Engineering Mechanics:

Dynamics in SI Units, 12e

Chapter 12
Kinematics of a Particle
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12.9 Absolute Dependent Motion Analysis of Two Particles

Motion of one particle depend on the

corresponding motion of another particle

Movement of A downward will cause a
movement of B up the other incline

If total cord length is lT, the position coordinate is
s A + lCD + sB = lT

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12.9 Absolute Dependent Motion Analysis of Two Particles

Time differentiation of the positions yields the relation

between velocities:
ds A dsB
+ =0 or vB = − v A
dt dt

For velocity, negative sign indicates A has a velocity
downward

Time differentiation of the velocities yields the relation
between accelerations:
aB = - aA

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12.9 Absolute Dependent Motion Analysis of Two Particles

In this example, the position of A is specified by

sA, and the position of the end of the cord which
block B is suspended, sB

Position coordinate is

2sB + h + s A = l

Since l and h are constant
during the motion,

2v B = − v A , 2 a B = − a A

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12.9 Absolute Dependent Motion Analysis of Two Particles

This is an alternative way of defining the position of

block B

Here, we use bottom
pulley as datum for both
block A and B

The position coordinate is

2(h − sB ) + h + s A = l

Time differentiation yields

2vB = vA ; 2aB = aA
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12.9 Absolute Dependent Motion Analysis of Two Particles

PROCEDURE FOR ANALYSIS

Position-Coordinate Equation

Establish position coordinates

with origin located at a
fixed point or datum

Coordinates are along the
path of motion

Each coordinate axis is directed
along the path of motion

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12.9 Absolute Dependent Motion Analysis of Two Particles

PROCEDURE FOR ANALYSIS

Time Derivatives

2 time derivatives of the position-coordinates
equations required for velocity and acceleration
equations

The signs will be positive and negative sense of
the position coordinates

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Example
Determine the speed of cylinder A, if the rope is
drawn towards the motor M at a constant rate
of 10 m/s.

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Example
Position coordinates:
By referring to Fig. a, the length of the rope written
in terms of the position coordinates sA and sM is:
3sA + sM = l
Taking the time derivatives, we get:

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Example 12.22

Determine the speed of block A if block B has an

upward speed of 2m/s.

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Example 12.22

Solution
Position Coordinate System
Positions of A and B are defined using sA and sB.
For the remaining cord length,
s A + 2sC = l1 sB + ( sB − sC ) = l2
Eliminating sC yields s A + 4sB = 2l2 + l1

Time Derivative
The time derivative gives v A + 4vB = 0
so that vB = -2m/s↑ and v A = +8m / s = 8m / s ↓

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Example 12.23

Determine the speed with which block B rises if the

end of the cord at A is pulled down with a speed of
2m/s.

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Example 12.23

Solution
Position Coordinate System
sA and sB are measured from a horizontal datum
passing through the fixed pin at pulley D.
The remaining constant cord lengths l1 and l2 are
sC + sB = l1
(s A − sC ) + (sB − sC ) + sB = l2
Eliminating sC yields s A + 4 sB = l2 + 2l1
Time Derivative
The time derivative give vA + 4vB = 0
When vA = 2m/s↓, vB = −0.5m / s = 0.5m / s ↑
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