Dynamics 7

Ch.
7: Kinematics of Particles
7.0 Outline 316
Introduction 317
Rectilinear Motion 319
Plane Curvilinear Motion 341
Rectangular Coordinates (x-y) 349
Normal and Tangential Coordinates (n-t) 365
Polar Coordinates (r-) 381
Relative Motion (Translating Axes) 404
7.0 Outline
316
Ch. 7: Kinematics of Particles
7.1 Introduction
7.1 Introduction
Kinematics is the study of the motion of bodies with no
consideration to the forces that accompany the motion.
It is an absolute prerequisite to kinetics, which is the
study of the relationships between the motion and the
corresponding forces that cause the motion or are
generated as a result of the motion.
A particle is a body whose physical dimensions are so
small compared with the radius of curvature of its path.
This makes the body rotation effect insignificant and
the motion of the body can be treated as that of the particle.
317
7.1 Introduction
Position of P
rectangular coordinates x, y, z
cylindrical coordinates r, , z
spherical coordinates R, ,
Motion of P
absolute motion analysis
relative motion analysis
Absolute motion analysis: coordinates measured from
fixed reference axes, e.g. motion of the piston described
by the frame fixed to the ground
Relative motion analysis: coordinates measured from
moving reference axes, e.g. motion of the piston described
by the frame attached to the car
318
7.2 Rectilinear Motion: motion along a straight line
7.2 Rectilinear Motion
( )
( )
av
t 0
If change in the position coordinate during t is
the displacement s , v s/ t
ds
1 __ instantaneous velocity, v lim s/ t s
dt
velocity time rate of change of the position coord., s
If change in th

=
= = =
=
( )
( )
av
2
2
t 0
e velocity during t is v, a v/ t
dv d s
2 __ instantaneous acceleration, a lim v/ t v s
dt dt
3 __ vdv ads

=
= = = = =
=

319
Displacement vs. Distance
displacement: vector quantity involving
initial and ending position
distance: positive scalar quantity
Both velocity and acceleration are vector quantities
generally their changes include 1) change in magnitude
and 2) change in direction
For rectilinear motion, direction is the constant straight
line path algebraic problem
Integration of basic differential relations
320
( )
2 2
1 1
2 2
1 1
2 2
1 1
s t
2 1
s t
v t
2 1
v t
v s
2 2
2 1
v s
ds vdt, s s area under v-t curve
dv adt, v v area under a-t curve
vdv ads, v v / 2 area under a-s curve
= =
= =
= =

Relationships among several
motion quantities
graphic/numerical
vs. algebraic approach
321
( ) ( )
d d
kinetic relation
dt dt
dt dt
s v a v, s, t F v, s, t

common problems: know a, find s by integration
322
( )
( )
o
o o
o
o o
v t
o
v 0
v s
2 2
o o
v s
s t t
2
o o o
s 0 0
at the beginning, t 0, s s , v v
at time t, dv a dt v v at
vdv a ds v v 2a s s
ds vdt v at dt s s v t at / 2
= = =
= = +
= = +
= = + = + +

a) a = constant, e.g. G-force, dry friction force
323
( ) ( )
( )
( )
o
o
v t t
o
v 0 0
s t t t t
o o o
s 0 0 0 0
o o o
dv f t dt v v f t dt
ds vdt s s vdt s v t f t dtdt
or s f t with i.c. t 0, s , v
= = +
= = + = + +
= =

b) a = f(t), e.g. synthetic force, piston force

324
| |
( )
( ) ( )
o
dt t v
inv
0 v
dv
a dv/dt t dt v g t s h t
f v

= = = = =

c) a = f(v), e.g. viscous drag force, damping force
| |
( ) ( )
( )
o o o
v s v
o
v s v
v v
vdv ads dv ds s s dv g v
f v f v
= = = + =

or
325
( ) ( ) ( )
| |
( )
( )
o o o
o
v s s
2 2
o
v s s
s
inv
s
vdv f s ds v v 2 f s ds v g s
ds
v ds/dt t s h t
g s
= = + =
= = =

d) a = f(s), e.g. spring force, attraction force

326
P. 7/1 Small steel balls fall from rest through the
opening at A at the steady rate of 2 per second.
Find the vertical separation h of two consecutive
balls when the lower one has dropped 3 meters.
Neglect air resistance.
327
P. 7/1
| |
2
o o o
o o
2
2
l l
u l
2
u u
a s a g from gravitational force, downward
v v gt and s s v t gt / 2
v 0 and define s 0
s gt / 2
lower ball: 3 gt / 2, t 0.782 s
upper ball: t t 0.5 0.282 s
s 3 h gt /
= =
= + = + +
= =
=
= =
= =
= =
2 h 2.61 m =
3 m
(3-h) m
@ t
l
@ t
u
328
P. 7/2 In traveling a distance of 3 km between points
A and D, a car is driven at 100 km/h from A to B
for t seconds and at 60 km/h from C to D also
for t seconds. If the brakes are applied for 4 s
between B and C to give the car a uniform
deceleration, calculate t and the distance s
between A and B.
329
P. 7/2
| |
( )
B
A
D
C
C
B
s
t/3600
B
s 0
s
t/3600
C
s 0
s
4/3600
s 0
C B
B
v ds/dt ds vdt, s t/36
ds vdt, 3 s t/60
ds vdt area under v-t curve,
1
s s 4/3600 100 60 4/ 45
2
t 65.5 sec, s s 1.819 km
= = =
= =
= =
= + =
= = =

t
t
v
a
A
B
C D
t sec t sec
4 sec
330
P. 7/3 The 350-mm spring is compressed to a 200-mm length, where
it is released from rest and accelerates the sliding block A.
The acceleration has an initial value of 130 m/s
2
and then
decreases linearly with the x-movement of the block, reaching
zero when the spring regains its original 350-mm length.
Calculate the time t for the block to go a) 75 mm and b) 150mm.
331
P. 7/3
130
a x 866.7x
0.15
= =
| |
( )
| |
( ) { }
v x
0 0.15
2 2 2
t x
0 0.15
1
vdv ads vdv ads
v 866.7x 19.5, v 29.44 0.0225 x assume block move
ds
v ds/dt dt
v
t 0.034 sin x/0.15 / 2
@x 0.075 m, t 0.0356 s
@ x 0 m, t 0.0534 s
= =
= + =
= =
= +
= =
= =

| |
a s x 866.7x 0
solution of the unforced harmonic equation
x Asin t Bcos t, 866.7 29.44 rad/s
i.c.: t 0, x 0.15 m, x 0 m/s B 0.15, A 0
x 0.15cos29.44t

= + =
= + = =
= = = = =
=

a
x
130
-0.15 0
332
P. 7/4 A train that is traveling at 130 km/h applies its brakes as it
reaches point A and slows down with a constant deceleration.
Its decreased velocity is observed to be 96 km/h as it passes
a point 0.8 km beyond A. A car moving at 80 km/h passes
point B at the same instant that the train reaches point A.
In an unwise effort to beat the train to the crossing, the driver
steps on the gas. Calculate the constant acceleration a that
the car must have in order to beat the train to the crossing by
4 s and find the velocity v of the car as it reaches the crossing.
333
P. 7/4
( )
( )
2 2 2
o 0 o o o
2 2 2
2
o
const acceleration: v v at, v v 2a s s , s s v t at / 2
Train: 96 130 2a 0.8, a 4802.5 km/h
1.6 130t 4802.5t / 2, t 0.0189 h or 68.11 s check with v v at
Car: to beat the train by 4 sec t
= + = + = + +
= + =
= = = +
=
2 2 2
64.11 s or 0.0178 h
2 80 0.0178 a 0.0178 / 2, a 3628.3 km/h 0.28 m/s
v 80 3628.3 0.0178 144.6 km/h 40.2 m/s
= + = =
= + = =
334
P. 7/5 The horizontal motion of the plunger and shaft is arrested by
the resistance of the attached disk that moves through the
oil bath. If the velocity of the plunger is v
o
in the position A
where x = 0 and t = 0, and if the deceleration is proportional
to v so that a = -kv, derive expressions for the velocity v
and position coordinate x in terms of the time t. Also express
v in terms of x.
335
P. 7/5
| |
| | ( )
| |
o
o
v t
kt
o
v 0
x t
kt kt
o
o
0 0
v x
o
v 0
dv
a dv/dt dt, v v
kv
v
v dx/dt dx v dt, x 1
k
vdv
vdv ads ds, v v kx
kv
e
e e

= = =
= = =
= = =

336
P. 7/6 The electronic throttle control of a model train
is programmed so that the train speed varies
with position as shown in the plot. Determine
the time t required for the train to complete
one lap.
337
P. 7/6
( ) ( )
| | ( )
( )
t 0.125
0 0.25
0 2 km: constant velocity, t s/v 2/0.25 8 sec
2 2 / 2 km: dv/ds 0.125/ / 2 0.25/
vdv ads, a dv/dt v dv/ds dv/dt
0.25/ dt dv/v, t 8.71 sec
lap time 8 2 8.71 4 50.84 sec

= = =
+ = =
= = =
= =
= + =

338
P. 7/7 A bumper, consisting of a nest of three springs, is used to
arrest the horizontal motion of a large mass that is traveling at
40 m/s as it contacts the bumper. The two outer springs cause
a deceleration proportional to the spring deformation. The
center spring increases the deceleration rate when the
compression exceeds 0.5 m as shown on the graph. Determine
the maximum compression x of the outer spring.
339
P. 7/7
| |
( ) ( ) ( )
0
40
2
vdv ads vdv area under a-s curve
0 40 1 1
0.5 1000 x 0.5 1000 1000 4000 x 0.5
2 2 2
x 0.831 m
= =
= + +
=
340
2.3 Plane Curvilinear Motion: motion along a curved
path that lies in a single plane
Vector quantity is independent of any particular
coordinate system
7.3 Plane Curvilinear Motion
341
Time derivative of a vector (described in fixed coord.)
change in both magnitude and direction
at time t, the particle is at A located by
at time t t, the particle moves to B located by '
displacement (vector) during time t is (independent of coordinate system)
distance traveled (scal
+ =

r
r r + r
r
ar) during time t is s (measured along the path)
342
av
t 0
average velocity, / t
average speed s/ t
d
instantaneous velocity, lim
t dt
includes the effect of change both in magnitude and direction of
as t 0, direction of approaches that

=
=
= = =

v r
r r
v r
v r
r
av
of the tangent to the path
average velocity velocity,
is always a vector tangent to the path
Consider only the magnitude of the velocity
ds
speed, v s
dt
as t 0, A A'
average speed speed,

= = =

v v
v
v
r
av av
s, , and v v v v
343
Magnitude of the derivative
d
magnitude of the velocity s v speed
dt
Derivative of the magnitude
d
dr
r rate at which the length of position vector is changing
dt dt
Derivative of the direction
Der
= = = = = =
= = =
r
v r
r
r

ivative of the magnitude and Derivative of the direction of the vector

contribute to Derivative of that vector
344
av
t 0
average acceleration, / t
d
instantaneous acceleration, lim
t dt
includes the effect of change both in magnitude and direction of
Because the magnitude at any point can be arbitrar

=
= = =
a v
v v
a v
a v
v
y, generally
the direction of the acceleration is niether tangent nor normal to the path
but its normal component always points toward
the center of curvature of the path
345
The acceleration bears the same relation to the velocity
as the velocity bears to the position vector.
346
Derivatives and Integrations of vectors
( )
( )
( )
( )
( ) ( ) ( )
x y z
x y z
d
P P P
dt
d u
u u
dt
d
dt
d
dt
if x, y, z and an element of volume, d dxdydz
d V x, y, z d V x, y, z d V x, y, z d

=
= +
=
=
=
= + +

P
P = i + j + k
P
P P
P Q
P Q+ P Q
P Q
P Q+ P Q
V = V
V i j k

347
Three common coordinate systems for plane curvilinear
motion rectangular, normal & tangential, and polar
Choose the appropriate coordinate system according
to the manner in which the motion is generated
or by the form in which the data are specified
348
2.4 Rectangular Coordinates (x-y)
Suit for motions where the x- and y- components
of the acceleration are independently generated
or determined, i.e. x- and y- coordinates at a specific
point are related by the same instant of time only.
It looks like the superposition of two perpendicular
rectilinear motions, in x- and y- directions,
simultaneously. Their combination generate the
curvilinear motion.
349
( ) ( )
x y x y
x y x y
y x
2 2
x y
2 2
x y
x y x t y t
x y v v (v and v are independent)
x y a a (a and a are independent)
direction of velocity, tan v / v dy/dx
speed, v v v
a a a
= =
= +
= +
r = i + j = i + j
v = r = i + j = i + j
a = v = r = i + j = i + j

( ) ( )
( )
1 2
If x t and y t , elimination of time t between these two
parametric equations gives the equation of the curved path y x
f f
f
= =
=
350
Projectile motion: motion of the thrown object
Neglect aerodynamic drag and the earths curvature and
rotation, and assume the altitude range is small enough
x y
a 0 and a g = =
351
( ) ( )
( ) ( )
( ) ( )
( ) ( )
x x x o x
o o
2
y y y o y
o o
2
2
y y o
o
a 0 v v x x v t
a g v v gt y y v t gt / 2
v v 2g y y
x- and y- motions are independent
elimination of time t of x t and y t gives the parabolic path
= = = +
= = = +
=
352
P. 7/8 A particle is ejected from the tube at A with a velocity v at an
angle with the vertical y-axis. A strong horizontal wind gives
the particle a constant horizontal acceleration a in the x-direction.
If the particle strikes the ground at a point directly under its
released position, determine the height h of point A. The
downward y-acceleration may be taken as the constant g.
353
P. 7/8
( )
2
x x
2
y y
since a is constant, the instant formulas can be used
1
a a, v vsin at, x vtsin at
2
1
a g, v vcos gt, y vtcos gt
2
when x 0 & y h,
0 t at/2 vsin , t 2vsin /a
substitute t into y-coord

= = + = +
= = + = +
= =
= =
2
2v g
equation, h sin cos sin
a a

| |
= +
|
\ .
a
y
= g
a
x
= a
354
P. 7/9 Electrons are emitted at A with a velocity v at the angle into
the space between two charged plates. The electric field
between the plates is in the direction E and repels the electrons
approaching the upper plate. The field produces an acceleration
of the electrons in the E-direction of eE/m, where e is the
electron charge and m is its mass. Determine the field strength
E that will permit the electrons to cross one-half of the gap
between the plates. Also find the distance s.
355
P. 7/9
( )
( )
( )
x y
2 2
y 0 y o
2
2
2
2
E
a 0 a
m
v v 2a y y
at the peak, y b/2
E mu
0 usin 2 b/2, E sin
m b
1 E
x utcos y utsin t
2 m
s
at s, 0 : s utcos , t and substitue into y-equation
ucos
s
0 stan 1 tan , s 0
2b
e
e
e
e

= =
= +
=
= =
= =
= =
| |
= =
|
\ .
2b
,
tan
a
y
= -eE/m
u
x
y
356
P. 7/10 Water is ejected from the nozzle with a speed v
o
= 14 m/s.
For what value of the angle will the water land closest to
the wall after clearing the top? Neglect the effects of wall
thickness and air resistance. Where does the water land?
(1)
(2)
357
P. 7/10
( )
( )
( )
x
o
2 2 2
o y y
o
2 2 2 2
Treat water as stream of particles. At one particular particle,
@ just above the wall 19, 1
x v t 19 14tcos
1 1 1
y y v t a t 1 0.3 14tsin gt , 0.7 gt 14tsin
2 2 2
1
14 t 19 0.7 gt
2

( = =

(
= + + = + + =
(

|
= + +
( )
2
2
, t 2.14, 1.81 sec and 50.64 , 41.43
50.64 makes the water land closest to the wall
water will land at x, 0
1
0 0.3 14tsin50.64 gt , t 2.234 sec
2
x 14tcos50.64 19.835 m
water lands 0.835
|
= =
|
\ .
=
= + =
= =
m to the right of B
358
P. 7/11 A projectile is ejected into an experimental fluid at time t = 0.
The initial speed is v
o
and the angle to the horizontal is .
The drag on the projectile results in an acceleration term
, where k is a constant and is the velocity of the
projectile. Determine the x- and y-components of both the
velocity and displacement as functions of time. What is the
terminal velocity? Include the effects of gravitational acceleration.
D
k = a v
v
359
P. 7/11
( )
( )
( ) ( )
x
o
y
o
x y
x
x x
v
t
kt
x x o
x v cos 0
t x
kt kt o
o
0 0
y
y y
v
t
kt
y y o
y v sin 0
o
k k v v
dv
a kv
dt
1 dx
dv dt, v v cos
kv dt
v cos
v cos dt dx, x 1
k
dv
a kv g
dt
1 g g dy
dv dt, v v sin
kv g k k dt
g
v sin
k
e
e e
e
e

= =
= = =
= =
= =
| |
= = + =
|

\ .
| |
+
|
\ .

a = v = i + j
( )
( ) ( )
y t
kt kt
o
0 0
x y
t
t
g 1 g g
dt dy, y v sin 1 t
k k k k
g
terminal velocity: v 0, v
k
e

| |
= = +
`
|
\ .
)
= =

360
P. 7/12 A projectile is launched with speed v
o
from
point A. Determine the launch angle that
results in the maximum range R up the incline of
angle (where 0 90). Evaluate your
results for = 0, 30, and 45.
361
P. 7/12
x x o o
2
y y o o
o
o
2
o
o o
2
2 2
o
2 2 2
o o
a 0, v v cos , x v tcos
a g, v v sin gt, y v tsin gt / 2
Rcos
at B, Rcos v tcos t
v cos
Rcos g Rcos
Rsin v sin
v cos 2 v cos
gRcos
sin cos tan
2v cos
2v cos tan 2v sin

= = =
= = =
= =
| | | |
=
| |
\ . \ .
=
=
( ) ( )
( )
( )
2 2
o o
2
o
1 1
cos gRcos
dR
change in causes change in R, max R when 0
d
2v tan 2cos sin d v 2cos2 d gcos dR
2v dR
cos2 sin2 tan 0
d gcos
tan2 1/ tan
1 1
2 tan 180 tan
tan tan
180 90

=
=
= + =
=
| | | |
= =
| |
\ . \ .
= 90
90
2
= +
+
=
362
P. 7/13 Determine the equation for the envelope a of the parabolic
trajectories of a projectile fired at any angle but with a fixed
muzzle velocity u. (Hint: Substitute m = tan, where is the
firing angle with the horizontal, into the equation of the trajectory.
The two roots m
1
and m
2
of the equation written as a quadratic
in m give the two firing angles for the two trajectories shown
such that the shells pass through the same point A. Point A
will approach the envelope a as the two roots approach equality.)
Neglect air resistance and assume g is constant.
363
P. 7/13
( )
x x
2
y y
2
2 2
2 2 2
2 2 2
a 0, v ucos , x utcos
a g, v usin gt, y utsin gt / 2
eliminate t to get the trajectory equation
g x
y xtan
2 u cos
given point x, y , find by letting m tan
1 tan sec 1 m
gx m 2xu

= = =
= = =
| |
=
|
\ .
=
+ = = +
( )
( )
( )
2 2
m 2yu gx 0
two roots point x, y can be reached from two distinct paths
point x, y will approach the envelope a as those two paths
approach each other two distinct roots become two repeated roots
disc
+ + =
( ) ( )
( )
2
2 2 2 2
2 2
2
riminant must be zero
2xu 4gx 2yu gx 0
u gx
y
2g 2u
point x, y on the envelope must obey this relation envelope equation
+ =
=

364
2.5 Normal and Tangential Coordinates (n-t)
It is a moving coordinate system, along the path
with the particle. The +n direction points toward the
center of curvature.
n
t
At point A,
unit vector in the n-direction
unit vector in the t-direction
radius of curvature of the path
=
=
=
e
e
365
( )
t t
t t
position of the particle 0, 0
ds d
v
dt dt
v along the t-axis
0 when particle moves along t direction
d
v v
dt

=
= =
=
> +
= +
v = e e
v
a = e e

366
t
t t n n t n
t
n n t
n t
2
2
n
t
t
x y t
x y n n t t
Determine
d d d
d
detour: and
d
v v
v
a v
a v s
vdv ads
v v v
a a a a

= = =
= =
+
= = =
= = = +
=
+
e
e e e e e e
e
e e e
a = e e
v = i + j = e
a = i + j = e e

367
n
n 2
n
n
t
t
t
t
change in direction of
d
vd
a v
dt dt
component a always directed toward the center of curvature
change in magnitude of
d
dv
a v s
dt dt
component a will be in t direction if spee

=
= = = =
=
= = = =
+
a v
v
a v
v

t
d v is increasing
component a will be in t direction if speed v is decreasing
has the direction along the motion of the object
may not have the direction along the motion of the object
v
a
368
P. 7/14 The camshaft drive system of a four-cylinder
automobile engine is shown. As the engine
is revved up, the belt speed v changes
uniformly from 3 m/s to 6 m/s over a 2 second
interval. Calculate the magnitudes of the
accelerations of points P
1
and P
2
half way
through this time interval.
369
P. 7/14
( )
( )
2
t
2
2 2 2 2 2
P1 n t
2
P2 t
dv v
uniform speed change a 6 3 / 2 1.5 m/s
dt t
belt speed v 4.5 m/s at the time half of the interval
a a a 4.5 /0.06 1.5 337.5 m/s
a a 1.5 m/s
the sprocket and the belt must be very strong
= = = =
=
= + = + =
= =
!
370
P. 7/15 A baseball player releases a ball with the
initial conditions shown in the figure.
Determine the radius of curvature of the
trajectory (a) just after release and (b) at the
apex. For each case, compute the time rate
of change of the speed.
371
P. 7/15
( )
2 2
n
2
t
2
2
n
2
t
J ust after release:
v 30
a gcos30 , 105.9 m
v a gsin30 4.905 m/s
At the apex:
30cos30
v
a g , 68.8 m
v a 0 m/s

= = = =
= = =
= = = =
= =
v = 30 m/s
a = g
n
t
v = 30cos30 m/s
a = g
n
t
372
P. 7/16 Pin P in the crank PO engages the horizontal
slot in the guide C and controls its motion on
the fixed vertical rod. Determine the velocity
and the acceleration of guide C for a
given value of the angle if (a) and
and (b) if and .
y
0 =
0 =
y
373
P. 7/16
2
n t
2
(a) , 0
for pin P: v r , a r , a 0
guide C must have its velocity and acceleration, y and y,
transmitted by those of pin P along y direction
y r sin , y r cos
(b) 0,
for pin P:

= =
= = =
= =
= =

n t
v 0, a 0, a r
guide C must have its velocity and acceleration, y and y,
transmitted by those of pin P along y direction
y 0, y r sin

= = =
= =

t
n
t
n
t
n
t
n
a = a
t
= r
v = 0
a = a
n
= r
2
v = r
374
P. 7/17 The pin P is constrained to move in the slotted guides that
move at right angles to one another. At the instant represented,
A has a velocity to the right of 0.2 m/s which is decreasing
at the rate of 0.75 m/s each second. At the same time, B is
moving down with a velocity of 0.15 m/s which is decreasing
at the rate of 0.5 m/s each second. For this instant
determine the radius of curvature of the path followed by P.
Is it possible to determine also the time rate of change of .
375
P. 7/17
t n t
Guides A and B move perpendicular to each other,
motion of guides A and B are independent
and their motions are imparted to pin P.
0.2 0.15
0.75 0.5
in n-t description
0.8 0.6 , and al
=
v i j
a = i + j
n i j n n
( )
n
2
t t t
n t
2 2
n
t
ong
a 0.9 m/s , 0.72 0.54
0.03 0.04
v 0.25
a , 1.25 m
0.05
appears only in eq.: a v v/
which has 2 unknowns: and
cannot be determined unt
= = = +
= =
= = =
= = + = +
a
a n a i j
a a a i j
il is known
y
x
t
n
v
a
n
a
t
376
P. 7/18 As a handling test, a car is driven through the
slalom course shown. It is assumed that the
car path is sinusoidal and that the maximum
lateral acceleration is 0.7g. If the testers wish
to design a slalom through which the maximum
speed is 80 km/h, what cone spacing L
should be used?
377
P. 7/18
n
2
2
n n min
max a 0.7g and max speed 80 km/h
sinusoidal path y 3sin x 3sin x
L
y' 3 cos x and y'' 3 sin x
v
max a at peak of the wave a and at peak
by sense: fast car needs big L use max speed to
= =
| |
= =
|
\ .
= =
=
( ) ( )
3/2
2
2
min
2
2
find lower bound of L
1 y'
y''
At peak, 80 10/36 / 0.7g 71.9 m
x n /2, n 1, 3, y' 0, y'' 3
1
71.9 , 0.0681 L 46.14 m
3 L
(
( +

(
=
(

= = =
= = = =
= = = =

378
P. 7/19 A particle starts from rest at the origin and
moves along the positive branch of the curve
y = 2x
3/2
so that the distance s measured from
the origin along the curve varies with the time t
according to s = 2t
3
, where x, y, and s are in
millimeters and t is in seconds. Find the
magnitude of the total acceleration of the
particle when t = 1 s.
379
P. 7/19
( )
( ) ( ) ( )
3 2
t
3/2
2
2
n
3/2
2 2 2
x
0
s 2t , v s 6t , a v 12t
1 y'
a v / &
y''
3
y 2x , y' 3 x, y''
2 x
x must be known to determine
ds dx dy 1 y' dx
t 0 1, s 0 2, x 0 x
2 1 9xdx, x 0.913 mm y 1.746 mm
At t 1 s, v 6 m

= = = = =
(
+

= =
= = =
= + = +
= = =
= + = =
= =

2
t
2 2 2
n
m/s, a 12 mm/s , y' 2.8665, y'' 1.57, 17.8 mm
a 6 /17.8 2.02 mm/s a 12.17 mm/s
= = = =
= = =
380
2.6 Polar Coordinates (r-)
The particle is located by the radial distance r from
a fixed pole and by an angle to fixed radial line.
381
r
r r
r r
r r r
r
2 2
r
r
from the figure, d d and d d
and
r r r r
v r due to the stretch of
v r due to the rotation of
v v v

= =
= =
+ = +
=
=
= +
r = e
e e e e
e e e e
v = r = e e e e
r
r


382
( )
( ) ( ) ( )
( )
2
r r r
2
r
2
2 2
r
r r
r r r r r r r r 2r
a r r
1 d
a r 2r r , 2r combines two effects
r dt
a a a
Note: a v and a v , i.e. we must also account for the
change i

+ + + + = + +
=
= + =
= +

a = v = e e e e e e e

r
2
r
n direction of both v and v , which are r along
and r along , respectively

e
e

383
P. 7/20 The rocket is fired vertically and tracked by
the radar shown. When reaches 60,
other corresponding measurements give the
values r = 9 km, = 21 m/s
2
, and = 0.02 rad/s.
Calculate the magnitudes of the velocity and
acceleration of the rocket at this position.
r
384
P. 7/20
r
2 2 2
r
and of the rocket is in the vertical direction
v r 180 m/s vsin30 v 360 m/s
v r vcos30 311.77 m/s
a r r 17.4 m/s acos30 a 20.09 m/s
= = = =
= = =
= = = =
v a
30
385
P. 7/21 Link AB rotates through a limited range of the
angle , and its end A causes the slotted link
AC to rotate also. For the instant represented
where = 60and = 0.6 rad/s constant,
determine the corresponding values of
.
r, r, , and

386
P. 7/21
t
2 2
n
Description of position, velocity, and acceleration of A
in r- when they are given in n-t coordinate system
v 0.15 0.6 0.09 m/s along t-direction
0 a 0
a a 0.054 m/s along n-direction
= = = +
= =
= = = +
( ) ( )
r r r
2
r r r
2 2
From geometry, r 0.15 m and 60
vcos30 vsin30 r r
r 0.078 m/s 0.3 rad/s
asin30 acos30 r r r 2r
r 0.0135 m/s 2.31E-4 rad/s

= =
+ = = +
= =
+ = = + +
= =
v = v v e e e e
a = a a e e e e
r
t
n
30
30
387
P. 7/22 The slotted arm OA forces the small pin to
move in the fixed spiral guide defined by
r = K. Arm OA starts from rest at =/4
and has a constant counterclockwise angular
acceleration . Determine the magnitude
of the acceleration of the pin when = 3/4.
=
388
P. 7/22
( )
2 2
o o
2
pin is constrained to move in the guide
path of the pin: r K
and differential relations r K and r K hold
/ 4 3 / 4, 0 , constant
2
At 3 / 4, ,

=
= =
= = = =
(
= +

= =

( ) ( )
2
r
r 3K /4, r K , r K
r r r 2r
a 10.753K

=
= = =
+ +
=
a = e e

389
P. 7/23 The circular disk rotates about its center O with a constant
angular velocity and carries the two spring-loaded
plungers shown. The distance b that each plunger protrudes
from the rim of the disk varies according to b = b
o
sin2nt,
where b
o
is the maximum protrusion, n is the constant
frequency of oscillation of the plungers in the radial slots,
and t is the time. Determine the maximum magnitudes of the
r- and -components of the acceleration of the ends A
of the plungers during their motion.
=

390
P. 7/23
( )
( )
( )
( )
o o o
2
o o
2 2 2 2 2
r o o
o
2 2 2 2
r o o
max max
location of point A described by r,
r r b r b sin2 nt
r 2 nb cos2 nt, r 2 n b sin2 nt
, 0
a r r r 4 n b sin2 nt
a r 2r 4 n b cos2 nt
a r 4 n b a 4

= + = +
= =
= =
= = +
= + =
= + + =

o
n b
391
P. 7/24 The small block P starts from rest at time t = 0
at point A and moves up the incline with
constant acceleration a. Determine
as a function of time.
r and
s
392
P. 7/24
( )
2
2
2
2
2 2 2 2 2 4
2
2 3
2
2 2
1
block moves with constant acceleration s at
2
at
by geometry, x R scos R cos , x atcos
2
at
y ssin sin , y atsin
2
a
r x y R Rat cos t
4
at 2Rcos at
2rr 2Ratcos a t , r
a
2 R Rat cos t
4

=
= + = + =
= = =
= + = + +
+
= + =
+ +

4
2
2
2
2
2 2
2 2
2 2 4
y xy yx
tan , sec
x x
1 r
sec
cos x
xy yx Ratsin
a r
R Rat cos t
4

= =
= =
= =
+ +

393
P. 7/25 The block P slides on the surface shown with
constant speed v = 0.6 m/s and passes point O
at time t = 0. If R = 1.2 m, determine the
following quantities at time t = 2(1+/3):
r, , r, , r, and

394
P. 7/25
( )
( )
21 /3
s
0 0
2 2 1
r
ds
v ds vdt, s 1.2 0.4
dt
0.4
block P moves up the quarter for /3 60
1.2
at this position, x R Rcos30 2.239 m y R Rsin30 0.6
r x y 2.318 m tan y/x 15
v vcos45 r 0.424
(
= = = +
(

= =
= + = = =
= + = = =
= = =

2 2
t n
2 2
r
2
m/s
v vsin45 r , 0.183 rad/s
v 0.6
a v 0 a 0.3 a
1.2
a 0.3cos45 r r , r 0.134 m/s
a 0.3sin45 r 2r , 0.0245 rad/s

= = =
= = = = = =
= = =
= = + =

15
15
30
t
n
r
v
a
395
P. 7/26 The slotted arm OA oscillates about O within the limits shown
and drives the crank CP through the pin P. For an interval of
the motion, , a constant. Determine the magnitude of
the corresponding total acceleration of P for any value of
within the range for which . Use polar coordinates r
and . Show that the magnitudes of the velocity and
acceleration of P in its circular path are constant.
K =
K =
396
P. 7/26
2 2 2
n t
K 0
2 2K 0
motion of pin P is the circular path with radius b
v 2bK constant
a v / 4bK a v 0, a 4bK constant

= =
= = =
= = =
= = = = = =

r
b
b
397
P. 7/27 The earth satellite has a velocity v = 17,970 km/h as it passes
the end of the semiminor axis at A. Gravitational attraction
produces an acceleration a = a
r
= -1.556 m/s
2
as calculated
from the gravitational law. For this position, calculate
the rate at which the speed of the satellite is changing and
the quantity .
r
v
398
P. 7/27
2
t
2
r
2
a v acos60 0.778 m/s
a a 1.556 r r but is unknown too
v r vcos30, 2.7E-4 rad/s, r 0.388 m/s

= = =
= = =
= = = =
t
n
60
a
v
399
P. 7/28 Pin A moves in a circle of 90 mm radius as
crank AC revolves at the constant rate =
60 rad/s. The slotted link rotates about point O
as the rod attached to A moves in and out
of the slot. For the position = 30,
determine .
r, r, , and

400
P. 7/28
2 2 2
2
2
A
A n
r A
A
2
r n
r 300 90 2 300 90cos30, r 226.57 mm
90 r
, 11.456
sin sin30
v
v 5.4 m/s and a a 324 m/s
v r v cos48.54 3.575 m/s
v r v sin48.54, 17.86 rad/s
a a cos41.456 r r , r 315 m/s
= + =
= =
= = = = =
= = =
= = =
= = =

2
2
n
a a sin41.456 r 2r , 1510 rad/s
= = + =

r
v
a
r
n
t
30
401
P. 7/29 If the slotted arm is revolving CCW at the constant rate of
40 rev/min and the cam is revolving clockwise at the constant
rate of 30 rev/min, determine the magnitude of the acceleration
of the center of the roller A when the cam and arm are in the
relative position for which = 30. The limacon has the
dimensions b = 100 mm and c = 75 mm. (Caution: Redefine
the coordinates as necessary after noting that the in the
expression r = b ccosis not the absolute angle appearing
in Eq. 2/14.)
402
P. 7/29
( )
/6 t
0 0
0.125
0 0
pin A must always be in the slot 40 rev/min CCW
if is the angle the cam is revolving at the rate 30 rev/min CW,
then r b ccos
d
d dt, t 0.125 s
dt
d dt,

=
=
= +
(
= = =
(

=

( )
( ) ( )
( ) ( )
( )
( )
2
2
2 2
r
2
2 2
r
0.3927 rad 22.5
0 and 0
r 0.1 0.075cos 30 22.5 54.3 mm
r c sin 0.436
r c cos 2.453
a r r 2.453 0.0543 40 2 /60 1.5 m/s
a r 2r 2 0.436 40 2 /60 3.653 m/s
a a a

= =
= =
= + =
= + + =
= + + =
= = =
= + = =
= +

2
3.95 m/s =
403
2.7 Relative Motion (Translating Axes)
It is in many cases easy and practical to observe
motion of an object w.r.t. a moving reference system.
And its absolute motion can be determined by
combining the relative motion with the absolute
motion of the moving reference frame.
Fixed coordinate system ? has no motion in space
-- earth-ground
-- non-rotating coordinate system with origin on the
earths axis of rotation
-- non-rotating coordinate system fixed to the sun
404
At this moment, we will study the relative plane motion
which employs the pure-translation moving reference
system. That is the relative motion will be observed on
the moving reference frame that has no rotation.
Observe motion of A from point B. Measurements are made
referenced with the moving coordinate.
Find the absolute motion of A described in fixed coordinate.
Two frames involved:
1.
pure translating
chosen
fixed frame X-Y, e.g.
2. pure translating moving frame x-y, e.g.
: Coordinates of X-Y and x-y may not parallel to each other
++Separation of the frame, vector, and its description
++Consistency of th
Note
e description for the vector quantities in a particular equation
++Transformation between two descriptions
405
A B
A/B
A B A/B A B A/B A B A/B
A
and are measured referenced with the fixed coordinate frame
is measured referenced with the moving coordinate frame.
describe
pure translating
= + = + = +
r r
r
r r r v v v a a a
r
/B
A/B A/B A/B
A/B B/A A/B B/A
in a specific pure translating moving frame x-y
x y x y x y
For the relative motion using the pure translating coordinate system

= = =
= =
r i + j v i + j a i + j
r r v v

A/B B/A
B
A A/B

if the pure-translating moving frame has constant velocity,
determination of the absolute acceleration can be made
on the system, a pure-tra inertial
=
=

a a
a 0
a = a
nd
nslating system
that has no acceleration
Newton's 2 law holds in the as well as
in the reference frame
inertial
fixed
406
P. 7/30 The car A has a forward speed of 18 km/h and
is accelerating at 3 m/s
2
. Determine the
velocity and acceleration of the car relative to
observer B, who rides in a nonrotating chair
on the ferris wheel. The angular rate
= 3 rev/min of the ferris wheel is constant.
407
P. 7/30
| |
( )
| |
A B A/B A
B
A/B A B
A B A/B
observer B rides in a nonrotating chair
car A is observed through the moving coord frame
10
18 5 m/s
36
cos45 sin45 2 2 m/s
3 2 m/s

pure translating
= =
= =
= = +
v = v + v v i i
v i j i j
v v v i j
a = a +a
( )
2
A
2 2
B
2
A/B A B
3 m/s
cos45 sin45 0.628 0.628 m/s
3.628 0.628 m/s
=
= =
= =
a i
a i j i j
a a a i + j
408
P. 7/31 Hockey player A carries the puck on his stick
and moves in the direction shown with a speed
v
A
= 4 m/s. In passing the puck to his stationary
teammate B, by what shot angle should the
direction of his shot trail the line of sight if he
launches the puck with a speed of 7 m/s
relative to himself?
409
P. 7/31
( )
P A P/A
player A saw the puck moves in 45 direction
but in fact, the puck moved to stationary player B
which stood in 45 direction
7 4
, 23.8
sin45 sin
= =
v = v + v
410
P. 7/32 The aircraft A with radar detection equipment is flying
horizontally at 12 km and is increasing its speed at the rate of
1.2 m/s each second. Its radar locks onto an aircraft flying
in the same direction and in the same vertical plane at an
altitude of 18 km. If A has a speed of 1000 km/h at the instant
that = 30, determine the values of at this same
instant if B has a constant speed of 1500 km/h
r
r and
411
P. 7/32
B A
B/A B A r
r B/A
B/A
2
B A
B/A B A
r 6000/sin30 12000 m
10 10
1500 416.67 m/s 1000 277.78 m/s
36 36
138.89 m/s r r
v r v cos30 r 120.28 m/s
v r v sin30 5.787E-3 rad/s
1.2 m/s

= =
= =
= = +
= = =
= = =
= =
v = = i v i
v = v v i e e
a 0 a i
a = a a

( ) ( )
2 2
r
2 2
r B/A
2
B/A
1.2 m/s r r r 2r
a r r a cos30 r 0.637 m/s
a r 2r a cos60 1.66E-4 rad/s

= = + +
= = =
= + = =
i e e

412
P. 7/33 A batter hits the baseball A with an initial velocity of v
o
= 30 m/s
directly toward fielder B at an angle of 30to the horizontal;
the initial position of the ball is 0.9 m above the ground level.
Fielder B requires s to judge where the ball should be caught
and begins moving to that position with constant speed.
Because of great experience, fielder B chooses his running
speed so that he arrives at the catch position simultaneously
with the baseball. The catch position is the field location at
which the ball altitude is 2.1 m. Determine the velocity of the
ball relative to the fielder at the instant the catch is made.
413
P. 7/33
( ) ( ) ( )
( )
2
2 2 2
o o y
y x A
2 2
o o
Ball: g constant
v v 2a s s v 30sin30 2g 2.1 0.9
14.19 m/s 30cos30 25.98 m/s 25.98 14.19 m/s
1 1
s s v t at 2.1 0.9 30sin30 t gt , t 2.976 s
2 2
horizontal
( = + =

= = = =
(
= + + = + =
(

a = - j =
v j v i i v i j
B
A/B A B
displacement of the ball 2.976 30cos30 77.32 m from batter
catcher B must move 77.32 65 12.32 m to the right,
in 2.976 0.25 2.726 s 4.52 m/s
21.46 14.19 m/s
= =
=
= =
= =
v i
v v v i j
414

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Ch.

b) a = f(t), e.g. synthetic force, piston force

d) a = f(s), e.g. spring force, attraction force

ivative of the magnitude and Derivative of the direction of the vector

7.6 Polar Coordinates (r-)

7.6 Polar Coordinates (r-)

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