Kinematics of Particles

Motions and coordinate systems to use for them:

1. 1D - Rectilinear Motion (one coordinate) Instantaneous expressions (scalar):

v(dot)-s-v equation: a = v(dot)

2. 2D - Plane Curvilinear Motion (two coordinates)

Instantaneous expressions (vector):

A. Cartesian (rectangular) coordinates

Vector motion equations:

B. Normal / Tangential Coordinates

Vector motion equations:

Circular (scalar): is constant thus = r

is in radians. (Wabrek doesn't define this in class)

C. Cylindrical coordinates: Vector motion equations:

3. 3D - Space curvilinear motion (three coordinates) A. Rectangular equations:

B. Cylindrical equations:

The book uses R, Wabrek uses r(bar) R = r(bar), not r

4. Relative Motion Vector motion equations:

"A/B" means "A with respect to B" or "A relative to B"

5. Constrained motion

Create a rope length equation in terms of position Xs or "position X of point s": L = Xa + Xb + constants (constant example: diameter of pulley)

6. Quick review Most important concept is the time derivative of a vector Categories of Motion: Rectilinear Motion (one coordinate) Plane Curvilinear Motion (two coordinates) Space Curvilinear Motion (three coordinates) Choice of Coordinate System: Cartesian (Rectangular) coordinates (x-y-z) Normal / Tangential coordinates (n-t) Cylindrical coordinates 2D (r-) or 3D (r--z) Be able to use approximations to determine the best possible description Choice of Mathematical Method: Scalar algebra Vector algebra Trigonometric geometry Graphical geometry Geometric portrayal is the most direct representation of the vast majority of mechanics problems

3:31 PM

Composite coordinate system for doing transformations: