CHAP11 Kinematics of Particles PDF

Eighth Edition
CHAPTER VECTOR MECHANICS FOR ENGINEERS:

DYNAMICS
11 Ferdinand P. Beer
E. Russell Johnston, Jr. Kinematics of Particles
Lecture Notes:
J. Walt Oler
Texas Tech University
2007 The McGraw-Hill Companies, Inc. All rights reserved.

Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Contents
Introduction Sample Problem 11.5
Rectilinear Motion: Position, Velocity Graphical Solution of Rectilinear-Motion
& Acceleration Problems
Determination of the Motion of a Other Graphical Methods
Particle
Curvilinear Motion: Position, Velocity &
Sample Problem 11.2 Acceleration
Sample Problem 11.3
Derivatives of Vector Functions
Uniform Rectilinear-Motion
Rectangular Components of Velocity and
Uniformly Accelerated Rectilinear- Acceleration
Motion
Motion Relative to a Frame in Translation
Motion of Several Particles: Relative
Motion Tangential and Normal Components
Sample Problem 11.4 Radial and Transverse Components
Motion of Several Particles: Dependent Sample Problem 11.10
Motion Sample Problem 11.12
2007 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 2

Edition
Eighth
Introduction
Dynamics includes:
- Kinematics: study of the geometry of motion. Kinematics is used to relate
displacement, velocity, acceleration, and time without reference to the cause of
motion.
- Kinetics: study of the relations existing between the forces acting on a body,
the mass of the body, and the motion of the body. Kinetics is used to predict
the motion caused by given forces or to determine the forces required to
produce a given motion.
Rectilinear motion: position, velocity, and acceleration of a particle as it moves

along a straight line.
Curvilinear motion: position, velocity, and acceleration of a particle as it moves

along a curved line in two or three dimensions.

Edition
Eighth
Rectilinear Motion: Position, Velocity & Acceleration
Particle moving along a straight line is said to
be in rectilinear motion.
Position coordinate of a particle is defined by

positive or negative distance of particle from a
fixed origin on the line.
The motion of a particle is known if the position
coordinate for particle is known for every value
of time t. Motion of the particle may be
expressed in the form of a function, e.g.,
x = 6t 2 t 3
or in the form of a graph x vs. t.

Edition
Eighth
Consider particle which occupies position P at
time t and P at t+t,
x
Average velocity =
t
x
Instantaneous velocity = v = lim
t 0 t
Instantaneous velocity may be positive or

negative. Magnitude of velocity is referred to
as particle speed.
From the definition of a derivative,
x dx
v = lim =
t 0 t dt
e.g., x = 6t 2 t 3
dx
v= = 12 t 3t 2
dt
Edition
Eighth
Consider particle with velocity v at time t and v
at t+t,
v
Instantaneous acceleration = a = lim
t 0 t
Instantaneous acceleration may be:

- positive: increasing positive velocity
or decreasing negative velocity
- negative: decreasing positive velocity
or increasing negative velocity.
From the definition of a derivative,
v dv d 2 x
a = lim = = 2
t 0 t dt dt
e.g. v = 12 t 3t 2
dv
a= = 12 6t
dt
Edition
Eighth
Consider particle with motion given by
x = 6t 2 t 3
dx
v= = 12 t 3t 2
dt
dv d 2 x
a= = 2 = 12 6t
dt dt
at t = 0, x = 0, v = 0, a = 12 m/s2
at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0
at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2
at t = 6 s, x = 0, v = -36 m/s, a = 24 m/s2

Edition
Eighth
Determination of the Motion of a Particle
Recall, motion of a particle is known if position is known for all time t.
Typically, conditions of motion are specified by the type of acceleration
experienced by the particle. Determination of velocity and position requires two
successive integrations.
Three classes of motion may be defined for:
- acceleration given as a function of time, a = f(t)
- acceleration given as a function of position, a = f(x)
- acceleration given as a function of velocity, a = f(v)

Edition
Eighth
Acceleration given as a function of time, a = f(t):
v (t ) t t
dv
= a = f (t ) dv = f (t ) dt dv = f (t ) dt v (t ) v 0 = f (t ) dt
dt v 0 0
0
x (t ) t t
dx
= v (t ) dx = v (t ) dt dx = v (t ) dt x (t ) x 0 = v (t ) dt
dt x0 0 0
Acceleration given as a function of position, a = f(x):
dx dx dv dv
v= or dt = a= or a = v = f (x )
dt v dt dx
v(x ) x x
2 1 v2
v dv = f ( x )dx v dv = f ( x )dx 1 v(x )
2
2 0
= f ( x )dx
v0 x0 x0

Edition
Eighth
Acceleration given as a function of velocity, a = f(v):
v (t ) t
dv dv dv
= a = f (v ) = dt f (v ) = dt
dt f (v ) v 0
0
v (t )
dv
f (v ) = t
v0
x (t ) v (t )
dv v dv v dv
v = a = f (v ) dx = dx = f (v )
dx f (v ) x v
0 0
v (t )
v dv
x(t ) x0 =
v0 f (v )

Edition
Eighth
Sample Problem 11.2
SOLUTION:
Integrate twice to find v(t) and y(t).
Solve for t at which velocity equals zero

(time for maximum elevation) and
evaluate corresponding altitude.
Solve for t at which altitude equals zero

Ball tossed with 10 m/s vertical velocity (time for ground impact) and evaluate
from window 20 m above ground. corresponding velocity.
Determine:
velocity and elevation above ground at time
t,
highest elevation reached by ball and
corresponding time, and
time when ball will hit the ground and
corresponding velocity.
Edition
Eighth
Sample Problem 11.2
SOLUTION:
Integrate twice to find v(t) and y(t).
dv
= a = 9 .81 m s 2
dt
v (t ) t
dv = 9.81 dt v (t ) v 0 = 9 .81t
v0 0
m m
v (t ) = 10 9.81 2 t
s s
dy
= v = 10 9.81 t
dt
y (t ) t
dy = (10 9.81 t )dt y (t ) y 0 = 10 t 12 9 .81 t 2
y0 0
m m
y (t ) = 20 m + 10 t 4.905 2 t 2
s s
Edition
Eighth
Sample Problem 11.2
Solve for t at which velocity equals zero and evaluate
corresponding altitude.
m m
v (t ) = 10 9.81 2 t = 0
s s
t = 1 .019 s
Solve for t at which altitude equals zero and evaluate

m m 2
y (t ) = 20 m + 10 t 4 .905 2 t
s s
m m
y = 20 m + 10 (1.019 s ) 4.905 2 (1.019 s )2
s s
y = 25 .1 m

Edition
Eighth
Sample Problem 11.2
Solve for t at which altitude equals zero and evaluate
m m 2
y (t ) = 20 m + 10 t 4 .905 2 t = 0
s s
t = 1.243 s (meaningles s )
t = 3 .28 s
m m
v (t ) = 10 9.81 2 t
s s
m m
v (3 .28 s ) = 10 9 .81 2 (3 .28 s )
s s
m
v = 22 .2
s

Edition
Eighth
Sample Problem 11.3
SOLUTION:
a = kv Integrate a = dv/dt = -kv to find v(t).

Integrate v(t) = dx/dt to find x(t).
Integrate a = v dv/dx = -kv to find v(x).
Brake mechanism used to reduce gun recoil
consists of piston attached to barrel moving
in fixed cylinder filled with oil. As barrel
recoils with initial velocity v0, piston moves
and oil is forced through orifices in piston,
causing piston and cylinder to decelerate at
rate proportional to their velocity.
Determine v(t), x(t), and v(x).

Edition
Eighth
Sample Problem 11.3
SOLUTION:
Integrate a = dv/dt = -kv to find v(t).
v (t ) t
dv dv v (t )
a=
dt
= kv = k dt ln = kt
v v0 0 v0
v (t ) = v 0 e kt
Integrate v(t) = dx/dt to find x(t).

dx
v (t ) = = v 0 e kt
dt
x (t ) t t
kt 1
dx = v 0 e dt x (t ) = v 0 e kt
0 0 k 0
x (t ) =
v0
k
(
1 e kt )
Edition
Eighth
Sample Problem 11.3
Integrate a = v dv/dx = -kv to find v(x).
v x
dv
a=v
dx
= kv dv = k dx dv = k dx
v0 0
v v 0 = kx
v = v 0 kx
Alternatively,
with x (t ) =
v0
k
(
1 e kt )
v (t )
and v (t ) = v 0 e kt or e kt =
v0
v v (t )
then x (t ) = 0 1
k v0
v = v 0 kx

Edition
Eighth
Uniform Rectilinear Motion
For particle in uniform rectilinear motion, the acceleration is zero and the
velocity is constant.
dx
= v = constant
dt
x t
dx = v dt
x0 0
x x0 = vt
x = x0 + vt

Edition
Eighth
Uniformly Accelerated Rectilinear Motion
For particle in uniformly accelerated rectilinear motion, the acceleration of the
particle is constant.
v t
dv
dt
= a = constant dv = a dt v v0 = at
v0 0
v = v0 + at
x t
dx
= v0 + at dx = (v0 + at )dt x x0 = v0 t + 12 at 2
dt x0 0
x = x0 + v0t + 12 at 2
v x
dv
v = a = constant
dx
v dv = a dx 1
2
(v 2 v02 ) = a(x x0 )
v0 x0
v 2 = v02 + 2a( x x0 )
Edition
Eighth
Motion of Several Particles: Relative Motion
For particles moving along the same line, time
should be recorded from the same starting instant
and displacements should be measured from the
same origin in the same direction.
x B A = x B x A = relative position of B with

respect to A
xB = x A + xB A
v B A = v B v A = relative velocity of B with

respect to A
vB = v A + vB A
a B A = a B a A = relative acceleration of B
with respect to A
aB = a A + aB A
Edition
Eighth
Sample Problem 11.4
SOLUTION:
Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
Substitute initial position and constant

velocity of elevator into equation for
uniform rectilinear motion.
Ball thrown vertically from 12 m level in
elevator shaft with initial velocity of 18 Write equation for relative position of
m/s. At same instant, open-platform ball with respect to elevator and solve
elevator passes 5 m level moving upward for zero relative position, i.e., impact.
at 2 m/s.
Substitute impact time into equation for
Determine (a) when and where ball hits position of elevator and relative velocity
elevator and (b) relative velocity of ball of ball with respect to elevator.
and elevator at contact.
Edition
Eighth
Sample Problem 11.4
SOLUTION:
Substitute initial position and velocity and constant
acceleration of ball into general equations for uniformly
accelerated rectilinear motion.
m m
v B = v 0 + at = 18 9.81 2 t
s s
m m
y B = y 0 + v 0 t + 12 at 2 = 12 m + 18 t 4 .905 2 t 2
s s
Substitute initial position and constant velocity of

elevator into equation for uniform rectilinear motion.
m
vE = 2
s
m
y E = y 0 + v E t = 5 m + 2 t
s

Edition
Eighth
Sample Problem 11.4
Write equation for relative position of ball with respect to
elevator and solve for zero relative position, i.e., impact.
( )
y B E = 12 + 18t 4.905 t 2 (5 + 2t ) = 0
t = 0 .39 s (meaningles s )
t = 3 .65 s
Substitute impact time into equations for position of elevator and

relative velocity of ball with respect to elevator.
y E = 5 + 2(3 .65 )
y E = 12 .3 m
vB E = (18 9.81t ) 2
= 16 9.81(3.65 )
m
vB E = 19 .81
s
Edition
Eighth
Motion of Several Particles: Dependent Motion
Position of a particle may depend on position of one or
more other particles.
Position of block B depends on position of block A. Since
rope is of constant length, it follows that sum of lengths of
segments must be constant.
x A + 2 x B = constant (one degree of freedom)
Positions of three blocks are dependent.
2 x A + 2 x B + xC = constant (two degrees of freedom)
For linearly related positions, similar relations hold

between velocities and accelerations.
dx A dx dx
2 +2 B + C =0 or 2 v A + 2v B + vC = 0
dt dt dt
dv dv dv
2 A +2 B + C =0 or 2 a A + 2 a B + aC = 0
dt dt dt
Edition
Eighth
Sample Problem 11.5
SOLUTION:
Define origin at upper horizontal surface with
positive displacement downward.
Collar A has uniformly accelerated rectilinear
motion. Solve for acceleration and time t to
reach L.
Pulley D has uniform rectilinear motion.
Pulley D is attached to a collar which is Calculate change of position at time t.
pulled down at 3 in./s. At t = 0, collar A
starts moving down from K with Block B motion is dependent on motions of
constant acceleration and zero initial collar A and pulley D. Write motion
velocity. Knowing that velocity of relationship and solve for change of block B
collar A is 12 in./s as it passes L, position at time t.
determine the change in elevation, Differentiate motion relation twice to develop
velocity, and acceleration of block B equations for velocity and acceleration of
when block A is at L. block B.
Edition
Eighth
Sample Problem 11.5
SOLUTION:
Define origin at upper horizontal surface with positive
displacement downward.
Collar A has uniformly accelerated rectilinear motion.

Solve for acceleration and time t to reach L.
v 2A = (v A )02 + 2 a A [x A ( x A )0 ]
2
in. in.
12 = 2 a A (8 in. ) aA = 9 2
s s
v A = (v A )0 + a At
in. in.
12 =9 2t t = 1.333 s
s s

Edition
Eighth
Sample Problem 11.5
Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
x D = ( x D )0 + v D t
in.
x D ( x D )0 = 3 (1 .333 s ) = 4 in.
s
Block B motion is dependent on motions of collar A
and pulley D. Write motion relationship and solve for
change of block B position at time t.
Total length of cable remains constant,
x A + 2 x D + x B = ( x A )0 + 2( x D )0 + ( x B )0
[x A ( x A )0 ] + 2[x D ( x D )0 ] + [x B ( x B )0 ] = 0
(8 in. ) + 2(4 in. ) + [x B ( x B )0 ] = 0
x B ( x B )0 = 16 in.
Edition
Eighth
Sample Problem 11.5
Differentiate motion relation twice to develop equations
for velocity and acceleration of block B.
x A + 2 x D + x B = constant
v A + 2v D + v B = 0
in. in. in.

12 + 2 3 + v B = 0 v B = 18
s s s
a A + 2a D + a B = 0
in. a B = 9 2
in.
9 2 + vB = 0
s s

Edition
Eighth
Graphical Solution of Rectilinear-Motion Problems
Given the x-t curve, the v-t curve is equal to the

x-t curve slope.
Given the v-t curve, the a-t curve is equal to the

v-t curve slope.

Edition
Eighth
Graphical Solution of Rectilinear-Motion Problems
Given the a-t curve, the change in velocity between t1 and t2 is equal to
the area under the a-t curve between t1 and t2.
Given the v-t curve, the change in position between t1 and t2 is equal to
the area under the v-t curve between t1 and t2.

Edition
Eighth
Other Graphical Methods
Moment-area method to determine particle position at
time t directly from the a-t curve:
x1 x 0 = area under v t curve
v1
= v 0 t1 + (t1 t )dv
v0
using dv = a dt ,
v1
x1 x 0 = v 0 t1 + (t1 t ) a dt
v0
v1
(t1 t ) a dt = first moment of area under a-t curve
v0 with respect to t = t1 line.
x1 = x 0 + v 0 t1 + (area under a-t curve )(t1 t )

t = abscissa of centroid C

Edition
Eighth
Other Graphical Methods
Method to determine particle acceleration from

v-x curve:
dv
a=v
dx
= AB tan
= BC = subnormal to v-x curve

Edition
Eighth
Curvilinear Motion: Position, Velocity & Acceleration
Particle moving along a curve other than a straight line is in
curvilinear motion.
Position vector of a particle at time t is defined by a vector

between origin O of a fixed reference frame and the
position occupied by particle.
Consider particle which occupies position P defined by

at time
r t and P defined by at t +r t,

r dr
v = lim =
t 0 t dt
= instantaneous velocity (vector)
s ds
v = lim =
t 0 t dt
= instantaneous speed (scalar)

Edition
Eighth
Curvilinear Motion: Position, Velocity & Acceleration

Consider velocity vof particle at time t and velocity

v at t + t,

v dv
a = lim =
t 0 t dt
= instantaneous acceleration (vector)
In general, acceleration vector is not tangent to

particle path and velocity vector.

Edition
Eighth
Derivatives of Vector Functions

Let P (u )be a vector function of scalar variable u,

dP P P (u + u ) P (u )
= lim = lim
du u 0 u u 0 u
Derivative of vector sum,

d (P + Q ) dP dQ
= +
du du du
Derivative of product of scalar and vector functions,

d ( f P ) df dP
= P+ f
du du du
Derivative of scalar product and vector product,

d (P Q ) d P dQ
= Q + P
du du du

d (P Q ) d P dQ
= Q + P
du du du
Edition
Eighth
Rectangular Components of Velocity & Acceleration
When position vector of particle P is given by its
rectangular components,

r = x i + y j + zk
Velocity vector,
dx dy dz
v= i + j + k = x i + y j + zk
dt dt dt

= vx i + v y j + vz k
Acceleration vector,
d 2x d 2 y d 2z
a = 2 i + 2 j + 2 k = xi + y j + zk
dt dt dt

= ax i + a y j + azk

Edition
Eighth
Rectangular Components of Velocity & Acceleration
Rectangular components particularly effective when
component accelerations can be integrated
independently, e.g., motion of a projectile,
a x = x = 0 a y = y = g a z = z = 0
with initial conditions,
x0 = y 0 = z 0 = 0 (v x )0 , (v y )0 , (v z )0 = 0
Integrating twice yields
v x = (v x )0 ( )0 gt
vy = vy vz = 0
x = (v x )0 t y = (v y ) y 12 gt 2 z=0
0
Motion in horizontal direction is uniform.

Motion in vertical direction is uniformly accelerated.
Motion of projectile could be replaced by two

independent rectilinear motions.
Edition
Eighth
Motion Relative to a Frame in Translation
Designate one frame as the fixed frame of reference. All
other frames not rigidly attached to the fixed reference
frame are moving frames of reference.
Position vectors for particles A and B with respect to the

fixed frame of reference Oxyz are rA and rB .

r
Vector B A joining A and B defines the position of B
with respect to the moving frame Axyz and

rB = rA + rB A
Differentiating twice,

v B = v A + v B A v B A = velocity of B relative to A.

a B = a A + a B A aB A = acceleration of B relative to
A.
Absolute motion of B can be obtained by combining
motion of A with relative motion of B with respect to
moving reference frame attached to A.
Edition
Eighth
Tangential and Normal Components
Velocity vector of particle is tangent to path of
particle. In general, acceleration vector is not.
Wish to express acceleration vector in terms of
tangential and normal components.

et and et are tangential unit vectors for the particle
path at P and P. When drawn with respect to the

same origin, et = et eand
t
is the angle between them.
et = 2 sin ( 2 )

et sin ( 2 )
lim = lim en = en
0 0 2

d e
en = t
d

Edition
Eighth

With the velocity vector expressed as v = vet
the particle acceleration may be written as

d v dv d e dv d e d ds
a= = et + v = et + v
dt dt dt dt d ds dt
but
d et ds
= en d = ds =v
d dt
After substituting,
dv v 2 dv v2
a= et + en at = an =
dt dt
Tangential component of acceleration reflects
change of speed and normal component reflects
change of direction.
Tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
Edition
Eighth
Relations for tangential and normal acceleration also
apply for particle moving along space curve.
dv v 2 dv v2
a= et + en at = an =
dt dt
Plane containing tangential and normal unit vectors

is called the osculating plane.
Normal to the osculating plane is found from

eb = et e n

e n = principal normal

eb = binormal
Acceleration has no component along binormal.

Edition
Eighth
Radial and Transverse Components
When particle position is given in polar coordinates, it
is convenient to express velocity and acceleration with
components parallel and perpendicular to OP.
The particle velocity vector is

d dr de r dr d
v = (re r ) = er + r = er + r e
dt dt dt dt dt

= r e r + r e

r = rer
Similarly, the particle acceleration vector is
der de
= e = er d dr d
d d a = er + r e
dt dt dt
2 2
der der d d d r dr de r dr d d d
d e
= = e = 2 er + + e + r 2 e + r
dt d dt dt dt dt dt dt dt dt dt dt

de de d
=
d
= er (
)
= r r 2 e r + (r + 2 r )e
dt d dt dt
Edition
Eighth
Radial and Transverse Components
When particle position is given in cylindrical
coordinates, it is convenient to express the velocity
and acceleration vectors using the unit vectors

e R , e , and k .
Position vector,

r = R e R+z k
Velocity vector,

dr
v= = R e R + R e + z k
dt
Acceleration vector,

dv
a=
dt
(
2
)
= R R e R + (R + 2 R )e + z k


Edition
Eighth
Sample Problem 11.10
SOLUTION:
Calculate tangential and normal
components of acceleration.
Determine acceleration magnitude and

direction with respect to tangent to curve.
A motorist is traveling on curved

section of highway at 60 mph. The
motorist applies brakes causing a
constant deceleration rate.
Knowing that after 8 s the speed has
been reduced to 45 mph, determine the
acceleration of the automobile
immediately after the brakes are
applied.
Edition
Eighth
SOLUTION:
Calculate tangential and normal components of
acceleration.
v (66 88 ) ft s ft
at = = = 2 .75 2
t 8s s
v2 (88 ft s )2 ft
an = = = 3.10 2
2500 ft s
60 mph = 88 ft/s
Determine acceleration magnitude and direction with
45 mph = 66 ft/s respect to tangent to curve.
2 2 2 2
ft
a = a t + a n = ( 2.75 ) + 3.10 a = 4 . 14
s2
1 an 3.10
= tan = tan 1 = 48 .4
at 2 .75

Edition
Eighth
SOLUTION:
Evaluate time t for = 30o.
Evaluate radial and angular positions,
and first and second derivatives at time t.
Rotation of the arm about O is defined by Calculate velocity and acceleration in

= 0.15t2 where is in radians and t in cylindrical coordinates.
seconds. Collar B slides along the arm
such that r = 0.9 - 0.12t2 where r is in Evaluate acceleration with respect to
meters. arm.
After the arm has rotated through 30o,

determine (a) the total velocity of the
collar, (b) the total acceleration of the
collar, and (c) the relative acceleration of
the collar with respect to the arm.
Edition
Eighth
SOLUTION:
Evaluate time t for = 30o.
= 0.15 t 2
= 30 = 0 .524 rad t = 1 .869 s
Evaluate radial and angular positions, and first and

second derivatives at time t.
r = 0.9 0 .12 t 2 = 0.481 m
r = 0 .24 t = 0 .449 m s
r = 0.24 m s 2
= 0 .15 t 2 = 0.524 rad

= 0 .30 t = 0 .561 rad s
= 0.30 rad s 2

Edition
Eighth
Calculate velocity and acceleration.
vr = r = 0 .449 m s
v = r = (0.481 m )(0 .561 rad s ) = 0 .270 m s
1 v
v= vr2 2
+ v = tan
vr
v = 0.524 m s = 31 .0
ar = r r 2
= 0 .240 m s 2 (0 .481 m )(0 .561 rad s )2
= 0 .391 m s 2
a = r + 2 r
( )
= (0 .481 m ) 0 .3 rad s 2 + 2( 0.449 m s )(0 .561 rad s )
= 0 .359 m s 2
a
a= a r2 + a2 = tan 1
ar
a = 0 .531 m s = 42 .6
Edition
Eighth
Evaluate acceleration with respect to arm.
Motion of collar with respect to arm is rectilinear
and defined by coordinate r.
a B OA = r = 0.240 m s 2

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Eighth Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

2007 The McGraw-Hill Companies, Inc. All rights reserved.

2007 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 2

Rectilinear motion: position, velocity, and acceleration of a particle as it moves

Curvilinear motion: position, velocity, and acceleration of a particle as it moves

2007 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 3

Position coordinate of a particle is defined by

2007 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 4

Instantaneous velocity may be positive or

Instantaneous acceleration may be:

at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

at t = 6 s, x = 0, v = -36 m/s, a = 24 m/s2

2007 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 7

2007 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 8

Acceleration given as a function of position, a = f(x):

2007 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 9

2007 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 10

Solve for t at which velocity equals zero

Solve for t at which altitude equals zero

Solve for t at which altitude equals zero and evaluate

2007 The McGraw-Hill Companies, Inc. All rights reserved. 11 - 13

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a = kv Integrate a = dv/dt = -kv to find v(t).

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Integrate v(t) = dx/dt to find x(t).

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x B A = x B x A = relative position of B with

v B A = v B v A = relative velocity of B with

Substitute initial position and constant

Substitute initial position and constant velocity of

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Substitute impact time into equations for position of elevator and

For linearly related positions, similar relations hold

Collar A has uniformly accelerated rectilinear motion.

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in. in. in.

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Given the x-t curve, the v-t curve is equal to the

Given the v-t curve, the a-t curve is equal to the

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x1 = x 0 + v 0 t1 + (area under a-t curve )(t1 t )

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Method to determine particle acceleration from

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Position vector of a particle at time t is defined by a vector

Consider particle which occupies position P defined by

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In general, acceleration vector is not tangent to

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Motion in horizontal direction is uniform.

Motion of projectile could be replaced by two

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Plane containing tangential and normal unit vectors

Acceleration has no component along binormal.

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The particle velocity vector is

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Determine acceleration magnitude and

A motorist is traveling on curved