Ch04 Kinematics

M th
KINEMATICS
CHAPTER
INTRODUCTION
The branch of mechanics which deals with the motion of object is called dynamics. It is
divided into two branches:
(i)
Kinematics
(ii)
Kinetics
Kinematics:
The branch of dynamics which deals with geometry of motion of a body without any
reference of the force acting on the body is called kinematics.
Kinetics:
The branch of dynamics which deals with geometry of motion of a body with reference to the
force causing motion is called kinetics.
Points to be Remember
(i)
The position of a particle can be specified by a vector r whose initial point is at the
origin of some fixed coordinate system and the terminal point is at the particle. This
vector is called position vector. If the particle is moving, the vector r changes with
time. i.e. it is a function of time.

(ii)
The curve traced by a moving particle is called the trajectory or the path of the
particle.
(iii)
The path of the particle can be specified by the vector equation

r r (t)
________ (i)
The path of the particle can also be specified by three scalar equations
x = x(t),
y = y(t),
z = z(t) __________ (ii)
These equations are obtained by equating the components of vectors on two sides of
the equation (i). Equation gives the coordinates of the points of the path for different
value s of t. We call these as parametric equations of the path.
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Cartesian Components of Velocity & Acceleration

y
dr

= V
dt
B
Q
r + r
r
r
Let AB be a part of the trajectory of the particle as shown in figure. Let the particle at time t
be at the point P whose position vector is r. After a small time t, let the particle reach the
= r is the displacement of the particle from
point Q whose position vector is r + r. The PQ
the point P in the small time interval t. The quotient
r
t
gives the average rate of change of displacement of the particle in the interval t. If we start
decreasing the time interval t, the displacement r will go on deceasing and the point Q gets
nearer and nearer to P. Thus
r
lim

t
can be considered as the instantaneous rate of change of displacement. This is defined as the
instantaneous velocity or the simply velocity v of the particle at point P.
Thus,
r dr
v lim

t
dt
Proceeding in similar way we can see that the acceleration a (the instantaneous rate of change
of velocity) at time t is given by
v dv d dr d2 r
a= lim
= = = 2
t 0 t
dt dt dt
dt
r = xi + yi
In Cartesian coordinates, we can write

Then
v =
d
dx
dy
j
xi + yi= i +
dt
dt
dt
3
d2
d2 x
d2 y

a = 2 xi + yi= 2 i + 2 j
dt
dt
dt
Thus
dx
dt
dy
vy = y- component of velocity =
dt
vx = x- component of velocity =
d2 x
ax x- component of acceleration 2
dt
d2 y
ay y- component of acceleration 2
dt
Question 1
r = t3 + t2 i + cost + sin2 tj + et + logtk
A particle is moving in such a way that it position at any time t is specified by
Find the velocity and acceleration.
Solution
If v and a are velocity and acceleration of particle respectively. Then

dr d
t3 + t2 i + cost + sin2 tj + et + logtk
dt dt
1
= 3t2 + 2ti + sint + 2sintcostj + et + k
t
1
= 3t2 + 2ti + sin2t sintj + et + k
t
v
and
a
dv
d
1
3t2 + 2ti + sin2t sintj + et + k
dt
dt
t
1
6t + 2i + 2cos2t costj + et 2 k
t
Question 2
A particle P start from O at t = 0. Find tits velocity and acceleration of particle at any time t
if its position at that time is given by
Solution
r = at2 i + 4atj
If v and a are velocity and acceleration of particle respectively. Then
and
v
a
dr d
at2 i + 4atj = 2ati + 4aj
dt dt
dv
d
2ati + 4aj 2ai
dt
dt
Question 3
At any time t, the position of a particle moving in a plane can be specified by
(acoswt, asinwt) where a and w are constants. Find the component of its velocity and
acceleration along the coordinates axis.
Solution
Let
r = acoswt i + asinwt j
Differentiate w.r.t t, we get
v = awsinwt i + awcoswt j
Differentiate again w.r.t t, we get
a = aw2 coswt i aw2 sinwt j
Thus the component of velocity and acceleration are

vx = awsinwt
ax = aw2 coswt ,
Question 4
vy = awcoswt
ay = aw2 sinwt
The position of particle moving along an ellipse is given by r = acost i + bsint j If a > b,
find the position of the particle where velocity has maximum and minimum magnitude.
Solution
As
r = acost i + bsint j
v = asint i + bcost j
v = asint2 + bcost2
= a2 sin2 t + b2 cos2 t
= a2 sin2 t + b2 1 sin2 t

= a2 sin2 t + b2 b2 sin t
2
= sin2 ta2 b2 + b2
v is maximum when sin2 t is maximum. i.e. sin2 t = 1 sint = 1 t = 90, 270

r = acos90 i + bsin90 j = bj
For t = 90
r = acos270 i + bsin270 j = bj
For t = 270
So the position of the particle when velocity has maximum magnitude is bj.
v is minimum when sin2 t is minimum. i.e. sin2 t = 0 sint = 0 t = 0, 180

r = acos0 i + bsin0 j = ai
For t = 0
r = acos180 i + bsin180 j = ai
For t = 180
So the position of the particle when velocity has minimum magnitude is ai.
Radial & Transverse Components of Velocity & Acceleration

y
P
r
900 +
x
In polar coordinates, the position of a particle is specified by a radius vector r and the polar
angle which are related to x and y through the relations
x = rcos
y = rsin
provided the two coordinates frames have the same origin and the xaxis and the initial line
coincide. The direction of radius vector is known as radial direction and that perpendicular
to it in the direction of increasing is called transverse direction.
6
Let r and s be units vectors in the radial and transverse direction respectively as shown in
figure. Then
r = cosi + sinj
______________ (i)
s = cos(900 + )i + sin(900 + )j = sini + cosj
______________ (ii)
Differentiating (i) w.r.t t
dr d
cosi + sinj
dt dt
d
d
!sin i + cosj "
dt
dt
d
sin i + cosj
dt
d
s
By (ii)
dt
______________ (iii)
Differentiating (ii) w.r.t t
ds
d
sini + cosj
dt dt
!cos i
d
d
sinj "
dt
dt
d
sin i + cosj
dt
d
r
By (i)
dt

We know that
r =
r = r r
dr
dt
d
dr
dr
dr
d
rr . r + r . r + r s
dt
dt
dt
dt
dt
Now v =
Thus,
r
r
______________ (iv)
dr
= r$
dt
d
v = Transverse component of velocity = r
= r
$
dt
vr = Radial component of velocity =
Where dot denotes the differentiation with respect to time t.
Let a be the acceleration Then
dv
dt
d dr
d
. r + r s
dt dt
dt
d dr
d d
. r + r s
dt dt
dt dt
d dr
dr dr dr d
d d
ds d
= r +
+ s + rs + r
dt dt
dt dt dt dt
dt dt
dt dt
a =
d2 r
dr dr dr d
d2
ds d
r
+
+

s
+
rs + r
2
2
dt dt dt dt
dt dt
dt
dt
d2 r
dr d
dr d
d2
d
d
= 2 r + s + s + 2 r s + r r
dt dt
dt dt
dt
dt
dt
dt
=
d2 r
d 2
dr d
d2
r

r

r
+
2

s
+
r s
dt
dt dt
dt2
dt2
By iii& (iv)
d2 r
d 2
dr d
d2
= & 2 r ' r + &2 + 2 r' s
dt
dt dt
dt
dt
Thus,
d2 r
d 2
2
ar = Radial component of acceleration = 2 r = r( r$
dt
dt
dr d
d2
a = Transverse component of acceleration = 2 + r 2 = 2r$ $ + r(
dt dt
dt
Question 5
A particle P moves in a plane in such away that at any time t, its distance from point O is
r = at + bt2 and the line connecting O and P makes an angle = ct3/2 with a fixed line OA.
Find the radial and transverse components of velocity and acceleration of particle at t = 1
Solution
Given that
r = at + bt2 and = ct3/2
dr
d 3 1)
= a + 2bt and
= ct 2
dt
dt 2
Differentiate again w.r.t t, we get
d2 r
d2 3 *1)
= 2b and
= ct 2
dt2
dt2 4
8
At t = 1
r = a + b and = c
dr
d 3
= a + 2b ,
= c ,
dt
dt 2
d2 r
d2 3
= 2b and
= c
dt2
dt2 4
dr
Radial component of velocity = vr = = a + 2b
dt
d 3
Transverse component of velocity = v = r = ca + b
dt 2
2
d r
d 2
Radial component of acceleration = ar = 2 r
dt
dt
3 2
a
= 2b + b c
2
9 2
= 2b c a + b
4
1
= 8b 9c2 a + b
4
dr d
d2
Transverse component of acceleration = a = 2 + r 2
dt dt
dt
3
3
= 2a + 2b c + a + b c
2
4
3
= c5a + 9b
4
Question 6
Find the radial and transverse components of velocity of a particle moving along the curve
ax2 + by2 = 1
at any time t if the polar angle is = ct2
Solution
Given that
= ct2
d
= 2ct
dt
Also given that
ax2 + by2 = 1
First we change this into polar form by putting x = rcos and y = rsin
9
ar2cos2 + br2sin2 = 1
r2(acos2 + bsin2) = 1
racos2 + bsin2 = 1
r = acos2 + bsin2* .
-
3
1
d
d
dr
= acos2 + bsin2* 2 a2cossin
+ b2sincos
2
dt
dt
dt
3
1
d
= acos2 + bsin2* 2 a bsin2
2
dt
3
1
= acos2 + bsin2* 2 a bsin2.2ct
2
cta bsin2
=
3
acos2 + bsin2 2
Radial component of velocity =
dr
=
dt
Transverse component of velocity = r
Question 7
cta bsin2
acos2 + bsin2 2
d
=
dt
2ct
acos2 + bsin2 2
1
Find the radial and transverse components of acceleration of a particle moving along the
circle x2 + y2 = a2 with constant velocity c.
Solution
Given that
d
=c
dt
d2
=0
dt2
Also given that
x2 + y2 = a2
First we change this into polar form by putting x = rcos and y = rsin
r2cos2 + r2sin2 = a2
r2(cos2 + sin2) = a2
r2 = a2
10
r=a
dr
d2 r
=0
=0
dt
dt2
d2 r
d 2
Radial component of acceleration = ar = 2 r
dt
dt
2
= 0 ac
= ac2
dr d
d2
Transverse component of acceleration = a = 2 + r 2
dt dt
dt
=0
Tangential & Normal Components of Velocity & Acceleration

y
Tangent
r + r
r
r
A
x
O
Let AB be a part of the trajectory of the particle as shown in figure. Let the particle at time t
be at the point P whose position vector is r. After a small time t, let the particle reach the
PQ = r and arcPQ = s
point Q whose position vector is r + r. Then
Now v =
Here
dr dr ds
dr
= . = v.
dt ds dt
ds
_____________(i)
dr
is a unit tangent at point P.
ds
Let t be a unit vector along the tangent at P and n/ unit vector along normal at the point P.
Then
dr
t
ds
Using this in (i), we get
Thus,
11
v = v t + 0.n/
vt = Tangential component of velocity = v

vn = Normal component of velocity = 0
Hence the velocity is along the tangent to the path.
y
Normal
n/
Tangent
t
900
900 +
O
Let a be the acceleration. Then
dv
a =
dt
d
= v t
dt
dv
dt
=
t + v
dt
dt
dv
dt d ds
=
t + v
dt
d ds dt
dv
dt
ds
=
t + v
(Kv)
0
v
dt
d
dt
d
1
Where
= K is called curvature and K =
ds
dv
dt v
So
a =
t + v
.
dt
d
dv
v2 dt
=
t +
dt
d
Since t and n/ are unit vectors along tangent and normal at P Therefore
t = cosi + sinj
n/ = cos(900 + )i + sin(900 + )j = sini + cosj
dt
d
Now

cosi + sinj
d d
sin i + cos j
So
Thus,
12
n/
dv
v2
a =
t + n/
dt
Tangential component of acceleration = at =

Normal component of acceleration = an =
Where
dv
dt
v2
3)
2
dy 2
&1 + dx '
d2 y
4 24
dx
Question 8
A particle is moving along the parabola x2 = 4ay with constant speed. Determine tangential
and normal components of its acceleration when it reaches the point whose abscissa is 5a.
Solution
Given that
x2 = 4ay
Differentiate w.r.t x, we get
dy
dy
x
=
dx
dx 2a
Differentiate again w.r.t x, we get
d2 y
1

2
dx
2a
2x = 4a
Given that x = 5a therefore

dy 5a 5
=
=
dx
2a
2
We know that
3)
2
dy
&1 + dx '
2
5
51 + 2 6
2
3)
2
5
= 2a 71 + 8
4
1
d2 y
4 24
2a
dx
Since the particle is moving with constant speed therefore
3)
2
9
= 2a 7 8
4
3)
2
3 3 27a
= 2a 7 8
2
4
dv
=0
dt
13
Tangential component of acceleration = at =
Normal component of acceleration = an =
dv
0
dt
v2
v2
4v2
=

27a 27a
4
Question 9
Find the tangential and normal component of acceleration of a point describing ellipse
x2 y2
9 =1
a2 b 2
With uniform speed v when the particle is at (0, b).
Solution
Given that
x2 y2
9 =1
a2 b2
x2 b2 + y2 a2 = a2 b2

2b2 x + 2a2 y
dy
b2 x
= 2
dx
ay
dy
=0
dx

dy
b2 y x dx
d2 y
2:
<
dx2
a
y;
b2 ?
2>
a

y x
b2 x

a2 y B
A
y;
b2 1 x 2 b2
+

a2 y a2 y3
At (0, b)
and
dy
b2 0
= 2 =0
dx
ab
2
d y
b2 1 0.b2
b
2 +
2
3
2
dx
a b a2 b
a
14
We know that
3)
2
dy 2
&1 + dx '
d2 y
4 24
dx
D1 + 02 E
=
b
F 2 F
a
3)
2
a2
b
Since the particle is moving with uniform speed therefore

dv
=0
dt
dv
Thus, Tangential component of acceleration = at =
0
dt
v2
v2
bv2
Normal component of acceleration = an = = a2 a2 \
b
Question 10
A particle is moving with uniform speed along the curve
x2 y = a x2 +
a2
10v2
Show that acceleration has maximum value
9a
Solution
Given that
x2 y = a x2 +
a2
x*2
5
dy
2a3 *3

x
dx
5
d2 y 6a3 *4

x
dx2 5
We know that
y=a+
a3
15
3)
2
dy 2
&1 + '
dx
d2 y
4 24
dx
3)
2
2a3 *3
&1 +
x '
5
=
6a3 *4
x
5
2
We know that
4a6
71 + 6 8
5x
=
6a3
5x4
3)
2
3)
2
5x4 5x6 + 4a6

=
&
'
6a3
5x6
D5x6 + 4a6 E
=
30a3 x5
3)
2
____(i)
dv
v2
a =
t 9
n/
dt
Since the particle is moving with constant speed therefore
dv
=0
dt
v2
a = n/
v2
v2
|a| = |n/ |
0 |n/ | = 1
|a| will maximum when is minimum.
Differentiate (i) w.r.t x, we get
3 5 3
6
6 1)
5
6
6 3)
3 4
d 30a x H2 5x + 4a 2 30x I D5x + 4a E 2 150a x

30a3 x5 ;
dx
5x6 + 4a6 )2
D30a3 x5 D45x5 E D5x6 + 4a6 E150a3 x4 E

30; a6 x10
1
5x6 + 4a6 )2
D45x6 55x6 + 4a6 E

30a3 x6
1
5x6 + 4a6 )2
D45x6 25x6 20a6 E

3
6
30a x
1
6
5x + 4a6 )2
D20x6 20a6 E

30a3 x6
1
205x6 + 4a6 )2 6
Dx a6 E

30a3 x6
1
205x6 + 4a6 )2 2
x a2 x4 + x2 a2 + a4

3
6
30a x
d
Putting
= 0, we get
dx
1
x=a
Since
16
d
d
< 0 before x = a and
>0
dx
dx
Therefore is minimum when x = a
Thus
D5a6 + 4a6 E
min =
30a3 a5
3)
2
after x = a
D9a6 E )2 27a 9
=
=
= a
30a8
30 10
Maximum value of acceleration =
v2
v2
10v2
=
=
min 9 a
9a
10
%%%%% End of The Chapter # 4 %%%%%

Ch04 Kinematics

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Ch04 Kinematics

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M th

time. i.e. it is a function of time.

The path of the particle can be specified by the vector equation

z = z(t) __________ (ii)

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Cartesian Components of Velocity & Acceleration

In Cartesian coordinates, we can write

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A particle is moving in such a way that it position at any time t is specified by

Find the velocity and acceleration.

If v and a are velocity and acceleration of particle respectively. Then

If v and a are velocity and acceleration of particle respectively. Then

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Differentiate w.r.t t, we get

v =  awsinwt i + awcoswt j

Differentiate again w.r.t t, we get

a =  aw2 coswt i  aw2 sinwt j

Thus the component of velocity and acceleration are

v =  asint i + bcost j

Differentiate w.r.t t, we get

= a2 sin2 t + b2 1  sin2 t

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v is maximum when sin2 t is maximum. i.e. sin2 t = 1 sint = 1 t = 90, 270

r = acos270 i + bsin270 j =  bj

v is minimum when sin2 t is minimum. i.e. sin2 t = 0 sint = 0 t = 0, 180

r = acos180 i + bsin180 j =  ai

Radial & Transverse Components of Velocity & Acceleration

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s = cos(900 + )i + sin(900 + )j =  sini + cosj

Differentiating (i) w.r.t t

Differentiating (ii) w.r.t t

Where dot denotes the differentiation with respect to time t.

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Let a be the acceleration Then

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Differentiate w.r.t t, we get

Radial component of velocity =

Transverse component of velocity = r

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Tangential & Normal Components of Velocity & Acceleration

Using this in (i), we get

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vt = Tangential component of velocity = v

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Tangential component of acceleration = at =

Given that x = 5a therefore

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With uniform speed v when the particle is at (0, b).

Differentiate w.r.t x, we get

Differentiate again w.r.t x, we get

v = awsinwt i + awcoswt j

a = aw2 coswt i aw2 sinwt j

v = asint i + bcost j

= a2 sin2 t + b2 1 sin2 t

v is maximum when sin2 t is maximum. i.e. sin2 t = 1 sint = 1 t = 90, 270

r = acos270 i + bsin270 j = bj

r = acos180 i + bsin180 j = ai

s = cos(900 + )i + sin(900 + )j = sini + cosj