CH 12 Kinematics of A Particle

5/26/2013
Engineering Mechanics Dynamics
12.01
Kinematics of a Particle
12. Kinematics of a Particle
HCM City Univ. of Technology, Faculty of Mechanical Engineering
Engineering Mechanics Statics
12.03
Nguyen Tan Tien
1. Introduction
- Mechanics: the study how body react to the forces acting on
them
- Branches of mechanics
Dynamics is concerned with the accelerated motion of bodies

Kinematics: analysis only the geometric aspects of the motion
Kinetics: analysis of the forces causing the motion
12.05
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12.02
Chapter Objectives
To introduce the concepts of position, displacement, velocity,
and acceleration
To study particle motion along a straight line and represent this
motion graphically
To investigate particle motion along a curved path using
different coordinate systems
To present an analysis of dependent motion of two particles.
To examine the principles of relative motion of two particles
using translating axes
12.04
1. Introduction
- Brief history of dynamics
Major contributors include
Galileo Galilei (15641642): pendulums, falling bodies
Sir Isaac Newton (16421727): laws of motion, law of
universal gravitation
Others include: Kepler, Huygens, Euler, Lagrange, Laplace,
DAlembert and many others
Galileo Galilei
Sir Isaac Newton
Leonard Euler
12.06
2. Rectilinear Kinematics: Continuous Motion

- Assumptions
The object is negligible size and shape (particle)
The mass is not considered in the calculations
Rotation of the object is neglected
- Rectilinear kinematics
Kinematics of an object moving in a straight line
The kinematics of a particle is characterized by specifying, at
any given instant, the particles position, velocity, and
acceleration

- Position
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Joseph Louis Lagrange

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Consider a particle in rectilinear motion from a fixed origin

in the direction
For a given instant, is the position coordinate of the particle
The magnitude of is the distance from the origin
Note that the position coordinate would be negative if the
particle traveled in the opposite direction according to our
frame of reference
Position is has a magnitude (distance from origin) and is
based on a specific direction. It is therefore a vector quantity
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12.07

- Displacement
12.09
12.08

- Velocity
Displacement is defined as the change in position

=
Displacement is also a vector quantity characterized by a
magnitude and a direction
Note that distance on the other hand is a scalar quantity
representing the length from an origin
- Distance
Total length of the path over which object travelled (scalar)
Distance displacement!
Distance is path-dependent
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- Speed
Average velocity
=
(/)
: displacement,
: time interval,
Instantaneous velocity
= lim
(/)
12.10
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- Acceleration
Speed: the magnitude of velocity

Average speed
: traveled distance,
( ) = (/)
: elapsed time,
Average acceleration
:velocity, /
(/ 2 )
: time interval,
Instantaneous acceleration
2
= lim
=
=
(/ 2 )
0
2
An important differential relation involving the displacement,
velocity, and acceleration along the path
=
=
12.11
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- Constant acceleration
= =
Velocity as a function of time
=
=
0
= 0 +
0
Position as a function of time

=
=
0
1
0 + = 0 + 0 + 2
2
Velocity as a function of position
2 = 02 + 2 ( 0 )
=
0
12.12
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- Example 12.1 The car moves in a straight line such that for a
short time its velocity is defined by = 3 2 + 2 (/) .
Determine its position and acceleration when = 0
Solution
Coordinate system
Position
=
= 32 + 2 =
32 + 2 = 3 + 2 ()
0
0
Acceleration
=
=
3 2 + 2 = 6 + 2(/ 2 )

At = 3, (3) = 33 + 32 = 36
(3) = 6 3 + 2 = 20/ 2
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12.13

- Example 12.2 A small projectile is fired
vertically downward into a fluid medium with
an initial velocity of 60/ and a deceleration
of = 0.4 3 (/ 2 ). Determine the projectiles
velocity and position 4 after it is fired
Solution
Coordinate system
Velocity
60
=
= 0.4 3
= =
3
2880 + 1
60 0.4
0
Position
60
1
60
1
= =
=
0.4 2880 + 1 60
0
0 2880 + 1
At = 4, 4 = 0.559/ , 4 = 4.43
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12.15

Coordinate system
Position
2 = 2 + 2
2 2
0 752
=
+ =
+ 40 = 327
2
2 9.81
Velocity
2 = 2 + 2
=
2 + 2
= 0 + 2(9.81)(0 327)
= 80.1/
= 80.1/
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12.17

Velocity
=
=
0
4
0.1
= 2 2 0.01(/)
Time
= = 2 2 0.01
= 2
2 0.01
0.1
0
= 0.5 ln 2 0.01 + + 1.152
12.14

- Example 12.3 During a test a rocket travels upward at 75/
and when it is 40 from the ground its engine
fails. Determine the maximum height
reached by the rocket and its speed just before
it hits the ground. While in motion the rocket is
subjected to a constant downward acceleration
of 9.81/ 2 due to gravity. Neglect the effect of
air resistance
Solution
Coordinate system
Position
2 = 2 + 2
2 2
0 752
=
+ =
+ 40 = 327
2
2 9.81
12.16
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- Example 12.4 A metallic particle is subjected to the influence
of a magnetic field as it travels
downward through a fluid that extends
from plate to plate . If the particle is
released from rest at the midpoint , =
100 and the acceleration is =
4 (/ 2 ), determine the velocity of the
particle when it reaches plate , =
200, and the time it takes to travel
from to
Solution
Coordinate system
12.18
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- Example 12.5 A particle moves along a horizontal path with a
velocity of = 3 2 6 (/) . If it is
initially located at the origin ,
determine the distance traveled in 3.5,
and the particles average velocity and
Solution
average speed during the time interval
Coordinate system
Distance traveled
= = 3 2 6
32 6 = 3 32
=
0
Note: 0 < < 2 < 0, > 2 > 0

Distance traveled in 3.5
= 4 + 4 + 6.125 = 14.125
At = 200 = 0.2, = 0.346/

= 0.658
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Distance traveled
= 3 32
Distance traveled in 3.5
= 4 + 4 + 6.125 = 14.125
Velocity
Displacement from = 0 to = 3.5
=
=3.5
=0
12.20
Fundamental Problems
- F12.1 Initially, the car travels along a straight road with a
speed of 35/. If the brakes are applied and the speed of the
car is reduced to 10/ in 15 determine the constant
deceleration of the car
= 6.125 0 = 6.125
The average velocity
6.125
=
=
= 1.75/
3.5 0
The average speed
14.125
( ) =
=
= 4.04/
3.5 0
12.21
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12.22
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- F12.2 A ball is thrown vertically upward with a speed of
15/ . Determine the time of flight when it returns to its
original position
- F12.3 A particle travels along a straight line with a velocity
of = 4 3 2 . Determine the position of the particle when =
4. = 0 when = 0
12.23
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12.24
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- F12.4 A particle travels along a straight line with a speed
= 0.5 3 8. Determine the acceleration of the particle when
= 2
- F12.5 The position of the particle is given by = 22 8 + 6.
Determine the time when the velocity of the particle is zero,
and the total distance traveled by the particle when = 3
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12.26
- F12.6 A particle travels along a straight line with an
acceleration of = 10 0.2(/ 2 ). Determine the velocity of
the particle when if = 5/ at = 0
- F12.7 A particle moves along a straight line such that its
acceleration is = 4 2 2(/ 2 ). When = 0, the particle is
located 2 to the left of the origin, and when = 2, it is 20
to the left of the origin. Determine the position of the particle
when = 4
12.27
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- F12.8 A particle travels along a straight line with a velocity of
= 20 0.05 2 (/) . Determine the acceleration of the
particle at = 15
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12.28
3. Rectilinear Kinematics: Erratic Motion

- The graph
Plots of can be used to find
the curves by finding the
slope of the line tangent to the
motion curve at any point
()
() =
slope of graph = velocity
12.29
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- The graph
Plots of can be used to find
the curves by finding the
slope of the line tangent to the
velocity curve at any point
()
() =
slope of graph = acceleration
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12.30

- The graph
The graph can be constructed
from an graph if the initial
velocity of the particle is given
1
change in velocity = area under graph
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12.31

- The graph
The graph can be constructed
from an graph if the initial
position of the particle is given
1
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12.33

- The graph
The area under the acceleration
versus position curve represents
the change in velocity
1 2
02 =
2 1
1
2
12.35
12.34
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- Example 12.6 A bicycle moves along
a straight road such that its position is
described by the graph. Construct the
and graphs for 0 30
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graph
0 < 10:
= 2 ()
=
= 2(/)
10 30:
= 20 100()
=
= 20(/)
graph
0 < 10:
=
= 2(/)
=
= 2(/ 2 )
10 30:
= 20 ()
=
= 0(/)
12 02 = area under graph
acceleration = velocity slope of graph
displacement = area under graph
12.32

- The graph
Acceleration at one point can be
obtained by reading the velocity
at this point on the curve and
multiplying it by the slope of the
curve (/) at this same point
Solution
graph
0 < 10:
= 2 ()
=
= 2(/)
10 30: = 20 100()
=
= 20(/)
12.36
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- Example 12.7 The car starts from
rest and travels along a straight track
such that it accelerates at 10/ 2 for
10, and then decelerates at 2/ 2 .
Draw the and graphs and
determine the time needed to stop
the car. How far has the car traveled?
Solution
graph
0 < 10: = 10(/ 2 )
10
=
0
= 10
0
= 10:
= 10 10 = 100/
10 < : = 2(/ 2 )
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12.37

graph
0 10: = 10(/ 2 )
= 10:
= 10 10 = 100(/)
10 : = 2(/ 2 )
100
500
2
10
= 2 + 120(/)
= 0
= 60()
12.39
10
0
5 2 ()
=
= 10:
= 5 102 = 500()
10 60: = 2 + 120(/)
= 10
0
0
10
= :
12.38

graph
0 10: = 10(/)
= 60:
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(2 +120)
10
= 2 + 120 600()
= 60 2
+120 60 600
= 3000()
12.40
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- Example 12.8 Given the graph describing the motion of a
motorcycle. Construct the graph of the
motion and determine the time needed for the
motorcycle to reach the position = 400
Solution
graph
0 200: = 0.2 + 10(/)
=
= (0.2 + 10) 0.2
= 0.04 + 1
200 400:
= 50(/)
=
= 50 0 = 0(/)

Time
0 200:
= 0.2 + 10(/)
= =
=
0.2 + 10
0
0 0.2 + 10
= 5 0.2 + 10 510()
= 200 = 8.05()
200 400:
= 50(/)

=
=
50
8.05
200 50
=
+ 4.05
50
= 400 = 12.0()
12.41
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12.42
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- F12.9 The particle travels along a straight track such that its
position is described by the graph. Construct the
graph for the same time interval
- F12.10 A van travels along a straight road with a velocity
described by the graph. Construct the and graphs
during the same period. Take = 0 when = 0
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12.44
- F12.11 A bicycle travels along a straight road where its
velocity is described by the graph. Construct the
graph for the same time interval
- F12.12 The sports car travels along a straight road such that
its position is described by the graph. Construct the and
graphs for the time interval 0 10
12.45
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12.46
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- F12.13 The dragster starts from rest and has an acceleration
described by the graph. Construct the graph for the time
interval 0 , where is the time for the car to come to
rest
- F12.14 The dragster starts from rest and has a velocity
described by the graph. Construct the graph during the
time interval 0 15. Also, determine the total distance
traveled during this time interval
12.47
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12.48
4. General Curvilinear Motion

- Curvilinear motion: particle moves along a curved path
- Position
particle located at a point on a space curve defined by the
path function ()
position measured from a fixed point
determined by position vector
= ()
- Displacement
the change in the particles position
= +
determined by vector subtraction
=

- Velocity
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average velocity
=
(/)
: displacement,
: time interval,
instantaneous velocity
(/)
0: , approaches the tangent to the curve path

the direction of is also tangent to the curve path
= lim
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12.49

- Speed
speed: magnitude of
0:
(/)
speed can be obtained by differentiating the path function

with respect to time
= lim
= lim
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12.51

- Note
Acceleration acts tangential to the hodograph, but generally
not tangential to the path of motion
Velocity is always tangential to the path of motion, whereas
acceleration is always tangential to the hodograph
12.50

- Acceleration
average acceleration

=
=
(/ 2 )
instantaneous acceleration

= lim
=
(/ 2 )
0
2
=
=
=
(/ 2 )
2
- Hodograph: the locus of points for the arrowhead of the
velocity vector in the same manner as the path describes the
locus of points for the arrowhead of the position vector
- The direction of is also tangent to the hodograph
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12.52
5. Curvilinear Motion: Rectangular Components

- The motion of a particle can best be
described along a path that can be
expressed in terms of its , ,
coordinates
- Position
position vector
= + +
magnitude of
= || =
unit vector
=
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12.53

- Velocity
derivative of with respect to time
velocity vector
=
= + +
= , = , =
magnitude of
= || =
unit vector
=
+ +
=
||
2 + 2 + 2
2 + 2 + 2
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12.54

- Acceleration
derivative of with respect to time
acceleration vector
2
=
=
= + +
2
= = , = = , = =
magnitude of
2 + 2 + 2
+ +
=
||
2 + 2 + 2
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= || =
unit vector
=
2 + 2 + 2
+ +
=
||
2 + 2 + 2
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12.55

- Example 12.9 The horizontal position of the weather balloon
is defined by = 8 (). If the equation of
the path is = 2 /10, determine the velocity
and the acceleration when = 2
Solution
Velocity
= =
8 = 8/
2
2
2
= =
=
=
16 8 = 25.6/
10
10
10
=
2 + 2 =
= 1
2 + 2 =
= 1
82 + 25.62 = 26.8/
12.55

Acceleration
= = =
8 = 0/
2
2
= = =
=
+
10
10
2
=
(8 8 + 16 0) = 12.8/ 2
10
02 + 12.82 = 12.8/
12.8
= 1
= 900
25.6
= 1
= 72.60
12.57
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- Example 12.10 For a short time, the path of the plane is
described by = 0.001 2 (). If the plane is rising with a
constant velocity of 10/, determine the magnitudes of the
velocity and acceleration of the plane when it is at = 100
Solution
= 100 = 1000 = 3.162
= 10/ = / = 100/10 = 10
Velocity
0.001 2 = 0.002
= 500 / = 500 10/3.162 = 15.81/

= =
12.58
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= 100 = 1000 = 3.162
= 10/ = / = 100/10 = 10
= = 0.002
Acceleration
0.002 = 0.002 + = 0.002(2 + )
with = 316.2, = 15.81/, = = 0

= 0.791/ 2
The magnitude of the acceleration
= =
2 + 2 =
(0.791)2 +02 = 0.791/ 2
The magnitude of the velocity

=
2 + 2 =
15.812 + 102 = 18.7/
12.59
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6. Motion of a Projectile
- What is a Projectile?
An object projected into the air at an angle, and once projected
continues in motion by its own inertia and is influenced only by
the downward force of gravity
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12.60
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- Example: release the balls and each picture in this sequence
is taken after the same time interval
Red ball:
falls from rest
Yellow ball: released with given
horizontal velocity
Both balls accelerate downward
at the same rate, and so they
remain at the same elevation at
any instant
The horizontal distance between
successive photos of the yellow
ball is constant since the velocity
in the horizontal direction remains
constant
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12.61
- History
Niccolo Tartaglia (1500 1557), realized that
projectiles actually follow a curved path
Yet no one knew what that path was
Galileo (1564 1642) accurately described

projectile motion by showing it could be
analyzed by separately considering the
horizontal and vertical components of motion
Galileo concluded that the path of any
projectile is a parabola
12.63
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(+) = 0 + 0 + 12 2
= 0 + (0 ) 12 2
02
2 = (0 )2 2( 0 )
(+)
+ 2 ( 0 )
12.65
- Consider a projectile launched at (0 , 0 ) with an initial velocity

0 [ 0 , 0 ], constant downward acceleration = = 9.81/2
- Horizontal motion = = 0
(+) = 0 +
(+) = 0 + 0 + 12 2
= (0 )
= 0 + (0 )
(+) 2 = 02 + 2 ( 0 ) = (0 )
The horizontal component of velocity always remains constant
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12.64
The exponent of the time term confirms the parabolic shape of

the trajectory
12.62
Analysis
- Example 12.11 A sack slides off the ramp with a horizontal
velocity of ( ) = 12/. If the height of the ramp is 6 from
the floor, determine the time needed for the sack to strike the
floor and the range where sacks begin to pile up
Solution
Coordinate system
Horizontal motion
2
(+) = + ( ) + 12
- Vertical motion = =
(+) = 0 +
= (0 )
2
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6
= 1.11
9.81
Vertical motion
(+) = + ( )
= = 0 + 12 1.11 = 13.3
12.66
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- Example 12.12 The chipping machine is
designed to eject wood chips
at 0 = 25/. If the tube is
oriented at 300 from the
horizontal, determine how
high, , the chips strike the
pile if at this instant they land
on the pile 20 from the tube
Solution
Coordinate system
(0 ) = 25300 = 21.65/
(0 ) = 25300 = 12.50/
( ) = (0 ) = 21.65/
= 32.2/ 2
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2
=
(0 ) = 21.65/
(0 ) = 12.50/
( ) = 21.65/
= 32.2/ 2
Horizontal motion
(+) = 0 + (0 ) = 0 + (0 )
20
=
=
= 0.9238
(0 ) 21.65
Vertical motion
2
(+) = + (0 ) + 12
4 = 0 + 12.5 0.9238 + 12(32.2)(0.9238)2
= 1.81
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12.67
- Example 12.13 The track for this racing event was designed
so that riders jump off the slope at 300 , from a height of 1.
During a race it was observed that the rider remained in mid
air for 1.5. Determine the speed at which he was traveling off
the ramp, the horizontal distance he travels before striking the
ground, and the maximum height he attains. Neglect the size
of the bike and rider
Solution
Coordinate system
Vertical motion
2
(+) = + ( ) + 12
1 = 0 + 300 1.5 + 12(9.81)(1.5)2
= 13.38/ = 13.4/
12.69
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12.68
Coordinate system
Vertical motion
2
(+) = + ( ) + 12
1 = 0 + 300 1.5 + 12(9.81)(1.5)2
= 13.38/ = 13.4/
Horizontal motion
(+) = + ( ) = 0 + 13.38300 = 17.4/
( )2 = ( )2 +2 ( )
0 = (13.38300 )2 +2 (9.81) [( 1) 0]
= 3.28
12.70
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- F12.15 If the and components of a particle's velocity are
= 32(/) and = 8(/), determine the equation of the
path = (). = 0 and = 0 when = 0
- F12.16 A particle is traveling along the straight path. If its
position along the axis is = 8(), determine its speed
when = 2
12.71
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12.72
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- F12.17 A particle is constrained to travel along the path. If =
4 4 (), determine the magnitude of the particle's velocity and
acceleration when = 0.5
- F12.18 A particle travels along a straight-line path = 0.5. If
the component of the particle's velocity is = 2 2 (/),
determine the magnitude of the particle's velocity and
acceleration when = 4
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12.74
- F12.19 A particle is traveling along the parabolic path =
0.25 2 . If = 2 2 () , determine the magnitude of the
particle's velocity and acceleration when = 2
- F12.20 The position of a box sliding down the spiral can be
described by = 2 sin 2 + 2 cos 2 2 () . Determine
the velocity and acceleration of the box when = 2
12.75
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- F12.21 The ball is kicked from point with the initial velocity
= 10/. Determine the maximum height it reaches
- F12.22 The ball is kicked from point with the initial velocity
= 10/. Determine the range , and the speed when the
ball strikes the ground
12.77
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12.78
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- F12.23 Determine the speed at which the basketball at
must be thrown at the angle of 300 so that it makes it to the
basket at
- F12.24 Water is sprayed at an angle of 900 from the slope at
20/. Determine the range
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12.79
12.80
- F12.25 A ball is thrown from . If it is required to clear the wall
at , determine the minimum magnitude of its initial velocity
- F12.26 A projectile is fired with an initial velocity of =
150/ off the roof of the building. Determine the range
where it strikes the ground at
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12.81
7. Curvilinear Motion: Normal and Tangential Components

- Using for a particle moving along a known curvilinear path
- The position of the particle at the instant is took as the origin
- The coordinate axes: tangential (), and normal () to the path
- Position
Normal-Tangential Coordinate
If = (), =
1+
3
2
12.83
12.82

- Velocity
Direction: always tangential to the path
Magnitude
= =
=
2
2
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- Acceleration
The time rate of change of the velocity
= = / = +
Redraw the velocity unit vectors at the infinitesimal scale
= +
=
= =

= =
The property of an arc = =
12.84
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Acceleration = Tangential Acceleration + Normal Acceleration
2
= + = +
= or =
2
=
Magnitude of acceleration
2 + 2
Normal acceleration Centripetal acceleration
= +
= +

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12.85

- Special cases of motion
12.86

- Three dimensional motion
:
tangent axis
:
principal normal axis
:
binormal axis
(, ): osculating plane (mt tip)
The particle moves along a straight line

:
= 0, = =
The particle moves along a curve with a constant speed
= : = = 0, = = 2 /
12.87
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=
Note: is always on the concave side of the curve
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12.88

- Example 12.14 When the skier reaches point along the
parabolic path, he has a speed of 6/ which is increasing at
2/ 2 . Determine the direction of his velocity and the direction
and magnitude of his acceleration at this instant
Solution
Coordinate system
Velocity
1 2
1
2
=

=
2 = 10
20
10
= 10
= 1 = 1 1 = 450
Therefore
= 6/ 2250

Acceleration
2 3
3
2
2
= 1 +
= 1+
2
10
12.89
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- Example 12.15
A race car travels around the horizontal circular track that

has a radius of 300. If the car increases its speed at a
constant rate of 7/ 2 , starting from rest, determine the time
needed for it to reach an acceleration of 8/ 2 . What is its
speed at this instant?
Solution
Coordinate system
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=10
1
10
= 28.18
2
62
= + = 2 +
28.28
= 2 + 1.273 (/ 2 )
22 + 1.2732 = 2.37/ 2
2
= 1
= 57.50
1.273
Therefore
= 2.37/ 2 192.50
=
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12.90
Acceleration
= 0 + ( ) = 0 + 7(/)
2 (7)2
=
=
= 0.163 2 (/ 2 )
300
=
= 7(/ 2 )
Velocity
= 7 = 7 4.87 = 34.1(/)
2 + 2
82 72
= 4.87()
0.163
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12.91

- Example 12.16 The boxes travel along the industrial
conveyor. If a box starts from rest at and increases its speed
such that = 0.2(/ 2 ), determine the magnitude of its
acceleration when it arrives at point
Solution
Coordinate system
Acceleration
= = 0.2
= 0.1 2
=
12.93
= = 0.2
=
= 0.12
0.2
0
6.142
= 0.12
=
0
= 0.59
0.12
Nguyen Tan Tien
12.92

Acceleration
=
0
0.2 = 0.1 2
=
0
6.142
0.12 = 0.59
=
0
( ) = = 0.2 0.59 = 1.138/2

= 0.1 5.692 = 3.238/
At , = 2
2 3.238
( ) =
=
= 5.242/ 2
2
The magnitude of
= 1.1382 + 5.2422 = 5.36/2
12.94
Nguyen Tan Tien
- F12.27 The boat is traveling along the circular path with a
speed of = 0.0625 2 (/). Determine the magnitude of its
acceleration when = 10
- F12.28 The car is traveling along the road with a speed of =
300/(/). Determine the magnitude of its acceleration when
= 3 if = 0 at = 0
12.95
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12.96
Nguyen Tan Tien
- F12.29 If the car decelerates uniformly along the curved road
from 25/ at to 15/ at , determine the acceleration of
the car at
- F12.30 When = 10, the crate has a speed of 20/ which
is increasing at 6/ 2 . Determine the direction of the crate's
velocity and the magnitude of the crate's acceleration at this
instant
Nguyen Tan Tien
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12.97
12.98
- F12.31 If the motorcycle has a deceleration of =
0.001(/ 2 ) and its speed at position is 25/ ,
determine the magnitude of its acceleration when it passes
point
- F12.32 The car travels up the hill with a speed of =
0.2(/), measured from . Determine the magnitude of its
acceleration when it is at point = 50, where = 500
12.99
Nguyen Tan Tien
12.100
Nguyen Tan Tien
8. Curvilinear Motion: Cylindrical Components

- In some cases the motion of a
particle is constrained on a path
amenable to analysis using
cylindrical coordinates
- If the motion is restricted to a
plane, then we can use polar
coordinates

- Polar Coordinates
A particle is located by
+ a radial coordinate , which extends from an origin
+ an angle measured counterclockwise form a fixed
reference line to the axis of
, : unit vectors in the directions of increasing and
- Position
At any instant, the position vector of the particle
=
12.101
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12.104
Nguyen Tan Tien

- Velocity
The instantaneous velocity
= = +
During the time interval
a change will not cause a chance in the direction of
a change will cause to become : = +
=
=
= = lim
0


= +
= +
=
= +
= : radial component, a measure of the rate of increase
or decrease in the length of the radial coordinate,
Nguyen Tan Tien
= : transverse component, the rate of motion along

the circumference of a circle having a radius
Magnitude of velocity =
2 + 2 =
()2 +()2
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12.103

- Acceleration
= = + /
= + + + +
During the time interval
a change will not cause a chance in the direction of
a change will cause to become : = +
=
=
= = lim
0

12.105
Nguyen Tan Tien
12.104

= + + + +
= 2
=
+( + 2)
=
= +
= 2 : radial component of acceleration
= + 2: transverse component of acceleration
Magnitude of acceleration =
( 2 )2 +( + 2)2
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12.106

- Cylindrical Coordinates
If the particle moves along a space curve, then its location
may be specified by the three cylindrical coordinates ,,
= +
= + +
= ( 2 ) + ( + 2) +

= +
= + +
= ( 2 ) + ( + 2) +
Time derivative
12.107
Nguyen Tan Tien
The above equations require ,,,. Two types of problems

generally occur
+ Given the time parametric equations: = (), = ()
the time derivatives can be found directly
+ Given the path: = ()
using the chain rule of calculus to find the relation
between and and between and
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12.108

- Example 12.17 The amusement park ride consists of a chair
that is rotating in a horizontal circular
path of radius such that the arm
has an angular velocity and angular
acceleration . Determine the radial and
transverse components of velocity and
acceleration of the passenger
Solution
Coordinate system: polar coordinate (, )
= = = 0, = 0
Acceleration
Velocity
= 2 = 2
= = 0
= + 2 =
=

- Example 12.18 The rod rotates in the horizontal plane
such that = 3 (). At the same time,
the collar is sliding outward along
so that = 100 2 (). Determine the
velocity and acceleration of the collar
when = 1
Solution
Time derivative of and at = 1
= 100 2 = 200 = 200
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= 3
1 = 100
= 3 2
1 = 200
1 =1
1 =3
= 6
1 = 200
1 =6
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12.109

Velocity
= + = 200 + 300
2002 + 3002 = 361/
= 1
300
200
= 56.30, + 57.30 = 1140
Acceleration
= ( 2 ) + ( + 2)
= 200 100 32
+(100 6 + 2 200 3)(/)
= 700 + 1800 (/ 2 )
7002 + 18002 = 1930/ 2
= 1
(1800
1800
700
= 68.70
) + 57.30 = 1690
Nguyen Tan Tien
12.111

At = 450 , = 100450 = 141.4
= 400450 450 = 564.7
= 1600 450 2 450 + 3 450 = 6788.2
Velocity
= +
= 565.7 + 565.7
= 565.72 + 565.72 = 800/
Acceleration
= 2 + + 2
= 4525.5 + 4525.5
4525.52 + 4525.52 = 6400/ 2
12.110

- Example 12.19 The searchlight casts a spot of light along the
face of a wall that is located 100 from the searchlight.
Determine the magnitudes of the velocity and acceleration at
which the spot appears to travel across the wall at the instant
= 450. The searchlight rotates at a constant rate of = 4/
Solution
= 100/ = 100
Time derivative of and
=
= 2
= 100 = 100
= 10022 + 10032 + 100
= 450
= 4/
=0
12.112
Nguyen Tan Tien

- Example 12.20 Due to the rotation of the forked rod, the ball
travels around the slotted path, a portion
of which is in the shape of a cardioid,
= 0.5(1 ). If the balls velocity is
4/ and its acceleration is 30/ 2 at
the instant = 1800 , determine the
angular
velocity
and
angular
acceleration of the fork
Solution
Time derivative of and
= 0.5 1 = 0.5
= 0.5 2 + 0.5
At = 1800 : = 1, = 0, = 0.5 2
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12.113

=
12.114
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- F12.33 The car has a speed of 55/. Determine the angular
velocity of the radial line at this instant
()2 +()2
2 2
42 02
=
= 4/
1
( 2 )2 +( + 2)2
2 2
302 0.5 42 1 42
=
1
= 18/ 2
204
Nguyen Tan Tien
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12.115
12.116
- F12.34 The platform is rotating about the vertical axis such
that at any instant its angular position is = 4 3 . A ball rolls
outward along the radial groove so that its position is = 0.1 3 .
Determine the magnitudes of the velocity and acceleration of
the ball when = 1.5
- F12.35 Peg is driven by the fork link along the curved
path described by = 2() . At the instant = /4 , the
angular velocity and angular acceleration of the link are =
3/ and = 1/ 2 . Determine the magnitude of the
pegs acceleration at this instant
12.117
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12.118
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- F12.36 Peg is driven by the forked link along the path
described by = . When = /4, the link has an angular
velocity and angular acceleration of = 2/ and =
4/ 2 . Determine the radial and transverse components of
the pegs acceleration at this instant
- F12.37 The collars are pin-connected at and are free to
move along rod and the curved guide having the shape
of a cardioid, = 0.2 1 + . At = 300 , the angular
velocity of is = 3/. Determine the magnitudes of the
velocity of the collars at this point
12.119
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12.120
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- F12.38 At the instant = 450 , the athlete is running with a
constant speed of 2/. Determine the angular velocity at
which the camera must turn in order to follow the motion
9. Absolute Dependent Motion Analysis of Two Particles

In some cases the motion of one particle depends on the
motion of another
Consider two objects physically interconnected by inextensible
chords of a pulley system. Choose the coordinate system
+ measured from a fixed point ( ) or
fixed datum line
+ measured along each inclined plane in
the direction of motion of each block
+ has a positive sense from ,
The total cord length = + + =

+
= + = 0 =
+
= + = 0 =
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12.121
12.122

Another example
= + + + 2 =
: total length of curved cords

+
= + 2 = 0 = 2
+2
= + 2 = 0 = 2

By choosing the different coordinate
= + + + 2 =
: total length of curved cords

+
= + 2 = 0 = 2
+2
= + 2 = 0 = 2
12.123
Nguyen Tan Tien
12.124
Nguyen Tan Tien

- Example 12.21 Determine the speed of block if block has
an upward speed of 6/
Solution
Position coordinate equation
+ 3 + =
Time derivative
+ 3 = 0
= 3
= 6/
= 6/

- Example 12.22 Determine the speed of block if block has
an upward speed of 6/
Solution
Position coordinate equations
+ 2 + 1 = 1
+ ( ) + 2 = 2
12.125
Nguyen Tan Tien

- Example 12.23 Determine the speed of block if the end of the
cord at is pulled down with a speed of 2/
Solution
Position coordinate equations
+ + 1 = 1
+ + + 2 = 2
Time derivatives
+ = 0
+ 2 2 = 0
= /4
= 2 /4
= 0.5/
Time derivatives
+ 2 = 0
2 = 0
= 4
= 4 6/
= 24/
12.126
Nguyen Tan Tien

- Example 12.24 A man at is hoisting a safe by walking to
the right with a constant velocity = 0.5/ .
Determine the velocity and acceleration of the safe
when it reaches the elevation of 10. The rope is
30 long and passes over a small pulley at
Solution
Position coordinate equation
+ + =
152 + 2 + 15 = 30
225 + 2 15
Time derivatives
1
2
=
=
=
2 225 + 2
225 + 2
=
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12.127
12.128
225 + 2
At = 10 = 20 with = 0.5/
20
=
0.5 = 0.4/
225 + 202
2

= 2
(/) (/)
=
+
225 + 2
(225 + 2 )3
/
+
225 + 2
At = 20, = 0.5/
225 0.5
=
= 0.00360/ 2 = 3.6/ 2
(225 + 202 )3
10. Relative Motion of Two Particles Using Translating Axes

In some cases it is easier to analyze
the motion using two or ` more
frames of reference
Analysis translating frames of
reference to change our point of
view of the object(s) in motion
- Position
Consider particles and , which move along the arbitrary
paths
Fixed reference frame:
, , ,
Second reference frame: , , ,
Relation
= + /
, : absolute position vectors
/ : relative position vector
Nguyen Tan Tien
12.129

- Velocity
= +
/
= + /
, :absolute velocity
/ : relative velocity
- Acceleration
= +
/
= + /
, :absolute acceleration
/ : relative acceleration
12.130
/ =
=
Nguyen Tan Tien
12.131

Scalar analysis
= + / = + /
+ /
+ /
450
60/
45/
?
?
Resolving each vector into its and
components
(+):
60 = 45450 + /
+0
0 = 45450 + 0 + /
(+ ):
= 28.2/ = 28.2/
= 31.8/ = 31.8/
/ =
28.2
+ 31.8
= 42.5 (/)
Nguyen Tan Tien

- Example 12.25 A train travels at a constant speed of 60/
crosses over a road. If the automobile
is traveling at 45/ along the road,
determine the magnitude and direction of the
velocity of the train relative to the automobile
Solution
Vector analysis
= + /
60 = 45450 + 45450 + /
/ = 28.2 31.8(/)
The direction of /
Nguyen Tan Tien
28.2
12.132
+ 31.8
= 42.5 (/)
31.8
=
= 48.50
28.2
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- Example 12.26 Plane is flying along a straight-line path,
here as plane is flying along a circular
path having a radius of curvature of
= 400 . Determine the velocity
and acceleration of as measured by
the pilot of
Solution
Velocity
+ /
600/
700/
?
(+): = + /
/ = = 600 700 = 100/ = 100/
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12.133

Acceleration
2 6002
=
=
= 900/2
400
Relative acceleration equation
+ = + /
?
900
100
50
?
900 100 = 50 + /
/ = 900 150
The magnitude and direction of /
9002 + (150)2 = 912/2
150
= 1
= 9.460
900
/ =
12.135
Nguyen Tan Tien

- Acceleration
2 122
=
=
= 1.440/ 2
100
Relative acceleration equation
+ /
600
?
3/ 2
2/ 2
?
0
1.44 3 = 260 4.732 + /
/ = 2.440 4.732(/ 2 )
12.134

- Example 12.27 At the instant, cars
and are traveling with speeds of
18/and 12/ respectively. Also at
this instant, has a decrease in speed
of 2/ 2 and has an increase in
speed of 3/ 2 . Determine the velocity
and acceleration of with respect to
Solution
Relative velocity equation
+ /
2400
?
12/
18/
?
12 = (18600 18600) + / / = 9 + 3.588
/ = 92 + 3.5882 = 9.69/, = 1 (3.588/9) = 21.60
12.136
Nguyen Tan Tien
- F12.39 Determine the speed of block if end of the rope is
pulled down with a speed of = 3/
The magnitude and direction of /

2.4402 + 4.7322 = 5.32/ 2
4.732
= 1
= 62.70
2.440
/ =
12.137
Nguyen Tan Tien
12.138
Nguyen Tan Tien
pulled down with a speed of 6/
pulled down with a speed of 1.5/
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12.139
12.140
pulled down with a speed of = 3/
- F12.43 Determine the speed of car if point on the cable
has a speed of 4/ when the motor winds the cable in
12.141
Nguyen Tan Tien
12.142
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- F12.44 Determine the speed of cylinder if cylinder moves
downward with a speed of = 4/
- F12.45 Car is traveling with a constant speed of 80/
due north, while car is traveling with a constant speed of
100/ due east. Determine the velocity of car relative to
car
12.143
Nguyen Tan Tien
12.144
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- F12.46 Two planes and are traveling with the constant
velocities shown. Determine the magnitude and direction of the
velocity of plane relative to plane
- F12.47 The boats and travel with constant speeds of =
15/ and = 10/ when they leave the pier at at the
same time. Determine the distance between them when = 4
Nguyen Tan Tien
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12.145
- F12.48 At the instant shown, cars and are traveling at the
speeds shown. If is accelerating at 1200/2 while
maintains a constant speed, determine the velocity and
acceleration of with respect to
Nguyen Tan Tien
25

CH 12 Kinematics of A Particle

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CH 12 Kinematics of A Particle

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5/26/2013

Engineering Mechanics Dynamics

12. Kinematics of a Particle

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Engineering Mechanics Statics

Nguyen Tan Tien

Dynamics is concerned with the accelerated motion of bodies

Engineering Mechanics Statics

Nguyen Tan Tien

Engineering Mechanics Statics

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Engineering Mechanics Statics

Sir Isaac Newton

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Engineering Mechanics Statics

2. Rectilinear Kinematics: Continuous Motion

2. Rectilinear Kinematics: Continuous Motion

HCM City Univ. of Technology, Faculty of Mechanical Engineering

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Nguyen Tan Tien

Joseph Louis Lagrange

Consider a particle in rectilinear motion from a fixed origin

Nguyen Tan Tien

Engineering Mechanics Statics

2. Rectilinear Kinematics: Continuous Motion

Engineering Mechanics Statics

2. Rectilinear Kinematics: Continuous Motion

Displacement is defined as the change in position

Engineering Mechanics Statics

Nguyen Tan Tien

2. Rectilinear Kinematics: Continuous Motion

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Engineering Mechanics Statics

Nguyen Tan Tien

2. Rectilinear Kinematics: Continuous Motion

Speed: the magnitude of velocity

Engineering Mechanics Statics

Nguyen Tan Tien

2. Rectilinear Kinematics: Continuous Motion

Position as a function of time

Velocity as a function of position

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Engineering Mechanics Statics

Nguyen Tan Tien

2. Rectilinear Kinematics: Continuous Motion

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

2. Rectilinear Kinematics: Continuous Motion

Engineering Mechanics Statics

Nguyen Tan Tien

2. Rectilinear Kinematics: Continuous Motion

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Engineering Mechanics Statics

Nguyen Tan Tien

2. Rectilinear Kinematics: Continuous Motion

2. Rectilinear Kinematics: Continuous Motion

Engineering Mechanics Statics

Nguyen Tan Tien

2. Rectilinear Kinematics: Continuous Motion