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You are on page 1of 49

Application:

formation can be tracked with radar and their

x, y, and z coordinates (relative to a point on

earth) recorded as a function of time.

Problems:

How can we determine the velocity or acceleration of each plane at any instant?

Should they be the same for each aircraft?

Curvilinear motion occurs when the particle

Fig.12-6

Department of Mechanical and Automation Engineering

9 Position

The position of the particle, measured from a fixed point O, is designated

by the position vector r = r(t).

Fig.12-7

9 Displacement

Suppose during a small time interval t, the particle moves a distance

s along the curve to a new position P, defined by r = r + r. The

displacement r represents the change in the particles position.

Department of Mechanical and Automation Engineering

The average velocity of the particle during

the time increment t is

vavg = r/t

The instantaneous velocity is the timederivative of position

v = dr/dt

The velocity vector, v, is always tangent to

the path of motion.

Fig.12-7(c)

The magnitude of v is called the speed. Since the arc length s approaches

the magnitude of r as t0, the speed can be obtained by differentiating

ds

the path function

v=

dt

(12-6)

DepartmentNote

of Mechanical

andisAutomation

Engineering

that this

not a vector!

If a particles velocity changes from v to v over

a time increment t, the average acceleration

during that increment is:

aavg = v/t = (v - v)/t

a = dv/dt = d2r/dt2

(12-7)

vector is called a hodograph. The acceleration vector is tangent to the

hodograph, but not, in general, tangent to the path function.

9 Position:

The position of the particle can be defined at any instant by the position

vector

(12-8)

r = xi + yj + zk

The magnitude of r is always positive and defined as

r = x2 + y2 + z 2

Here, the x, y, z components may all be functions

of time, i.e.,

x = x(t), y = y(t), and z = z(t).

The direction of r is specified by the components

of the unit vector ur = r/r

Fig.12-8(a)

dr

v=

= vx i + v y j + vz k

dt

where

v x = x& v y = y& v z = z&

(12-9)

(12-10)

positive value of

v = v x2 + v y2 + v z2

and a direction that is specified by the

components of the unit vector uv=v/v

and is always tangent to the path.

Fig.12-8(b)

derivative of the position vector)

dv

= axi + a y j + azk

(12-11)

dt

a x = v&x = &x&

(12-12)

a y = v& y = &y&

a=

where

a z = v&z = &z&

The acceleration has a magnitude defined

as the positive value of

Fig.12-8(c)

a = a x2 + a y2 + a z2

vector ua = a/a.

Since a represents the time rate of change in velocity, a will not be

tangent to the path (Fig.12-8(c)).

Department of Mechanical and Automation Engineering

position vectors

rB = [3(t2 2t+2)i + 3(t 2)j] m

Solution:

Find: The point at which the particles collide and their speeds

just before the collision.

1).The particles will collide when their position vectors are equal, or rA = rB

x-components: 3t = 3(t2 2t + 2)

Simplifying: t2 3t + 2 = 0

Solving: t ={3 [32 4(1)(2)]0.5}/2(1) t = 2 or 1 s

y-components: 9t(2-t) =3(t2)

Simplifying: 3t25t2 = 0

Solving:

t ={5[52 4(3)(2)]0.5}/2(3) t = 2 or 1/3 s

Department of Mechanical and Automation Engineering

or rB yields

xA = xB = 6 m

and yA = yB = 0

That is, differentiating rA and rB to get the velocity vectors, and then obtain

the speeds which are the magnitudes of the corresponding velocity vectors.

.

.

vA = drA/dt = .xA i + yA j = [3i +(18 18t)j] m/s

At t = 2s: vA = [3i 18j] m/s

vB = drB/dt = x Bi + yBj = [(6t 6)i + 3j] m/s

At t = 2s: vB = [6i + 3j] m/s

Speed is the magnitude of the velocity vector,

vA = (32 + 182)0.5 = 18.2 m/s; vB = (62 + 32)0.5 = 6.71 m/s

Department of Mechanical and Automation Engineering

Exercise:

1. The path of a particle is defined by y = 0.5x2. If the component of its

velocity along the x-axis at x = 2 m is vx = 1 m/s, its velocity component

along the y-axis at this position is

A) 0.25 m/s B) 0.5 m/s

C) 1 m/s D) 2 m/s

what is the average velocity of the particle ?

y

A) 2.5 i m/s

R=5m

x

B) 2.5 i +1.25j m/s

C) 1.25 i m/s

A

B

D) 1.25 j m/s

3. The position of a particle is given as r = (4t2 i 8t j) m. Determine

the particles acceleration.

A) (4 i +8 j ) m/s2

C) (8 i) m/s2

B) (8 i -16 j ) m/s2

D) (8 j ) m/s2

10

Application:

interchange experience a normal acceleration due to the change in direction

of the velocity.

Problem: If the cars speed is increasing

at a known rate as it travels along a curve,

how can we determine the magnitude and

direction of its total acceleration?

Fig.12-9

Objective:

Be able to determine the normal and tangential components of

velocity and acceleration of a particle traveling along a curved path.

11

When a particle moves along a curved path, it is sometimes convenient

to describe its motion using coordinates other than Cartesian. When the

path of motion is known, normal (n) and tangential (t) coordinates are

often used.

In the n-t coordinate system, the

origin is located on the particle

(the origin moves with the

particle).

9The t-axis is tangent to the path (curve)

at the instant considered, positive in the

direction of the particles motion.

9The n-axis is perpendicular to the t-axis

with the positive direction toward the center of curvature O.

Department of Mechanical and Automation Engineering

12

by the unit vectors un and ut, respectively.

The center of curvature, O, always lies

on the concave side of the curve.

The position of the particle at any instant is

defined by the distance, s, along the curve

from a fixed reference point.

The radius of curvature, , is defined as

the perpendicular distance from the curve

to the center of curvature at that point.

13

The velocity vector is always tangent to

the path of motion (t-direction).

The magnitude is determined by taking the

time derivative of the path function, s(t).

where

v = vut

.

v = s = ds/dt

(12-13)

(12-14)

the direction of the velocity vector.

14

Acceleration is the time rate of change of velocity:

.

.

a = dv/dt = d(vut)/dt = vut + vut

.

.

magnitude of velocity and ut

represents the rate of change in the

direction of ut.

(12-15)

acceleration vector can be expressed

as:

.

a = vut + (v2/)un = atut + anun

(12-16)

Fig.12-10(e)

15

vector:

a = at ut + an un

The tangential component is tangent to the

curve and in the direction of increasing or

decreasing velocity.

.

at = v

or

at ds =v dv

(12-17)

the center of curvature of the curve

an = v2/

(12-18)

a =

a t2 + a n2

(12-19)

16

To summarize these concepts, consider the following special cases of motion

.

a = at = v

magnitude of the velocity.

2) The particle moves along a curve at constant speed, then

.

at = v = 0 => a = an = v2/

The normal component represents

the time rate of change in the

direction of the velocity.

17

Three-Dimensional Motion

If a particle moves along a space curve,

the n and t axes are defined as before. At

any point, the t-axis is tangent to the path

and the n-axis points toward the center of

curvature. The plane containing the n and

t axes is called the osculating plane.

A third axis can be defined, called the

Fig.12-11

binomial axis, b. The binomial unit vector,

ub, is directed perpendicular to the osculating plane, and its sense is

defined by the cross product

ub = ut un

There is no motion, thus no velocity or acceleration, in the binomial

direction.

Department of Mechanical and Automation Engineering

18

circular path of r = 50 m at a speed that increases with time,

Find: The magnitudes of the boats velocity and acceleration at

the instant t = 3s.

Solution:

1) Calculate the velocity at t=3s using v(t).

The velocity vector is v = v ut , where the

magnitude is given by v = (0.2t2) m/s.

At t=3s:

v = 0.2t2 = 0.2(3)2 = 1.8 m/s

Fig.12-12

19

then the magnitude of the acceleration vector.

.

Tangential component: at = v = d(0.2t2)/dt = 0.4t m/s2

At t=3s: at = 0.4t = 0.4(3) = 1.2 m/s2

Normal component: an = v2/ = (0.2t2)2/() m/s2

The magnitude of the acceleration is

20

Exercise:

1. The normal component of acceleration represents

A)

B)

C)

D)

the time rate of change in the direction of the velocity.

magnitude of the velocity.

direction of the total acceleration.

instantaneous velocity of 30 m/s and its velocity is increasing at a

constant rate of 4 m/s2. What is the magnitude of its total

acceleration at this instant?

A) 3 m/s2 B) 4 m/s2 C) 5 m/s2 D) -5 m/s2

3. If a particle moving in a circular path of radius 5 m has a velocity

function v = 4t2 m/s, what is the magnitude of its total acceleration

at t = 1 s?

A) 8 m/s B) 8.6 m/s C) 3.2 m/s

D) 11.2 m/s

21

Application:

constant speed of 2 m/s.

Problem: How fast is his elevation

from the ground changing (i.e.,

.

what is z )?

In general, the cylindrical coordinate

system is used in cases where the

particle moves along a 3-D curve.

Fig.12-13

Objective:

To determine velocity and acceleration

components using cylindrical coordinates.

22

Special case:

Fig.12-14

coordinate system.

9 When the particle moves in a plane (2-D), and the radial distance, r,

is not constant, the polar coordinate system can be used to express

the path of motion of the particle.

If motion is restricted to the plane, polar coordinates r

and are used

Department of Mechanical and Automation Engineering

23

Specify the location of P using both

the radial coordinate r, which extends

outward from the fixed origin O to the

particle and a traverse coordinate ,

which is the counterclockwise angle

between a fixed reference line and the

r axis;

Angle usually measured in degrees or radians, where 1 rad = 180

Positive directions of the r and coordinates are defined by the unit

vectors ur and u

ur extends from P along increasing r, when is held fixed

u extends from P in the direction that occurs when r is held fixed and

is increased

Note these directions are perpendicular to each other

Department of Mechanical and Automation Engineering

24

9 Position

We can express the location of P in polar coordinates as

r = r ur

(12-20)

Note that the radial direction, r, extends outward from the fixed origin,

O, and the transverse coordinate, , is measured counter-clockwise

(CCW) from the horizontal.

25

9 Velocity

Using the chain rule:

dur/dt = (dur/d)(d/dt)

Therefore: v = r ur + r u

Thus, the velocity vector has two

components: r& , called the radial

component, and r& , called the

transverse component. The speed of

the particle at any given instant is the

sum of the squares of both components

.

.2

or

(12-22)

2

v = (r) + ( r)

(12-21)

Fig.12-15(c)

26

9 Acceleration

After manipulation, the acceleration can be

expressed as

.

..

..

..

2

a = (r r )ur + (r + 2r)u (12-23)

.. . 2

The term (r r ) is the radial acceleration or ar.

..

. .

The term (r + 2r) is the transverse acceleration

or a

The magnitude of acceleration is

a=

2

2

&

(12-24)

27

Cylindrical Coordinates

If the particle P moves along a space

curve, its position can be written as

rP = rur + zuz

Taking time derivatives and using the

chain rule:

Velocity:

Fig.12-16

Acceleration:

28

rad. At the same time, the collar B is sliding outwards along OA

so that r = (100t2)mm. If in both cases, t is in seconds, determine the velocity and acceleration of the collar when t = 1s.

Solution:

Coordinate System.

Since time-parametric equations of the

particle is given, it is not necessary to

relate r to .

Velocity and Acceleration.

r = 100t 2

r& = 200t

&r& = 200

t =1s

t =1s

t =1s

= 100mm = t 3

t =1s

= 200mm / s & = 3t 2

= 200mm / s 2 && = 6t

= 1rad = 5.73

t =1s

t =1s

= 2rad / s

Fig.12-17

= 6rad / s 2

29

The magnitude of v is

v = 200 2 + 300 2 = 361mm/s

300

o

= tan 1

= 56.3

200

a = (&r& r& 2 )u r + (r&& + 2r&&)u = {700u r + 1800u } mm/s 2

The magnitude of a is

a = 700 2 + 1800 2 = 1930 mm/s 2

1800

o

= tan 1

= 68.7

700

30

Find: Velocity and acceleration at = 30.

Solution:

evaluate at = 30.

t0 =0

t

&

dt = 3t 2 dt = t 3

0

6

& = 3t 2 = 3(0.806) 2 = 1.95 rad/s

Fig.12-18

Department of Mechanical and Automation Engineering

31

= 20 cos(60 o )(1.95) 2 10 sin(60 o )(4.836) = 80 m/s 2

Substitute in the equation for velocity

Substitute in the equation for acceleration:

= [80 2.5(1.95) 2 ]u r + [2.5(4.836) + 2(16.88)(1.95)]u

= 89.5u r 53.7u m/s 2

a = (89.5) 2 + (53.7) 2 = 104.4 m/s 2

Department of Mechanical and Automation Engineering

32

Exercise:

1. In a polar coordinate system, the velocity vector can be written as

v = vr u r + v u = r&u r + r&u . The term & is called

A) transverse velocity.

C) angular velocity.

B) radial velocity.

D) angular acceleration.

A)

r&

B) r&

C)

(r&) 2 + (r&) 2 D)

A) not moving.

C) moving on a straight line.

D) moving with constant velocity.

33

acceleration is

A) zero.

B)

&r&

C) r& 2 . D) 2r&&

circular path is always

A) zero.

B) constant.

C) greater than its transverse component.

D) less than its transverse component.

6. The radial component of acceleration of a particle moving in a circular

path is always

A) negative.

B) directed toward the center of the path.

C) perpendicular to the transverse component of acceleration.

D) All of the above.

Department of Mechanical and Automation Engineering

34

Application:

used to assist in lifting heavy objects.

The total lifting force required from the

truck depends on the acceleration of the

cabinet.

Problem: How can we determine the

acceleration and velocity of the

cabinet if the acceleration of the truck

is known?

Fig.12-19

Objective:

To relate the positions, velocities, and accelerations

of particles undergoing dependent motion.

35

Dependent Motion

In many kinematics problems, the motion of one object will depend on the

motion of another object.

The blocks in this figure are connected

by an inextensible cord wrapped around

a pulley. If block A moves downward

along the inclined plane, block B will

move up the other incline.

Fig.12-20

position coordinates, sA and sB. Each coordinate axis is defined from a

fixed point or datum line, measured positive along each plane in the

direction of motion of each block.

Department of Mechanical and Automation Engineering

36

sA and sB can be defined from fixed

datum lines extending from the center

of the pulley along each incline to

blocks A and B.

coordinates sA and sB are related mathematically by the equation

sA + lCD + sB = lT

where lT is the total cord length and lCD is the length of cord passing

over arc CD on the pulley.

37

position equation. Note that lCD and lT remain constant, so

dlCD/dt = dlT/dt = 0

vB = -vA

9 The negative sign indicates that as A moves down the incline (positive

sA direction), B moves up the incline (negative sB direction).

9 Accelerations can be found by differentiating the velocity expression.

[Prove to yourself that aB = -aA] .

38

Example

from fixed datum lines, measured along the

direction of motion of each block.

Note that sB is only defined to the center of

the pulley above block B, since this block

moves with the pulley. Also, h is a constant.

The red colored segments of the cord

remain constant in length during motion of

the blocks.

The position coordinates are related by the

equation

2sB + h + sA = l

where l is the total cord length minus the lengths

of the red segments.

Fig.12-21

39

Since l and h remain constant during the motion, the velocities and accelerations can be related by two successive time derivatives:

2vB = -vA

and

2aB = -aA

When block B moves downward (+sB), block A moves to the left (-sA).

Remember to be consistent with the sign convention!

This example can also be worked by defining the position coordinate for

B (sB) from the bottom pulley instead of the top pulley.

The position, velocity, and acceleration relations then become

2(h sB) + h + sA = l

and

2vB = vA

2aB = aA

[Prove to yourself that the results are the same, even if the sign conventions

are different than the previous formulation.]

Department of Mechanical and Automation Engineering

40

Example 7 In the figure on the left, the cord at A is pulled down with a

speed of 8 m/s. Find the speed of block B.

Solution:

datum line

DATUM

sA

sC

sB

Fig.12-22

41

2). Define l1 as the length of the first cord, minus any segments of constant

length. Define l2 in a similar manner for the second cord:

Cord 1: 2sA + 2sC = l1

Cord 2: sB + (sB sC) = l2

3) Eliminating sC between the two equations, we get

2sA + 4sB = l1 + 2l2

4) Relate velocities by differentiating this expression. Note that l1 and l2

are constant lengths.

2vA + 4vB = 0

=>

Department of Mechanical and Automation Engineering

42

Exercise:

1. Two blocks are interconnected by a cable.

Which of the following is correct?

A) vA= - vB

C) (vy)A= - (vy)B

B) (vx)A= - (vx)B

D) All of the above.

A is moving down at 6 m/s while block C is

moving down at 18 m/s .

A) 24 m/s

C) 12 m/s

B) 3 m/s

D) 9 m/s

when block B is moving downward with

a speed of 10 m/s.

A) (8i + 6j) m/s

C) (-8i - 6j) m/s

vA=6 m/s

vC=18 m/s

D) (3i + 4j) m/s

vB=10 m/s

i

43

Translating Axes

Example:

position, velocity, and acceleration of the

object must be known. Here, the boy on

the ground is at d = 10ft when the girl in

the window throws the ball to him.

Problem: If the boy on the ground is

running at a constant speed of 4 ft/s,

how fast should the ball be thrown?

Fig.12-24

Objectives:

a). To understand translating frames of reference.

b). To use translating frames of reference to analyze

Department relative

of Mechanical

and Automation Engineering

motion.

44

9 Relative Position

Consider particles A and B, which move along the arbitrary paths aa and

bb, respectively,

The absolute position of two particles

A and B with respect to the fixed x, y,

z reference frame are given by rA and

rB. The position of B relative to A is

represented by

rB/A = rB rA

(12-25)

vector which describes the relative

position of B with respect to A

then rB/A = (6i 3j) m.

Example, if

Fig.12-25

rA = (4i + 5j) m,

45

9 Relative Velocity

To determine the relative velocity of B with

respect to A, the time derivative of the relative

position equation is taken.

vB/A = vB vA or vB = vA + vB/A (12-26)

where vB and vA -- absolute velocities, since they are

observed from the fixed frame. vB/A is the relative

velocity of B w.r.t to A, because it is observed from

the translating frame.

Negative

Note:

vB/A = -vA/B

Fig.12-26

9 Relative Acceleration

The time derivative of the relative velocity

equation yields a similar vector relationship

between the absolute and relative accelerations of particles A and B

Fig.12-27

aB/A = aB aA or aB = aA + aB/A (12-27)

Department of Mechanical and Automation Engineering

46

Example 8

At the instant, car A and B are traveling with the speed of 18 m/s and 12 m/s

respectively. Also at this instant, A has a decrease in speed of 2 m/s2, and B

has an increase in speed of 3 m/s2. Determine the velocity and acceleration

of B with respect to A.

Solution:

1). Velocity.

The fixed x, y axes are established at a point

on the ground and the translating x, y axes

are attached to car A. Using Cartesian vector

analysis,

vB = v A + vB/ A

v B / A = {9i + 3.588 j} m / s

Fig.12-28

Department of Mechanical and Automation Engineering

47

Thus,

vB / A = 9 2 + 3.5882 = 9.69 m / s

Its direction is

(vB / A )y

tan =

(vB / A )x

3.588

, = 21.7 o

9

2). Acceleration.

The magnitude of the normal component is

(aB )n =

vB2

= 1.440 m / s 2

aB = a A + aB/ A

a B / A = { 2.440i 4.732 j} m / s 2

Magnitude and direction are

aB / A = 5.32 m / s 2 , = 62.7 o

Department of Mechanical and Automation Engineering

48

Exercise:

1. The velocity of B relative to A is defined as

A) vB vA . B) vA vB . C) vB + vA . D) vA + vB .

2. Since vector addition forms a triangle, there can be at most _________

unknowns (either magnitudes and/or directions of the vectors) to solve

the problem.

m

A) one

B) two C) three

D) four

vB = 4 s

3. Two particles, A and B, are moving in the

directions shown. What should be the angle

so that vB/A is minimum?

A) 0 B) 180

C) 90

D) 270

vA = 3 ms

A) (400i+520j) km/hr

B) (1220i-300j) km/hr

30

C) (-181i-300j) km/hr

D) (-1220i+300j) km/hr

49

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