0 B A B A
B A B A
m m m m + = + v v v v
( )
1 0 0 0
(1 )
B B B A
A
B A
m
e
m m
(
= +

+
v v v v n n
( )
1 0 0 0
(1 )
A A B A
B
B A
m
e
m m
(
= + +

+
v v v v n n
Angular Impulse-Momentum Equations for a Particle

i
j
k
x
y
z
O
F(t)
r(t)
0
0
( ) ( )
t t
t
t t dt
+A
=
}
r F
m = = h r p r v
d
dt
=
h
M
Impulse-Momentum relations
1 0
= h h
Useful for central force problems
Angular Momentum
Angular Impulse