Engineering

g g Mechanics:
Dynamics in SI Units, 12e

Chapter
p 12-5
Kinematics of a Particle
12.9 Absolute Dependent
p Motion Analysis
y of Two Particles

 Motion of one p particle depend

p 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
 For velocity, negative sign indicates A has a
velocity downward(increasing direction)

ds A dsB
 0 or vB   v A
dt dt
2
12.9 Absolute Dependent
p Motion Analysis
y of Two Particles

 Time differentiation of the velocities yyields the

relation between accelerations: aB = - aA
 A is specified byy 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
motion,
2vB  v A , 2aB  a A
3
12.9 Absolute Dependent
p Motion Analysis
y 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

4
12.9 Absolute Dependent
p Motion Analysis
y of Two Particles

PROCEDURE FOR ANALYSIS

Time Derivatives
 2 time derivatives of the position-coordinates
position coordinates
equations required for velocity and acceleration
equations
 The signs will be positive and negative sense of
the position coordinates

5
Example 12.22

Determine the speed

p of block A if block B has an
upward speed of 2m/s.

6
Example 12.22

Solution
Position Coordinate System
Positions of A and B are defined using g sA and sB.
For the remaining cord length,
s A  2 sC  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 
7
Example 12.23

Determine the speed

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

8
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 sA  4sB  l2  2l1
Time Derivative
The time derivative g
give vA  4vB  0
When vA = 2m/s↓, vB  0.5m / s  0.5m / s  9
Example 12.24

A man at A is hoistingg a safe S byy walking

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

dy
vS 
dt
dx
vA 
dt
10
Example 12.24

Solution
Position Coordinate System
Rope
p segment
g DA changes
g both direction and
magnitude.
Using Pythagorean Theorem
Theorem, DA     x 2 , lCD  15  y 
2
l 15
l  lDA  lCD
30  152  x 2  15  y 
y  225  x 2  15
Time Derivative
dy  1 2x  dx x
g chain rule,
Using vS     vA
dt  2 225  x 2  dt 225  x 2

11
Example 12.24

Solution
Time Derivative
At y = 10 m, x = 20 m, vA = 0.5 m/s, vS = 400mm/s ↑
The acceleration is determined by taking the time
derivative of eqn (2),
d2y   x(dx / dt )   1  dx 
aS    
2 3/ 2  A 
xv  dt v A
 (225  x )   225  x  
2 2
dt
 1  dv A 225v 2A
 x 
2  dt
 225  x  
225  x 
2 3/ 2

/s, aS  3.6mm / s 
2
At x = 20
0 m,, with vA = 0
0.5
5 m/s,
12
12.10 Relative Motion Analysis of Two Particles Using Translating Axes

 There are cases where the p path of the motion for

a particle is complicated
 Feasible to analyze the motions in parts by using
two or more frames of reference
Position
 Absolute position rA and rB
i measured
is d ffrom O off fixed
fi d
x, y, z reference frame
  
rB  rA  rB / A
13
12.10 Relative Motion Analysis
y of Two Particles Using
g Translating
g Axes

Velocityy
  
 By time derivatives, vB  v A  vB / A
   
 vB  drB / dt and v A  drA / dt refer to absolute
velocities, as they are observed from the fixed
frame
 
 Relative velocity vB / A  drB / A / dt is observed
f
from the
th translating
t l ti frame
f

Acceleration
A l ti
  
 The time derivative also yields aB  a A  aB / A

14
12.10 Relative Motion Analysis
y of Two Particles Using
g Translating
g Axes

PROCEDURE FOR ANALYSIS

 When applying the relative position equations,
necessary to specify the location and translating
x’, y’ and z’
 As vector addition forms a triangle
triangle, there can be
at most two unknowns
 Unknowns
U k can b
be solved
l db by graphically,
hi ll
trigonometry or resolving into
rectangular
t l or
Cartesian components
15
Example 12.25

A train,, traveling
g at a constant speed
p of 90km/h,,
crosses over a road. If automobile A is traveling t
67.5km/h along g the road,, determine the magnitude
g
and direction of relative velocity of the train with
respect
p to the automobile.

  
vT / A  vT  v A
  
vT  v A  vT / A
16
Example 12.25

Solution
Vector Analysis
Relative velocityy is measured from the translating g x’,,
y’ axes attached to the automobile.
vT and vA are known and the unknowns are x and y
components of vT/A.
Using the x, x y axes and a Cartesian vector analysis
analysis,
  
vT  v A  vT / A
~ ~ ~ 
90 i  (67.5 cos 45 i  67.5 sin 45 j )  vT / A
 ~ ~
vT / A  {42.3i  47.7 j )km
k /h
17
Example 12.25

Solution
Vector Analysis
The magnitude
g of vT/A is

vT / A  (42.3  47.7 )  63.8km / h

2 2 2

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

vT / A  y 47.7
tan   
vT / A x 42.3
  48.40
18
Example 12.26

Plane A is flying
y g alongg a straight-line
g path,, while
p
plane B is flying along a circular path having a radius
of curvature of ρB = 400 km. Determine the velocityy
and acceleration of B as measured by the pilot of A.

vB / A  vB  v A

19
Example 12.26

Solution
Velocity
The x,, y axes are located at an arbitraryy fixed point.
p
The translating frame of reference x’, y’ is attached
to it
it.
Applying the relative-velocity equation in scalar form,
(  )
vB  v A  vB / A
600  700  vB / A
vB / A  100km / h  100km / h 

20
Example 12.26

Solution
Acceleration
Plane B has both tangential and normal components
off acceleration,
l ti v2
aB n  B  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
k / h2
150
Magnitude and direction is aB / A  912km / h 2 and   tan 1
900
 9.46
21
Example 12.27

At the instant,, car A and B are traveling

g with the
speed of 18 m/s and 12 m/s, respectively. Also at
this instant,, A has a decrease in speed
p of 2 m/s2,
and B has an increase in speed of 3 m/s2. Determine
the velocityy and acceleration of B with respect
p to A.

vB / A  vB  v A

22
Example 12.27

Solution
Velocity
Using
g Cartesian vector analysis,
y ,
vB  v A  vB / A
12 j   18cos 60 i  18sin 60 j   vB / A
vB / A  9i  3.588 j m / s

Thus vB / A  92  3.5882  9.69m / s

 vB / A  y 3.588
Its direction is tan       21.7
 vB / A  x 9

23
Example 12.27

Solution
Acceleration
Applying
pp y g the equation
q for relative acceleration yyields
aB  a A  aB / A
 
 1.440~i  3~j   2 cos 60 ~i  2 sin 60 ~j  aB / A
~ ~
aB / A  (2.440 i  4.732 j ) m / s 2

Magnitude and direction is

aB / A  5.32m / s 2
  62.7
24