Mechanics for Engineers

DYNAMICS
Chapter 12 Kinematics of A Particle

INTRODUCTION &
RECTILINEAR KINEMATICS: CONTINUOUS
MOTION
Today’s Objectives:R206
Students will be able to:
1. Find the kinematic
quantities (position,
displacement, velocity,
and acceleration) of a
particle traveling along a
straight path.
In-Class Activities:
• Reading Quiz
• Applications
• Relations between s(t),
v(t), and a(t) for general
rectilinear motion
• Relations between s(t),
v(t), and a(t) when
acceleration is constant
• Concept Quiz
• Attention Quiz
 READING QUIZ

1. In dynamics, a particle is assumed to have _________.

A) both translation and rotational motions
B) only a mass
C) a mass but the size and shape cannot be neglected
D) no mass or size or shape, it is just a point

2. The average speed is defined as __________.

A) r/ t B) s/ t
C) sT/ t D) None of the above.

APPLICATIONS

The motion of large objects,

such as rockets, airplanes,
or cars, can often be
analyzed as if they were
particles.

Why?

If we measure the altitude

of this rocket as a
function of time, how can
we determine its velocity
and acceleration?
 An Overview of Mechanics

Mechanics: The study of how bodies

react to forces acting on them.

Dynamics:
Statics: The study of
1. Kinematics – concerned
bodies in equilibrium.
with the geometric aspects of
motion
2. Kinetics – concerned with
the forces causing the motion

RECTILINEAR KINEMATICS: CONTINIOUS MOTION

(Section 12.2)
A particle travels along a straight-line
path defined by the coordinate axis s.
The position of the particle at any
instant, relative to the origin, O, is
defined by the position vector r, or
the scalar s. Scalar s can be positive
or negative. Typical units for r and s
are meters (m) or feet (ft).
The displacement of the particle is
defined as its change in position.

Vector form:  r = r’ - r Scalar form:  s = s’ - s

The total distance traveled by the particle, sT, is a positive
scalar that represents the total length of the path over which
the particle travels.
 VELOCITY
Velocity is a measure of the rate of change in the position of a
particle. It is a vector quantity (it has both magnitude and
direction). The magnitude of the velocity is called speed, with
units of m/s or ft/s.
The average velocity of a particle during
a time interval t is
vavg = r / t
The instantaneous velocity is the time-derivative
of position. v = dr / dt

Speed is the magnitude of velocity:

v = ds / dt

Average speed is the total distance traveled divided by

elapsed time: (vsp)avg = sT / t

ACCELERATION
Acceleration is the rate of change in the velocity of a particle.
It is a vector quantity. Typical units are m/s2.

The instantaneous acceleration is the

time derivative of velocity.

Vector form: a = dv / dt

Scalar form: a = dv / dt = d2s / dt2

Acceleration can be positive (speed

increasing) or negative (speed
decreasing).

As the text indicates, the derivative equations for velocity

and acceleration can be manipulated to get a ds = v dv
 SUMMARY OF KINEMATIC RELATIONS:
RECTILINEAR MOTION

• Differentiate position to get velocity and acceleration.

v = ds/dt ; a = dv/dt or a = v dv/ds

• Integrate acceleration for velocity and position.

Velocity: Position:
v t v s s t

 dv   a dt or  v dv   a ds  ds   v dt
vo o vo so so o

• Note that so and vo represent the initial position and

velocity of the particle at t = 0.

CONSTANT ACCELERATION
The three kinematic equations can be integrated for the
special case when acceleration is constant (a = ac) to obtain
very useful equations. A common example of constant
acceleration is gravity; i.e., a body freely falling toward earth.
In this case, ac = g = 9.81 m/s2 downward. These equations
are:
v t

 dv   a c dt
vo o
yields v  vo  act
s t

 ds   v dt yields s  s o  v ot  (1/2) a c t 2
so o
v s

 v dv   ac ds yields v 2  (vo )2  2ac(s - so)

vo so
 EXAMPLE

Given: A particle travels along a straight line to the right

with a velocity of v = ( 4 t – 3 t2 ) m/s where t is
in seconds. Also, s = 0 when t = 0.

Find: The position and acceleration of the particle

when t = 4 s.

Plan: Establish the positive coordinate, s, in the direction

the particle is traveling. Since the velocity is given
as a function of time, take a derivative of it to
calculate the acceleration. Conversely, integrate
the velocity function to calculate the position.

EXAMPLE
(continued)
Solution:
1) Take a derivative of the velocity to determine the
acceleration.
a = dv / dt = d(4 t – 3 t2) / dt = 4 – 6 t
 a = – 20 m/s2 (or in the  direction) when t = 4 s

2) Calculate the distance traveled in 4s by integrating the

velocity using so = 0:
s t
v = ds / dt  ds = v dt 
 s – so = 2 t2 – t3 so o
 
ds  (4 t – 3 t2) dt

 s – 0 = 2(4)2 – (4)3  s = – 32 m ( or )
Example 12.1

The car moves in a straight line such that for

a short time its velocity is defined by v =
(3t2 + 2t) m/s where t is in sec. Determine
its position and acceleration when t = 3s.
When t = 0, s = 0.

Example 12.1

Solution
Coordinate System
Positive is to the right.
  
 
 
v
ds
dt

 0.9t 2  0.6t 
Position
When s = 0 when t = 0, we have

 ds   3t   
s t s t
2
 2t dt  s  t  t3 2
 t3  t2
0 0 0 0

When t = 3s, s = 36m

Example 12.1

Solution
Acceleration
Knowing v = f(t), the acceleration is determined from a =
dv/dt, since this equation relates a, v and t.

dv d 2
 
a   3t  2t  6t  2
dt dt
When t = 3s, a = 20 m/s2

Example 12.2
A small projectile is forced downward into a
fluid medium with an initial velocity of 60m/s.
Due to the resistance of the fluid the
projectile experiences a deceleration equal to
a = (-0.4v3)m/s2, where v is in m/s2.
Determine the projectile’s velocity and
position 4s after it is fired.
Example 12.2

Solution
Coordinate System
Since the motion is downward, the position coordinate is
downwards positive, with the origin located at O.
dv
  a   0.4v 3
dt
Velocity
Here a = f(v), velocity is a function of time using a =
dv/dt, since this equation relates v, a and t.

Example 12.2

Solution
v dv t
Velocity   60 m / s
 0.4v 3 0
 dt

1  1 1 v
  t 0
 0 .4   2  v 2 60

1 1 1 
  t
0.8  v 2 60 2 
 1  
1/ 2

v    0.8t  m / s
 60 2
 

When t = 4s, v = 0.559 m/s

 Example 12.2
Solution
Position
Since v = f(t), projectile’s position can be determined
from v = ds/dt. When s = 0 and t = 0, we have

1 / 2 1 / 2
ds  1  s  1
t 
  v     0 .8t    ds     0.8t  dt
dt  60 2 
0 0 
 60 
2

1  1 1 
1 / 2

s   0.8t   m
0.4  60 2
 60 
 
When t = 4s, s = 4.43m

Example 12.3
A rocket travel upward at
75m/s. When it is 40m from
the ground, the engine fails.
Determine max height sB
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 m/s2.
Neglect air resistance.
Example 12.3
Solution
Coordinate System
Origin O for the position coordinate at ground level with
positive upward

Maximum Height
Rocket traveling upward, vA = +75m/s when t = 0. s = sB when
vB = 0 at max ht. For entire motion, acceleration aC = -9.81m/s2
(negative since it act opposite sense to positive velocity or
positive displacement)
vB2  v A2  2aC ( s B  s A )  s B  327 m

Example 12.3

Solution
Velocity
The negative root was chosen since the rocket is moving
downward.

vC2  vB2  2aC ( sC  sB )

vC2  80.1 m / s  80.1 m / s 
Example 12.4
A metallic particle travels downward through
a fluid that extends from plate A and plate B
under the influence of magnetic field. If
particle is released from rest at midpoint C, s
= 100 mm, and acceleration, a = (4s) m/s2,
where s in meters, determine velocity when
it reaches plate B and time need to travel
from C to B.

Example 12.4
Solution
Coordinate System
It is shown that s is taken positive downward, measured from
plate A
Velocity
Since a = f(s), velocity as a function of position can be
obtained by using v dv = a ds. Realising v = 0 at s = 100mm
= 0.1m
 
1
1 2v 4 2S
 v  2 s  0.01 2   
v s
v dv  a ds   v dv   4 s ds  v  s 2
0 0.1 2 0 2 0.1

At s = 200mm = 0.2m, vB  0.346 m / s  346 mm / s 

Example 12.4
Solution
Time ds  v dt

 2 s 2  0.01 
0.5
dt
s ds t
 s
0.1 2
 0.01 
0.5
  2 dt
0


ln s 2  0.01  s   2t
s

0.1
t

ln  s 2
 0.01  s  2.33  2t   

At s = 200mm = 0.2m, t = 0.658s

Example 12.5
A particle moves along a horizontal path with
a velocity of v = (3t2 – 6t) m/s. if it is
initially located at the origin O, determine
the distance traveled in 3.5s and the
particle’s average velocity and speed during
the time interval.
 Example 12.5
Solution
Coordinate System
Assuming positive motion to the right, measured from the
origin, O
Distance traveled
Since v = f(t), the position as a function of time may be
found integrating v = ds/dt with t = 0, s = 0.
  

 

ds  vdt  3t 2  6t dt 
 ds  3 t dt  6 tdt  s  t 
s t t
2 3
 3t 2 m
0 0 0

Example 12.5
Solution
Distance traveled
0 ≤ t < 2 s the velocity is negative, which means the particle is
traveling to the left, and for the t>2s the particle is moving to the right.

s 0 s  4.0m s  6.125m
t 0 t 2 s t 3.5 s

The distance traveled in 3.5s is

sT = 4.0 + 4.0 + 6.125 = 14.125m
Example 12.5
Solution
Velocity
The displacement from t = 0 to t = 3.5s is Δs = 6.125 – 0 =
6.125m
And so the average velocity is
s 6.125
aavg    1.75m / s 
t 3.5  0

Average speed, v 
sp avg 
sT 14.125
  4.04m / s
t 3.5  0

CONCEPT QUIZ
3 m/s 5 m/s

t=2s t=7s

1. A particle moves along a horizontal path with its velocity

varying with time as shown. The average acceleration of
the particle is _________.
A) 0.4 m/s2 B) 0.4 m/s2
C) 1.6 m/s2 D) 1.6 m/s2

2. A particle has an initial velocity of 30 m/s to the left. If it

then passes through the same location 5 seconds later with
a velocity of 50 m/s to the right, the average velocity of the
particle during the 5 s time interval is _______.
A) 10 m/s B) 40 m/s
C) 16 m/s D) 0 m/s
 ATTENTION QUIZ
1. A particle has an initial velocity of 3 m/s to the left at
s0 = 0 ft. Determine its position when t = 3 s if the
acceleration is 2 m/s2 to the right.

A) 0.0 m B) 6.0 m
C) 18.0 m D) 9.0 m

2. A particle is moving with an initial velocity of v = 12 m/s

and constant acceleration of 3.78 m/s2 in the same
direction as the velocity. Determine the distance the
particle has traveled when the velocity reaches 30 m/s.

A) 50 m B) 100 m
C) 150 m D) 200 m

RECTILINEAR KINEMATICS: ERRATIC

MOTION
Today’s Objectives:
Students will be able to:
In-Class Activities:
1. Determine position,
velocity, and • Reading Quiz
acceleration of a particle • s-t, v-t, a-t, v-s, and a-s
using graphs.
diagrams
• Concept Quiz
• Group Problem Solving
• Attention Quiz
 READING QUIZ

1. The slope of a v-t graph at any instant represents

instantaneous

A) velocity. B) acceleration.
C) position. D) jerk.

2. Displacement of a particle in a given time interval

equals the area under the ___ graph during that time.

A) a-t B) a-s
C) v-t C) s-t

ERRATIC MOTION
(Section 12.3)
Graphing provides a good way
to handle complex motions that
would be difficult to describe
with formulas.
Graphs also provide a visual
description of motion and
reinforce the calculus concepts
of differentiation and integration
as used in dynamics.

The approach builds on the facts that slope and

differentiation are linked and that integration can be
thought of as finding the area under a curve.
S-T GRAPH

Plots of position vs. time can be

used to find velocity vs. time
curves. Finding the slope of the
line tangent to the motion curve
at any point is the velocity at
that point (or v = ds/dt).

Therefore, the v-t graph can be

constructed by finding the slope
at various points along the s-t
graph.

V-T GRAPH
Plots of velocity vs. time can be used
to find acceleration vs. time curves.
Finding the slope of the line tangent
to the velocity curve at any point is
the acceleration at that point (or a =
dv/dt).

Therefore, the acceleration vs. time

(or a-t) graph can be constructed by
finding the slope at various points
along the v-t graph.

Also, the distance moved

(displacement) of the particle is the
area under the v-t graph during time
t.
A-T GRAPH

Given the acceleration vs. time

or a-t curve, the change in
velocity (v) during a time
period is the area under the a-t
curve.

So we can construct a v-t graph

from an a-t graph if we know
the initial velocity of the
particle.

A-S GRAPH

A more complex case is presented by

the acceleration versus position or a-
s graph. The area under the a-s
curve represents the change in
velocity
(recall  a ds =  v dv ).
s2
½ (v1² – vo²) = a ds = area under the
s1
a-s graph

This equation can be solved for v1,

allowing you to solve for the
velocity at a point. By doing this
repeatedly, you can create a plot of
velocity versus distance.
 V-S GRAPH
Another complex case is
presented by the velocity vs.
distance or v-s graph. By reading
the velocity v at a point on the
curve and multiplying it by the
slope of the curve (dv/ds) at this
same point, we can obtain the
acceleration at that point. Recall
the formula

a = v (dv/ds).

Thus, we can obtain an a-s plot

from the v-s curve.

EXAMPLE
Given: The s-t graph for a sports car moving along a straight
road.

Find: The v-t graph and a-t graph over the time interval shown.

What is your plan of attack for the problem?

 EXAMPLE (continued)
Solution: The v-t graph can be constructed by finding the
slope of the s-t graph at key points. What are
those?

when 0 < t < 5 s; v0-5 = ds/dt = d(3t2)/dt = 6 t m/s

when 5 < t < 10 s; v5-10 = ds/dt = d(30t75)/dt = 30 m/s

v(m/s)
v-t graph

30
t(s)
5 10

EXAMPLE (continued)
Similarly, the a-t graph can be constructed by finding the
slope at various points along the v-t graph. Using the
results of the first part where the velocity was found:
when 0 < t < 5 s; a0-5 = dv/dt = d(6t)/dt = 6 m/s2

when 5 < t < 10 s; a5-10 = dv/dt = d(30)/dt = 0 m/s2

a(m/s2) a-t graph

6
t(s)
5 10
 EXAMPLE 12.6

A bicycle moves along a straight road such that it position is

described by the graph as shown. Construct the v-t and a-t graphs
for 0 ≤ t ≤ 30s.

EXAMPLE 12.6 (Continued)

Solution:
v-t Graph. The v-t graph can be determined by differentiating
the eqns defining the s-t graph
ds
0  t  10 s; s  t2 v  2t
dt
ds
10 s  t  30 s; s  20t  100 v   20
dt
The results are plotted.
We obtain specify values of v by measuring the slope of the s-t
graph at a given time instant.

s 500  100
v   20m / s
t 30  10
 EXAMPLE 12.6 (Continued)

a-t Graph. The a-t graph can be determined by

differentiating the eqns defining the lines of the v-t graph.

dv
0  t  10 s; v  2t a  2m/s 2
dt
dv
10  t  30 s; v  20 a 0
dt

The results are plotted.

EXAMPLE 12.7

A test car starts from rest and

travels along a straight track such
that it accelerates at a constant
rate for 10 s and then decelerates
at a constant rate. Draw the v-t
and s-t graphs and determine the
time t’ needed to stop the car.
How far has the car traveled?
 EXAMPLE 12.7 (Continued)

Solution:
v-t Graph. The v-t graph can be determined by integrating the
straight-line segments of the a-t graph. Using initial condition v =
0 when t = 0,

v t
0  t  10 s a  10;  0
dv   10 dt , v  10t
0

EXAMPLE 12.7 (Continued)

When t = 10s, v = 100m/s, using this as initial condition for

the next time period, we have
v t
10 s  t  t ; a  2; 
100
dv    2 dt , v  2t  120
10

When t = t’ we require v = 0. This yield t’ = 60 s

s-t Graph. Integrating the eqns of the v-t graph yields the
corresponding eqns of the s-t graph. Using the initial conditions s
= 0 when t = 0,
s t
0  t  10 s; v  10t ; 
0
ds   10t dt , s  5t 2
0
 EXAMPLE 12.7 (Continued)

When t = 10s, s = 500m. Using this initial condition,

ds    2t  120 dt
s t
10 s  t  60 s; v  2t  120; 
500 10

s  t 2  120t  600
When t’ = 60s, the position is s = 3000m

EXAMPLE 12.8

The v-s graph describing the motion of a motorcycle is shown in

Fig 12-15a. Construct the a-s graph of the motion and determine
the time needed for the motorcycle to reach the position s = 400 m.
 EXAMPLE 12.8 (Continued)

Solution:
a-s Graph. Since the eqns for the segments of the v-s graph are
given, a-s graph can be determined using a ds = v dv.
0  s  200m; v  0.2 s  10
dv
av  0.04 s  2
ds
200m  s  400m; v  50;
dv
av 0
ds

Time. The time can be obtained using v-s graph and v =

ds/dt. For the first segment of motion, s = 0 at t = 0,

EXAMPLE 12.8 (Continued)

ds ds
0  s  200 m; v  0.2 s  10; dt  
v 0.2  10
t ds
s
o dt  
0 0 .2 s  10

t  5 ln( 0.2 s  10 )  5 ln 10
At s = 200 m, t = 8.05 s
For second segment of motion,
ds ds
200  s  400m; v  50; dt  
v 50
t s ds
8.05 200 50
dt 

s
t  4.05
50
At s = 400 m, t = 12.1 s
 CONCEPT QUIZ

1. If a particle starts from rest and

accelerates according to the graph
shown, the particle’s velocity at
t = 20 s is

A) 200 m/s B) 100 m/s

C) 0 D) 20 m/s

2. The particle in Problem 1 stops moving at t = _______.

A) 10 s B) 20 s
C) 30 s D) 40 s

ATTENTION QUIZ
1. If a car has the velocity curve shown, determine the time
t necessary for the car to travel 100 meters.
v
A) 8 s B) 4 s 75
C) 10 s D) 6 s

t
6s
2. Select the correct a-t graph for the velocity curve shown.
a a
v
A) B)
t t

a a
C) D) t
t t
 CURVILINEAR MOTION:
GENERAL & RECTANGULAR COMPONENTS
Today’s Objectives:
Students will be able to:
1. Describe the motion
of a particle traveling
along a curved path.
2. Relate kinematic
quantities in terms of
the rectangular
components of the
vectors.
In-Class Activities:
• Reading Quiz
• Applications
• General Curvilinear Motion
• Rectangular Components
of Kinematic Vectors
• Concept Quiz
• Attention Quiz

READING QUIZ
1. In curvilinear motion, the direction of the instantaneous
velocity is always
A) tangent to the hodograph.
B) perpendicular to the hodograph.
C) tangent to the path.
D) perpendicular to the path.

2. In curvilinear motion, the direction of the

instantaneous acceleration is always
A) tangent to the hodograph.
B) perpendicular to the hodograph.
C) tangent to the path.
D) perpendicular to the path.
 APPLICATIONS

The path of motion of a

plane can be tracked with
radar and its x, y, and z
coordinates (relative to a
point on earth) recorded as
a function of time.
How can we determine the
velocity or acceleration of the
plane at any instant?

APPLICATIONS
(continued)

A roller coaster car travels

down a fixed, helical path
at a constant speed.

How can we determine

its position or
acceleration at any
instant?
If you are designing the track, why is it important to
be able to predict the acceleration of the car?
 GENERAL CURVILINEAR MOTION
(Section 12.4)
A particle moving along a curved path undergoes curvilinear motion. Since
the motion is often three-dimensional, vectors are used to describe the motion.

A particle moves along a curve defined

by the path function, s.

The position of the particle at any instant is designated by the vector

r = r(t). Both the magnitude and direction of r may vary with time.

If the particle moves a distance s along the

curve during time interval t, the displacement is
determined by vector subtraction: r = r’ - r

VELOCITY
Velocity represents the rate of change in the
position of a particle.
The average velocity of the
particle during the time increment
t is
vavg = r/t .
The instantaneous velocity is the
time-derivative of position
v = dr/dt .
The velocity vector, v, is always
tangent to the path of motion.

The magnitude of v is called the speed. Since the arc

length s approaches the magnitude of r as t→0, the
speed can be obtained by differentiating the path function
(v = ds/dt). Note that this is not a vector!
 ACCELERATION
Acceleration represents the rate of
change in the velocity of a particle.
If a particle’s velocity changes from v to v’
over a time increment t, the average
acceleration during that increment is:
aavg = v/t = (v - v’)/t
The instantaneous acceleration is the time-
derivative of velocity:
a = dv/dt = d2r/dt2

A plot of the locus of points defined by the

arrowhead of the velocity vector is called a
hodograph. The acceleration vector is tangent
to the hodograph, but not, in general, tangent
to the path function.

CURVILINEAR MOTION: RECTANGULAR COMPONENTS

(Section 12.5)
It is often convenient to describe the motion of a particle in
terms of its x, y, z or rectangular components, relative to a
fixed frame of reference.
The position of the particle can
be defined at any instant by the
position vector
r=xi+yj+zk .
The x, y, z components may all
be functions of time, i.e.,
x = x(t), y = y(t), and z = z(t) .

The magnitude of the position vector is: r = (x2 + y2 + z2)0.5

The direction of r is defined by the unit vector: ur = (1/r)r

 RECTANGULAR COMPONENTS: VELOCITY
The velocity vector is the time derivative of the position vector:

v = dr/dt = d(xi)/dt + d(yj)/dt + d(zk)/dt

Since the unit vectors i, j, k are constant in magnitude and

direction, this equation reduces to v = vx i + vy j + vz k
• • •
where vx = x = dx/dt, vy = y = dy/dt, vz = z = dz/dt

The magnitude of the

velocity vector is
v = [(vx)2 + (vy)2 + (vz)2]0.5

The direction of v is tangent

to the path of motion.

RECTANGULAR COMPONENTS: ACCELERATION

The acceleration vector is the time derivative of the

velocity vector (second derivative of the position
vector):
a = dv/dt = d2r/dt2 = axi + ayj + azk
• •• • ••
where ax = vx = x = dvx /dt, ay = vy = y = dvy /dt,
• ••
az = vz = z = dvz /dt
The magnitude of the acceleration vector is
a = [(ax)2 + (ay)2 + (az)2 ]0.5

The direction of a is usually

not tangent to the path of the
particle.
 EXAMPLE
Given:The box slides down the slope described by the
equation y = (0.05x2) m, where x is in meters.
vx = -3 m/s, ax = -1.5 m/s2 at x = 5 m.

Find: The y components of the velocity and the

acceleration of the box at x = 5 m.

Plan: Note that the particle’s velocity can be related by

taking the first time derivative of the path’s
equation. And the acceleration can be related by
taking the second time derivative of the path’s
equation.

Take a derivative of the position to find the

component of the velocity and the acceleration.

EXAMPLE (continued)
Solution:
Find the y-component of velocity by taking a
time derivative of the position y = (0.05x2)
  
 y = 2 (0.05) x x = 0.1 x x

Find the acceleration component by taking a

time derivative of the velocity y
   
 y = 0.1 x x + 0.1 x x

Substituting the x-component


of the

acceleration, velocity at x=5 into y and y.
 EXAMPLE (continued)

 
Since x = vx = -3 m/s, x = ax = -1.5 m/s2 at x = 5 m

 
 y = 0.1 x x = 0.1 (5) (-3) = -1.5 m/s

    
y = 0.1 x x + 0.1 x x
= 0.1 (-3)2 + 0.1 (5) (-1.5)
= 0.9 – 0.75
= 0.15 m/s2

At x = 5 m
vy = – 1.5 m/s = 1.5 m/s 

ay = 0.15 m/s2 

EXAMPLE 12.9

At any instant the horizontal position of

the weather balloon is defined by x =
(8t) m, where t is in second. If the
equation of the path is y = x2/10,
determine the magnitude and direction
of the both the velocity and acceleration
when t = 2 s.
 EXAMPLE 12.9 (Continued)

Solution:

Velocity.
d
v x  x  8t   8m / s
dt
v y  y 
d 2
dt
 
x / 10  2 xx / 10  25.6m / s

When t = 2 s, the magnitude of velocity is

v 8 2  25 .6 2  26 . 8 m / s
The direction is tangent to the path, where
vy
 v  tan 1  72.6
vx

EXAMPLE 12.9 (Continued)

Acceleration.
a x  vx  0
d
a y  v y  (2 xx / 10)  2 xx / 10  2 xx / 10  12.8
dt
 a  0   12.8  12.8m / s 2
2 2

12.8
 a  tan 1  90
0
 EXAMPLE 12.10

For a short time, the path of the plane is Fig. 12-19a is

described by y=(0.001) x2 m. If the plane is rising with a
constant velocity of 10m/s, determine the magnitude of the
velocity and acceleration of the plane when it is at y=100m

EXAMPLE 12.10 (Continued)

Solution:
Position.
2
When y=100m, then 100=0.001 x or x=316.2m. Also, since vy=10m/s, then
y= vy t 100m=(10m/s)t t=10s
Velocity.
Using the chain rule to find the relationship between the velocity components,
We have d
v y  y  (0.001x 2 )  (0.002 x) x  0.002 xvx (1)
dt
Thus
10m / s  0.002(316.2m)(v x )
v x  15.81m / s
The magnitude of the velocity is therefore

2 2
v  v x  v y  15.812  10 2  18.7 m / s
 EXAMPLE 12.10 (Continued)

Acceleration.
Using the chain rule, the time derivative of Eq. (1) gives the relation between
the acceleration components.
2
a y  v y  0.002 xv x  0.002 xvx  0.002(v x  xa x )

When x=316.2m, vx =15.81m/s, v y = a y=0,

0=0.002( (15.81) 2  316.2m(a x ) )

a y = -0.791 m / s 2

The magnitude of the plane’s acceleration is therefore

2 2
a  a x  a y  (0.791) 2  0 2  0.791m / s

CONCEPT QUIZ
1. If the position of a particle is defined by
r = [(1.5t2 + 1) i + (4t – 1) j ] (m), its speed at t = 1 s
is
A) 2 m/s B) 3 m/s
C) 5 m/s D) 7 m/s

2. 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
 ATTENTION QUIZ
1. If a particle has moved from A to B along the circular
path in 4s, what is the average velocity of the particle?
A) 2.5 i m/s y

B) 2.5 i +1.25j m/s

R=5m
x
C) 1.25  i m/s
A B
D) 1.25  j m/s

2. The position of a particle is given as r = (4t2 i -

2x j) m. Determine the particle’s acceleration.
A) (4 i +8 j ) m/s2 B) (8 i -16 j ) m/s2
C) (8 i) m/s2 D) (8 j ) m/s2

MOTION OF A PROJECTILE

Today’s Objectives:
Students will be able to: In-Class Activities:
1. Analyze the free-flight • Reading Quiz
motion of a projectile. • Applications
• Kinematic Equations for
Projectile Motion
• Examples
• Concept Quiz
• Attention Quiz
 READING QUIZ

1. The downward acceleration of an object in free-flight

motion is
A) zero. B) increasing with time.
C) 9.81 m/s2. D) decreasing with time.

2. The horizontal component of velocity remains _________

during a free-flight motion.
A) zero B) constant
C) at 9.81 m/s2 D) decreasing with time

APPLICATIONS

A good kicker instinctively knows at what angle, θ, and

initial velocity, vA, he must kick the ball to make a field goal.
For a given kick “strength”, at what angle should the ball be
kicked to get the maximum distance?
 MOTION OF A PROJECTILE (Section 12.6)

Projectile motion can be treated as two rectilinear motions,

one in the horizontal direction experiencing zero
acceleration and the other in the vertical direction
experiencing constant acceleration (i.e., from gravity).

MOTION OF A PROJECTILE (Section 12.6)

For illustration, consider the two balls on

the left. The red ball falls from rest,
whereas the yellow ball is given a
horizontal velocity. Each picture in this
sequence is taken after the same time
interval. Notice both balls are subjected to
the same downward acceleration since
they remain at the same elevation at any
instant. Also, note that the horizontal
distance between successive photos of the
yellow ball is constant since the velocity in
the horizontal direction is constant.
KINEMATIC EQUATIONS: HORIZONTAL MOTION

Since ax = 0, the velocity in the horizontal direction remains

constant (vx = vox) and the position in the x direction can be
determined by:
x = xo + (vox) t

Why is ax equal to zero (what assumption must be

made if the movement is through the air)?

KINEMATIC EQUATIONS: VERTICAL MOTION

Since the positive y-axis is directed upward, ay = – g.
Application of the constant acceleration equations yields:

vy = voy – g t

y = yo + (voy) t – ½ g t2

vy2 = voy2 – 2 g (y – yo)

For any given problem, only two of these three

equations can be used. Why?
 EXAMPLE I
Given: vA and θ
Find: Horizontal distance it
travels and vC.
Plan:
Apply the kinematic
relations in x- and y-
directions.

Solution: Using vAx = 10 cos 30 and vAy = 10 sin 30

We can write vx = 10 cos 30

vy = 10 sin 30 – (9.81) t
x = (10 cos 30) t
y = (10 sin 30) t – ½ (9.81) t2

Since y = 0 at C
0 = (10 sin 30) t – ½ (9.81) t2  t = 0, 1.019 s

EXAMPLE I (continued)

Velocity components at C are;

vCx = 10 cos 30
= 8.66 m/s 

vCy = 10 sin 30 – (9.81) (1.019)

= -5 m/s = 5 m/s 

Horizontal distance the ball travels is;

x = (10 cos 30) t
x = (10 cos 30) 1.019 = 8.83 m
 EXAMPLE II

Given: Projectile is fired with vA=150

m/s at point A.

Find: The horizontal distance it

travels (R) and the time in the
air.

Plan: How will you proceed?

EXAMPLE II

Given: Projectile is fired with vA=150

m/s at point A.

Find: The horizontal distance it

travels (R) and the time in the
air.

Plan: Establish a fixed x, y coordinate system (in this

solution, the origin of the coordinate system is placed
at A). Apply the kinematic relations in x- and y-
directions.
 EXAMPLE II (continued)
Solution:
1) Place the coordinate system at point A.
Then, write the equation for horizontal
motion.
+  xB = xA + vAx tAB
where xB = R, xA = 0, vAx = 150 (4/5) m/s

Range, R, will be R = 120 tAB

2) Now write a vertical motion equation. Use the distance

equation.
+ yB = yA + vAy tAB – 0.5 g tAB2
where yB = – 150, yA = 0, and vAy = 150(3/5) m/s
We get the following equation: –150 = 90 tAB + 0.5 (– 9.81) tAB2
Solving for tAB first, tAB = 19.89 s.
Then, R = 120 tAB = 120 (19.89) = 2387 m

Example III

y Given: A skier leaves the ski

jump ramp at A = 25o
x and hits the slope at
B.

Find: The skier’s initial speed vA.

Plan: Establish a fixed x,y coordinate system (in this

solution, the origin of the coordinate system is placed
at A). Apply the kinematic relations in x and y-
directions.
 Example III
(continued)
Solution:
Motion in x-direction:
Using xB = xA + vox(tAB) => (4/5)100 = 0 + vA (cos 25) tAB

80 88.27
tAB= =
vA (cos 25) vA

Motion in y-direction:
Using yB = yA + voy(tAB) – ½ g(tAB)2

88.27 88.27 2
– 64 = 0 + vA(sin 25) { – }½ (9.81) { }
vA vA

vA = 19.42 m/s

Example IV

Given: The golf ball is struck

with a velocity of 24
m/s as shown.
Find: Distance d to where
y it will land.
x Plan:
 Example IV

Given: The golf ball is struck

with a velocity of 80
ft/s as shown.
Find: Distance d to where
y it will land.
x

Plan: Establish a fixed x, y coordinate system (in this

solution, the origin of the coordinate system is placed
at A). Apply the kinematic relations in x and y-
directions.

Example IV
(continued)
Solution:
Motion in x-direction:
Using xB = xA + vox(tAB)
 d cos10 = 0 + 24 (cos 55) tAB y
tAB = 0.07154 d x

Motion in y-direction:
Using yB = yA + voy(tAB) – ½ g(tAB)2
 d sin10 = 0 + 24(sin 55)(0.07154 d) – ½ (9.81) (0.07154 d)2
 0 = 1.2328 d – 0.025104 d2

d = 0, 49.1 m
 CONCEPT QUIZ

1. In a projectile motion problem, what is the maximum

number of unknowns that can be solved?

A) 1 B) 2

C) 3 D) 4

2. The time of flight of a projectile, fired over level ground,

with initial velocity Vo at angle θ, is equal to?

A) (vo sin )/g B) (2vo sin )/g

C) (vo cos )/g D) (2vo cos )/g

ATTENTION QUIZ
1. A projectile is given an initial velocity
vo at an angle above the horizontal.
The velocity of the projectile when it
hits the slope is ____________ the
initial velocity vo.

A) less than B) equal to

C) greater than D) none of the above

2. A particle has an initial velocity vo at angle f with respect

to the horizontal. The maximum height it can reach is
when
A)  = 30° B)  = 45°
C)  = 60° D)  = 90°
 CURVILINEAR MOTION:
NORMAL AND TANGENTIAL COMPONENTS
Today’s Objectives:
Students will be able to:
1. Determine the normal
and tangential In-Class Activities:
components of velocity • Reading Quiz
and acceleration of a • Applications
particle traveling along a • Normal and Tangential
curved path. Components of Velocity
and Acceleration
• Special Cases of Motion
• Examples
• Concept Quiz
• Attention Quiz

READING QUIZ
1. If a particle moves along a curve with a constant speed,
then its tangential component of acceleration is
A) positive. B) negative.
C) zero. D) constant.

2. The normal component of acceleration represents

A) the time rate of change in the magnitude of the
velocity.
B) the time rate of change in the direction of the velocity.
C) magnitude of the velocity.
D) direction of the total acceleration.
 APPLICATIONS
Cars traveling along a clover-leaf
interchange experience an
acceleration due to a change in
velocity as well as due to a
change in direction of the
velocity.

If the car’s 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?

Why would you care about the total acceleration of the car?

NORMAL AND TANGENTIAL COMPONENTS

(Section 12.7)
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).

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

considered, positive in the direction of the particle’s motion.
The n-axis is perpendicular to the t-axis with the positive
direction toward the center of curvature of the curve.
 NORMAL AND TANGENTIAL COMPONENTS
(continued)
The positive n and t directions are
defined by the unit vectors un and ut,
respectively.

The center of curvature, O’, always

lies on the concave side of the curve.
The radius of curvature, , is defined
as the perpendicular distance from
the curve to the center of curvature
at that point.

The position of the particle at any

instant is defined by the distance, s, along the curve from
a fixed reference point.

VELOCITY IN THE n-t COORDINATE SYSTEM

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). .
v = v ut where v = s = ds/dt

Here v defines the magnitude of the velocity (speed) and

ut defines the direction of the velocity vector.
ACCELERATION IN THE n-t COORDINATE SYSTEM
Acceleration is the time rate of change of velocity:
. .
a = dv/dt = d(vut)/dt = vut + vut

.
Here v represents the change
in the magnitude of velocity
.
and ut represents the rate of
change in the direction of ut.

After mathematical manipulation,

the acceleration vector can be
expressed as:
.
a = v ut + (v2/) un = at ut + an un.

ACCELERATION IN THE n-t COORDINATE

SYSTEM (continued)
So, there are two components to the
acceleration 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

• The normal or centripetal component is always directed

toward the center of curvature of the curve. an = v2/

• The magnitude of the acceleration vector is

a = [(at)2 + (an)2]0.5
 SPECIAL CASES OF MOTION
There are some special cases of motion to consider.
1) The particle moves along a straight line. .
  => an = v2/= 0 => a = at = v
The tangential component represents the time rate of
change in the magnitude of the velocity.
2) The particle moves along a curve at constant speed.
.
at = v = 0 => a = an = v2/
The normal component represents the time rate of
change in the direction of the velocity.

SPECIAL CASES OF MOTION (continued)

3) The tangential component of acceleration is constant, at =
(at)c.
In this case,
s = so + vo t + (1/2) (at)c t2
v = vo + (at)c t
v2 = (vo)2 + 2 (at)c (s – so)
As before, so and vo are the initial position and velocity of
the particle at t = 0. How are these equations related to
projectile motion equations? Why?

4) The particle moves along a path expressed as y = f(x).

The radius of curvature, , at any point on the path can be
calculated from
 = ________________
[ 1  (dy/dx)2]3/2
d2y/dx2
 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 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.

EXAMPLE I
Given: A car travels along the road
with a speed of v = (2s)
m/s, where s is in meters.
 = 50 m

Find: The magnitudes of the car’s

acceleration at s = 10 m.
Plan:

1) Calculate the velocity when s = 10 m using v(s).

2) Calculate the tangential and normal components of
acceleration and then the magnitude of the
acceleration vector.
 EXAMPLE I
Solution: (continued)
1) The velocity vector is v = v ut , where the magnitude is
given by v = (2s) m/s.
When s = 10 m: v = 20 m/s
.
2) The acceleration vector is a = atut + anun = vut + (v2/)un
Tangential component:
.
Since at = v = dv/dt = (dv/ds) (ds/dt) = v (dv/ds)
where v = 2s  at = d(2s)/ds (v)= 2 v
At s = 10 m: at = 40 m/s2

Normal component: an = v2/

When s = 10 m: an = (20)2 / (50) = 8 m/s2

The magnitude of the acceleration is

a = [(at)2 + (an)2]0.5 = [(40)2 + (8)2]0.5 = 40.8 m/s2

EXAMPLE II
Given: A boat travels around a
circular path,  = 40 m, at a
speed that increases with
time, v = (0.0625 t2) m/s.

Find: The magnitudes of the boat’s

velocity and acceleration at
the instant t = 10 s.
Plan:

The boat starts from rest (v = 0 when t = 0).

1) Calculate the velocity at t = 10 s using v(t).
2) Calculate the tangential and normal components of
acceleration and then the magnitude of the
acceleration vector.
 EXAMPLE II (continued)
Solution:

1) The velocity vector is v = v ut , where the magnitude is

given by v = (0.0625t2) m/s. At t = 10s:
v = 0.0625 t2 = 0.0625 (10)2 = 6.25 m/s
.
2) The acceleration vector is a = atut + anun = vut + (v2/)un.
.
Tangential component: at = v = d(.0625 t2 )/dt = 0.125 t m/s2
At t = 10s: at = 0.125t = 0.125(10) = 1.25 m/s2

Normal component: an = v2/ m/s2

At t = 10s: an = (6.25)2 / (40) = 0.9766 m/s2

The magnitude of the acceleration is

a = [(at)2 + (an)2]0.5 = [(1.25)2 + (0.9766)2]0.5 = 1.59 m/s2

Example III

Given: The train engine at E has a

at speed of 20 m/s and an
acceleration of 14 m/s2
acting in the direction shown.

an Find: The rate of increase in the

train’s speed and the radius of
curvature  of the path.
Plan:
 Example III (continued)
Solution:
1) Acceleration

Tangential component :
at =14 cos(75) = 3.623 m/s2

Normal component :
an = 14 sin(75) = 13.52 m/s2

3) The normal component of acceleration is

an = v2/  13.52 = 202 / 
 = 29.6 m

CONCEPT QUIZ

1. A particle traveling in a circular path of radius 300 m has

an 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

2. 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
 ATTENTION QUIZ

1. The magnitude of the normal acceleration is

A) proportional to radius of curvature.
B) inversely proportional to radius of curvature.
C) sometimes negative.
D) zero when velocity is constant.

2. The directions of the tangential acceleration and velocity

are always
A) perpendicular to each other.B) collinear.
C) in the same direction. D) in opposite directions.

CURVILINEAR MOTION: CYLINDRICAL COMPONENTS

Today’s Objectives:
Students will be able to:
1. Determine velocity and In-Class Activities:
acceleration components
• Reading Quiz
using cylindrical
coordinates. • Applications
• Velocity Components
• Acceleration Components
• Examples
• Concept Quiz
• Attention Quiz
 READING QUIZ

1. In a polar coordinate system,. the velocity

. vector can
. be
written as v = vrur + vθuθ = rur + ruθ. The term  is
called
A) transverse velocity. B) radial velocity.
C) angular velocity. D) angular acceleration.

2. The speed of a particle in a cylindrical coordinate system is

. .
A) r B) r

. . . . .
C) (r)2 + (r)2 D) (r)2 + (r)2 + (z)2

APPLICATIONS

A cylindrical coordinate
system is used in cases
where the particle moves
along a 3-D curve.

In the figure shown, the

box slides down the helical
ramp. How would you find
the box’s velocity
components to check to see
if the package will fly off
the ramp?
 CYLINDRICAL COMPONENTS
(Section 12.8)

We can express the location of P in polar coordinates as r = r

ur. 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.

VELOCITY in POLAR COORDINATES)

The instantaneous velocity is defined as:
v = dr/dt = d(rur)/dt
. dur
v = rur + r
dt
Using the chain rule:
dur/dt = (dur/d)(d/dt) 
We can prove that
 du /d
r   = uθ so dur/dt = uθ
Therefore: v = rur + ruθ

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 or
 
v= (r 2 r )2
 ACCELERATION (POLAR COORDINATES)
The instantaneous acceleration is defined as:
. .
a = dv/dt = (d/dt)(rur + ruθ)

After manipulation, the acceleration can

be expressed as
.. . .. ..
a = (r – r 2)ur + (r + 2r)uθ
.. .
The term (r – r 2) is the radial
acceleration or ar .
.. ..
The term (r + 2r) is the transverse
acceleration or a .

.. . .. ..
The magnitude of acceleration is a = (r – r 2)2 + (r + 2r)2

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: vP = ru r + ruθ + zuz

.. . .. .. ..
Acceleration: aP = (r – r )ur + (r + 2r)uθ
2 + zuz
 EXAMPLE

Given: The platform is rotating such

that, at any instant, its
angular position is  = (4t3/2)
rad, where t is in seconds.
A ball rolls outward so that its
position is r = (0.1t3) m.

Find: The magnitude of velocity and acceleration of the

ball when t = 1.5 s.

Plan: Use the polar coordinate system.

EXAMPLE
(continued)

Substitute into the

. equation
. for velocity
v = r ur + r uθ = 0.675 ur + 0.3375 (7.348) uθ
= 0.675 ur + 2.480 uθ

v = (0.675)2 + (2.480)2 = 2.57 m/s

 EXAMPLE
(continued)
Substitute in the equation for acceleration:
.. . .. ..
a = (r – r 2)ur + (r + 2r)uθ

a = [0.9 – 0.3375(7.348)2] ur
+ [0.3375(2.449) + 2(0.675)(7.348)] uθ

a = – 17.33 ur + 10.75 uθ m/s2

a = (– 17.33)2 + (10.75)2 = 20.4 m/s2

Example II

Use cylindrical coordinates.

 Example II (continued)

Substitute in the
. equation
. for velocity
.
v = r ur + r uθ + z ur
= 1.5 ur + 3 (1.5) uθ + 24 uz
= 1.5 ur + 4.5 uθ + 24 uz

Magnitude v = (1.5)2 + (4.5)2 + (24)2 = 24.5 m/s

Example II (continued)

Acceleration equation in cylindrical coordinates

.. . .. .. ..
a = (r – r 2)ur + (r + 2r)uθ + zuz
= {0 – 3 (1.5)2}ur +{3 (0) + 2 (1.5) 1.5 } uθ + 8 uz
a = [6.75 ur + 4.5 uθ + 8 uz] m/s2

a = (6.75)2 + (4.5)2 + (8)2 = 11.4 m/s2

 EXAMPLE 12.19

The searchlight casts a spot of light along the face of a wall that is
located 100m from the searchlight. Determine the magnitudes of
the velocity and acceleration at which the spot appears to travel
across the wall at the instant θ = 45°. The searchlight is rotating at
a constant rate of 4 rad/s

EXAMPLE 12.19(Continued)

Coordinate System. Polar coordinates will be used since the

angular rate of the searchlight is given. To find the time
derivatives, it is necessary to relate r to θ.
r = 100/cos θ = 100sec θ

Velocity and Acceleration.

r  100(sec tan  )

r  100 sec tan 2     100 sec3     100(sec tan  )
2 2
 EXAMPLE 12.19(Continued)

Since  = 4 rad/s = constant, = 0, when  = 45°,

r  141.4
r  565.7
r  6788.2
  
v  rur  ru
 
 {565.7ur  565.7u }m / s
v  800m / s

EXAMPLE 12.19(Continued)

  
a  (r  r 2 )ur  (r  2r)u
 
 {4525.5ur  4525.5u }mm / s 2
a  6400mm / s 2
 EXAMPLE 12.20

Due to the rotation of the forked rod,

ball A travels across the slotted path, a
portion of which is in the shape of a
cardioids, r = 0.15(1 – cos θ)m where θ
is in radians. If the ball’s velocity is v =
1.2m/s and its acceleration is 9m/s2 at
instant θ = 180°, determine the angular
velocity and angular acceleration of the
fork.

EXAMPLE 12.20 (Continued)

Coordinate System. For this unusual path, use polar coordinates.

Velocity and Acceleration.

r  0.15(1  cos )
r  0.15(sin  )
r  0.15(cos )()  0.15(sin  )

Evaluating these results at θ = 180°

r  0.3m r  0 r  0.15 2

 EXAMPLE 12.20 (Continued)

Since v = 1.2 m/s

v  r 2  r 
2

  4rad / s

a  (r  r 2 ) 2  (r  2r) 2

  18rad / s 2

CONCEPT QUIZ

.
1. If r is zero for a particle, the particle is

A) not moving. B) moving in a circular path.

C) moving on a straight line. D) moving with constant velocity.

2. If a particle moves in a circular path with constant velocity, its

radial acceleration is
..
A) zero. B) r .
. ..
C) − r 2. D) 2r .
 ATTENTION QUIZ
1. The radial component of velocity of a particle moving in a
circular path is always
A) zero.
B) constant.
C) greater than its transverse component.
D) less than its transverse component.

2. 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.

ABSOLUTE DEPENDENT MOTION ANALYSIS

OF TWO PARTICLES
Today’s Objectives:
Students will be able to:
1. Relate the positions,
velocities, and In-Class Activities:
accelerations of particles
undergoing dependent • Reading Quiz
motion. • Applications
• Define Dependent
Motion
• Develop Position,
Velocity, and
Acceleration
Relationships
• Examples
• Concept Quiz
• Attention Quiz
 READING QUIZ
1. When particles are interconnected by a cable, the
motions of the particles are ______
A) always independent. B) always dependent.
C) not always dependent. D) None of the above.

2. If the motion of one particle is dependent on that of

another particle, each coordinate axis system for
the particles _______
A) should be directed along the path of motion.
B) can be directed anywhere.
C) should have the same origin.
D) None of the above.

APPLICATIONS
The cable and pulley system shown
can be used to modify the speed of
the mine car, A, relative to the
speed of the motor, M.

It is important to establish the

relationships between the various
motions in order to determine the
power requirements for the motor
and the tension in the cable.

For instance, if the speed of the cable (P) is known because

we know the motor characteristics, how can we determine
the speed of the mine car? Will the slope of the track have
any impact on the answer?
 DEPENDENT MOTION (Section 12.9)
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.

The motion of each block can be related mathematically by

defining 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.

DEPENDENT MOTION
(continued)
In this example, position
coordinates 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.

If the cord has a fixed length, the position coordinates sA

and sB are related mathematically by the equation
sA + lCD + sB = lT

Here lT is the total cord length and lCD is the length of cord
passing over the arc CD on the pulley.
 DEPENDENT MOTION
(continued)
The velocities of blocks A and B
can be related by differentiating
the position equation. Note that
lCD and lT remain constant, so
dlCD/dt = dlT/dt = 0

dsA/dt + dsB/dt = 0  vB = -vA

The negative sign indicates that as A moves down the incline
(positive sA direction), B moves up the incline (negative sB
direction).

Accelerations can be found by differentiating the velocity

expression. Prove to yourself that aB = -aA .

DEPENDENT MOTION EXAMPLE

Consider a more complicated

example. Position coordinates
(sA and sB) are defined 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.
 DEPENDENT MOTION EXAMPLE (continued)
The position coordinates are related by
the equation
2sB + h + sA = lT
Where lT is the total cord length minus
the lengths of the red segments.

Since lT 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 your sign convention!

DEPENDENT MOTION EXAMPLE (continued)

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 = lT
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.
 DEPENDENT MOTION: PROCEDURES
These procedures can be used to relate the dependent motion of
particles moving along rectilinear paths (only the magnitudes of
velocity and acceleration change, not their line of direction).

1. Define position coordinates from fixed datum lines,

along the path of each particle. Different datum lines
can be used for each particle.

2. Relate the position coordinates to the cord length.

Segments of cord that do not change in length during
the motion may be left out.

3. If a system contains more than one cord, relate the

position of a point on one cord to a point on another
cord. Separate equations are written for each cord.

4. Differentiate the position coordinate equation(s) to

relate velocities and accelerations. Keep track of signs!

EXAMPLE
Given:In the figure on the left,
the cord at A is pulled
down with a speed of 2
m/s.

Find: The speed of block B.

Plan: There are two cords involved

in the motion in this
example. There will be two
position equations (one for
each cord). Write these two
equations, combine them,
and then differentiate them.
 EXAMPLE (continued)
Solution:
1) Define the position coordinates from a fixed datum line.
Three coordinates must be defined: one for point A (sA),
one for block B (sB), and one for block C (sC).

• Define the datum line through the top

pulley (which has a fixed position).
• sA can be defined to the point A.
• sB can be defined to the center of the
pulley above B.
• sC is defined to the center of pulley C.
• All coordinates are defined as positive
down and along the direction of
motion of each point/object.

EXAMPLE (continued)
2) Write position/length equations
for each cord. 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: sA + 2sC = l1
Cord 2: sB + (sB – sC) = l2

3) Eliminating sC between the two

equations, we get
sA + 4sB = l1 + 2l2

4) Relate velocities by differentiating this expression. Note that

l1 and l2 are constant lengths.
vA + 4vB = 0  vB = – 0.25vA = – 0.25(2) = – 0.5 m/s
The velocity of block B is 0.5 m/s up (negative sB direction).
 Example II
Given:The rope is drawn towards
the motor, M, at a speed of
(5t3/2) m/s, where t is in
seconds.

Find: The speed of block A when

t = 1 s.

Plan:

There is only one cord involved in the motion, so

one position/length equation will be required.
Define position coordinates for block A and the
cable, write the position relation and then
differentiate it to find the relationship between the
two velocities.

Example II (continued)
Solution:
1) A datum line can be drawn through the upper, fixed,
pulleys. Two coordinates must be defined: one for block A
(sA), one for the cable(sM), is drawn towards the motor.
2) Defining sA and sM as shown, the
position relation can be written:
3 sA + sM = l
sA 3) Taking the time derivative of the
sM above equation to relate
velocities:
3 vA + vM = 0 (+ )
Since the rope is drawn towards the
motor at a speed of (5t3/2) m/s,

vM = (5t3/2)  vM = 5 m/s at t = 1s.

3 vA + 5 = 0  vA = 1.67 m/s = 1.67 m/s 
 Example III
Given:In this pulley system, block A is
moving downward with a speed
of 4 m/s while block C is moving
up at 2 m/s.

Find: The speed of block B.

Plan:

All blocks are connected to a single cable, so only one

position/length equation will be required. Define
position coordinates for each block, write out the
position relation, and then differentiate it to relate the
velocities.

Example III
Solution: (continued)
1) A datum line can be drawn through the upper, fixed, pulleys
and position coordinates defined from this line to each block
(or the pulley above the block).

2) Defining sA, sB, and sC as shown, the

position relation can be written:
sA + 2sB + sC = l

3) Differentiate to relate velocities:

vA + 2vB + vC = 0
 4 + 2vB + (-2) =0
 vB = -1 m/s

The velocity of block B is 1 m/s up (negative sB direction).

 EXAMPLE 12.24

A man at A s hoisting a safe S by

walking to the right with a constant
velocity vA = 0.5m/s. Determine the
velocity and acceleration of the safe
when it reaches the elevation at E.
The rope is 30m long and passes
over a small pulley at D.

EXAMPLE 12.24 (continued)

Position Coordinate System. Rope segment DA changes

both direction and magnitude. However, the ends of the rope,
which define the position of S and A, are specified by means of
the x and y coordinates measured from a fixed point and directed
along the paths of motion of the ends of the rope. The x and y
coordinates may be related since the rope has a fixed length l =
30m, which at all times is equal to the length of the segment DA
plus CD.
Using Pythagorean Theorem,
I DA  152  x 2 ICD  15  y  l  lDA  lCD
30  152  x 2  15  y 
y  225  x 2  15 (1)
 EXAMPLE 12.24 (continued)

Time Derivative.
Taking time derivative, using the chain rule where, vS = dy/dt and
vA = dx/dt
dy  1 2x  dx
vS  
dt  2 225  x 2  dt
x
 v (2)
2 A
225  x

At y = 10 m, x = 20 m, vA = 0.5 m/s, vS = 400mm/s ↑

EXAMPLE 12.24 (continued)

The acceleration is determined by taking the time derivative of

eqn (2),

d2y   x(dx / dt )   1  dx 
aS  2
  2 3/ 2  xv A    dt v A
dt  (225  x )   225  x  
2

 1  dv A 225v 2A
 x 
2  dt
 225  x  
225  x 2
3/ 2

At x = 20 m, with vA = 0.5 m/s,

aS  3.6mm / s 2 
 CONCEPT QUIZ
1. Determine the speed of block B.

A) 1 m/s B) 2 m/s

C) 4 m/s D) None of the above.

2. Two blocks are interconnected by a

cable. Which of the following is
correct?
y
A) (vx)A= - (vx)B B) vA= - vB

C) (vy)A= - (vy)B D) All of the above.

x

ATTENTION QUIZ
1. Determine the speed of block B when
block A is moving down at 6 m/s while
block C is moving down at 18 m/s.

A) 24 m/s B) 3 m/s
C) 12 m/s D) 9 m/s
vA=6 m/s vC=18 m/s

2. Determine the velocity vector of

block A when block B is moving
downward with a speed of 10 m/s.

A) (8i + 6j) m/s B) (4i + 3j) m/s j

C) (-8i - 6j) m/s D) (3i + 4j) m/s
vvBB=10 m/s
=10 m/s
i
 RELATIVE MOTION OF TWO PARTICLES USING
TRANSLATING AXES (Section 12.10)
Today’s Objectives: In-Class Activities:
Students will be able to: • Reading quiz
a) Understand translating • Relative position, velocity
frames of reference.
b) Use translating frames of and acceleration
reference to analyze • Vector & graphical methods
relative motion. • Examples
• Concept quiz
• Attention quiz

READING QUIZ

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).

A) one B) two
C) three D) four
 RELATIVE POSITION

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

Therefore, if rB = (10 i + 2 j ) m
and rA = (4 i + 5 j ) m,
then rB/A = (6 i – 3 j ) m.

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

In these equations, vB and vA are called absolute velocities

and vB/A is the relative velocity of B with respect to A.

Note that vB/A = - vA/B .

 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.
aB/A = aB – aA
or
aB = aA + aB/A

Solving Problems

Since the relative motion equations are vector equations,

problems involving them may be solved in one of two ways.
For instance, the velocity vectors in vB = vA + vB/A could be
written as Cartesian vectors and the resulting scalar
equations solved for up to two unknowns.

Alternatively, vector problems can be solved “graphically” by

use of trigonometry. This approach usually makes use of the
law of sines or the law of cosines.

Could a CAD system be used to solve these types of

problems?
 LAWS OF SINES AND COSINES

Since vector addition or subtraction forms

C
a triangle, sine and cosine laws can be
a b
applied to solve for relative or absolute
velocities and accelerations. As review,
A
B their formulations are provided below.
c
Law of Sines: a b c
 
sin A sin B sin C

Law of Cosines: a 2  b 2  c 2  2 bc cos A

2 2 2
b  a  c  2 ac cos B
2 2 2
c  a  b  2 ab cos C

EXAMPLE 12.25

A train, traveling at a constant speed of 60km/h, crosses over a

road. If automobile A is traveling at 45km/h along the road,
determine the magnitude and direction of relative velocity of the
train with respect to the automobile
Vector Analysis.
The relative velocity is measured from the
translating x’, y’ axes attached to the
automobile. Since vT and vA are known in both
magnitude and direction, the unknowns
become the x and y components of vT/A. Using
the x, y axes and a Cartesian vector analysis
  
vT  v A  vT / A
~ ~ ~ 
60 i  (45 cos 45 i  45 sin 45 j )  vT / A
 ~ ~
vT / A  {28.2 i  31.8 j )km / h
 EXAMPLE 12.25 (Continued)

The magnitude of vT/A is

vT / A  (28.2 2  (31.8) 2  42.5km / h

The direction of vT/A defined from the x axis is

vT / A y 31.8
tan   
vT / A x 28.2
  48.5

EXAMPLE 12.25 (Continued)

Scalar Analysis.
The unknown components of vT / A can also be determined
by applying a scalar analysis. We will assume these
components act in the positive x and y directions. Thus,
vt  v A  vT / A
 60 km / h   45km / h   (vT / A) x   (vT / A) y 
     45          
       
Resolving each vector into its x and y components yields
(  )60  45 cos 45   (vT / A ) x  0
(  )0  45 sin 45   0  (vT / A ) y
(vT / A ) x  28.2km / h  28.2km / h 
(vT / A ) y  31.8km / h  31.8km / h 
 EXAMPLE 12.26

Plane A is flying along a straight-line path, while plane B is flying

along a circular path having a radius of curvature of ρB = 400 km.
Determine the velocity and acceleration of B as measured by the
pilot of A.

EXAMPLE 12.26 (Continued)

Velocity. The x, y axes are located at an arbitrary

fixed point. Since the motion relative to plane A is to be
determined, the translating frame of reference x’. y’ is attached to
it. Applying the relative-velocity equation in scalar form since the
velocity vectors of both plane are parallel at the instant shown,

vB  v A  vB / A
(  )
600  700  vB / A
vB / A  100km / h  100km / h 
 EXAMPLE 12.26 (Continued)

Acceleration. Plane B has both tangential and normal

components of acceleration, since it is flying along a curved path.
Magnitude of normal acceleration,
vB2
aB n   900km / h 2

Applying the relative-acceleration equation,
aB  a A  aB / A
900~i  100 ~j  50 ~j  a B/ A
aB / A  900~
i  150 ~j km / h 2
From the figure shown, the magnitude and direction of
aB / A
150
aB / A  912km / h 2   tan 1  9.46
900

EXAMPLE 12.27

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.
 EXAMPLE 12.27 (Continued)

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

 12 ~j   18 cos 60 ~
i  18 sin 60 ~j  v  B/ A
vB / A  9~
i  3.588 ~j m / s

Thus,
vB / A  92  3.5882  9.69m / s
Its direction is
vB / A  y 3.588
tan   
vB / A x 9
  21.7

EXAMPLE 12.27 (Continued)

Acceleration. The magnitude of the normal component is

vB2
aB n   1.440m / s 2

Applying the equation for relative acceleration yields
aB  a A  aB / A

 1.440~i  3~j   2 cos 60 ~i  2 sin 60 ~j  a  B/ A
aB / A   2.440~
i  4.732 ~j m / s 2
Magnitude and direction is
aB / A  5.32m / s 2
  62.7
 CONCEPT QUIZ

1. Two particles, A and B, are moving in m

the directions shown. What should be vB  4 s

the angle  so that vB/A is minimum? B
A) 0° B) 180°
A vA  3 ms
C) 90° D) 270°

2. Determine the velocity of plane A with respect to plane B.

A) (400 i + 520 j ) km/hr
B) (1220 i - 300 j ) km/hr 30

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

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

ATTENTION QUIZ

1. Determine the relative velocity of particle B with respect to

particle A. y
A) (48i + 30j) km/h
B
vB=100 km/h
B) (- 48i + 30j ) km/h
C) (48i - 30j ) km/h 30 x
A
vA=60 km/h
D) (- 48i - 30j ) km/h
2. If theta equals 90° and A and B start moving from the same
point, what is the magnitude of rB/A at t = 5 s?
ms
A) 20 m v B  4

B) 15 m B
C) 18 m
D) 25 m A vA  3 ms