Kinematics of Particles

Kinematics of Particles
Topic Coverage
Analysis of motion of a
particle relative to
another particle
Kinematics of
Analysis of motion of a Particles
particle according to the
path it follows
Motion of Motion of
Individual Several
Particles Particles
Rectilinear Curvilinear Independent Dependent

Motion Motion Motion Motion
Non-Uniformly Uniformly- Use of Use of Normal

Accelerated Uniform Motion Accelerated Rectangular and Tangential
Motion Motion Components Components
2
Lecture 1
RECTILINEAR MOTION
3
Lecture Objectives
After this lecture, students are expected to be able to:
• identify the particle model in a given problem,

• define and relate position, displacement, velocity, and acceleration with
time,
• classify rectilinear motion as either uniform, uniformly accelerated, or
non-uniformly accelerated, and
• calculate position, displacement (or distance), velocity (or speed), and
acceleration for a rectilinear motion problem.
4
Rectilinear Motion
A particle moving along a straight line
is said to be in rectilinear motion.
The position coordinate of a particle is defined by the positive or negative

distance of the particle from a fixed origin on the number line.
There are two quantities that can be derived from the position of a particle:
1. Distance is a scalar quantity that pertains to the sum of the absolute values of
the changes in the position of a particle.
2. Displacement is a vector quantity that pertains to the algebraic difference of
the final and initial positions.
Kinematics of Particles (by F.P. Beer and E.R. Johnston, Notes by J.W. Oler) 5
Rectilinear Motion
Positive Position Coordinate Negative Position Coordinate

• as a convention, the position • as a convention, the position
coordinate is positive when the coordinate is negative when the
particle is: particle is:
– to the right of the origin (for a – to the left of the origin (for a
horizontal number line) or horizontal number line) or
– above the origin (for a vertical – below the origin (for a vertical
number line) number line)
Rectilinear Motion
The motion of a particle is known if the position coordinate for the particle is
known for every value of time t. The motion of the particle may be expressed
in the form of a function, or in the form of a graph (x vs. t).
e.g., x  6t 2  t 3
This can be expressed in terms of the graph shown.
It can be noticed that the particle reached

its highest position x = 32 m at time t = 4 s.
Rectilinear Motion
Now consider a particle which occupies
position P at time t and P’ at t + Δt,
The average velocity of a particle is defined

x
as the ratio of the total distance covered Average Velocity  vave 
to the total time elapsed.
t
The instantaneous velocity of a particle is x

Instantaneous Velocity  v  lim
the time rate of change of its position. t 0 t
Instantaneous velocity may be positive or negative. The magnitude of velocity

is referred to as the particle speed.
Rectilinear Motion
Positive Velocity Negative Velocity

• the instantaneous velocity is • the instantaneous velocity is
positive when the particle is negative when the particle is
moving along the positive moving along the negative
direction direction
Rectilinear Motion
From the definition of a derivative,
x dx
v  lim 
t 0 t dt
e.g., x  6t 2  t 3
dx
v  12t  3t 2
dt
Observe that at the time when v = 0 (at t = 4 s),

the particle reverses the direction of its motion.
•From t = 0 s to t = 4 s, the particle is moving
towards the position x = 32 m.
•From t = 4 s to t = 6 s, the particle is moving
away from the position x = 32 m.
Rectilinear Motion
Now consider a particle with velocity v
at time t and v’ at t + Δt,
The instantaneous acceleration of

v
a particle is defined as the time rate Instantaneous Acceleration  a  lim
t 0 t
of change of its velocity.
Instantaneous acceleration may be positive or negative. However, it is not

indicative of the direction of motion of the particle.
Rectilinear Motion
Positive Acceleration Negative Acceleration

• the instantaneous acceleration is • the instantaneous acceleration is
positive when the particle has: negative when the particle has:
– increasing positive velocity, or – decreasing positive velocity, or
– decreasing negative velocity – increasing negative velocity
Rectilinear Motion
From the definition of a derivative,
v dv d 2 x
a  lim   2
t 0 t dt dt
e.g., v  12t  3t 2
dv
a  12  6t
dt
Observe that at the time when a = 0 (at t = 2 s),
the change in speed of the particle reverses.
•From t = 0 s to t = 2 s, the speed is increasing
(while moving along the positive direction).
•From t = 2 s to t = 4 s, the speed is decreasing
(while moving along the positive direction).
•From t = 4 s to t = 6 s, the speed is increasing
(while moving along the negative direction).
Rectilinear Motion
• Recall: The motion of a particle is known if its position is known for all
time t.
• Typically, the conditions of motion are specified by the type of

acceleration experienced by the particle.
• Rectilinear motion can be categorized into three:

– Non-Uniformly Accelerated Motion (a ≠ constant)
– Uniform Motion (a = 0)
– Uniformly Accelerated Motion (a = constant)
• Determination of velocity and position requires two successive

integrations.
Rectilinear Motion
• For such problems, it will be important to set an origin and sign
convention in order to write the correct position, velocity, and
acceleration functions (or sometimes referred to as equations of motion).
• In general, especially for non-uniformly accelerated motion, 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)
Non-Uniformly Accelerated Motion
Acceleration given as a function of time, a = f (t):
v t  t t
 a  f t  dv  f t  dt  dv   f t  dt vt   v0   f t  dt
dv
dt v0 0 0
t
vt   v0   f t  dt
0
x t  t t
 vt  dx  vt  dt  dx   vt  dt xt   x0   vt  dt
dx
dt x0 0 0
t
xt   x0   vt  dt
0
Acceleration given as a function of position, a = f (x):
or a  v  f x 
dx dx dv dv
v or dt  a
dt v dt dx
vx  x x
v dv  f x dx  v dv   f x dx vx   12 v   f x dx
1 2 2
2 0
v0 x0 x0
x
vx   v02  2  f x dx
2
x0
Acceleration given as a function of velocity, a = f (v):
v t  t
 a  f v 
dv dv dv
dt f v 
 dt 
v0
  dt
f v  0
v t 
dv

v0
f v 
t
x t  v t 
 a  f v 
dv v dv v dv
v
dx
dx 
f v  x0
 dx  
v0
f v 
v t 
xt   x0 
v dv

v0
f v 
v t 
xt   x0 
v dv

v0
f v 
Sample Problems
1. The brake mechanism used to reduce
a gun recoil consists of a piston attached
to a barrel moving in the fixed cylinder
filled with oil. As the barrel recoils with
an initial velocity v0, the piston moves
and the oil is forced through the orifices
in the piston, causing the piston and the
cylinder to decelerate at a rate
proportional to their velocities given by
a  kv
Determine v (t), x (t), and v (x). Assume

that the cylinder has zero initial position.
Sample Problems
1. The brake mechanism used to reduce SOLUTION:
• Integrate a = dv/dt = -kv to find v(t).
filled with oil. As the barrel recoils with
dv
and the oil is forced through the orifices a  kv
in the piston, causing the piston and the dt
proportional to their velocities given by v t  t
dv
a  kv 
v0
v
 k  dt
0
v t 
ln  kt
v0

that the cylinder has zero initial position. => vt   v0 e kt
Sample Problems
1. The brake mechanism used to reduce • Integrate v(t) = dx/dt to find x(t).
v t  
to a barrel moving in the fixed cylinder dx
filled with oil. As the barrel recoils with  v0e kt
dt
and the oil is forced through the orifices x t  t
in the piston, causing the piston and the
 0
 kt
cylinder to decelerate at a rate dx  v e dt
proportional to their velocities given by 0 0
a  kv
t
 1 kt 
x t   v0  e 
 k 0

=> xt  
v0
k

1  e  kt 
Sample Problems
1. The brake mechanism used to reduce • Integrate a = v dv/dx = -kv to find v(x).
filled with oil. As the barrel recoils with dv
av  kv
an initial velocity v0, the piston moves dx
in the piston, causing the piston and the dv  k dx
proportional to their velocities given by v x
a  kv  dv  k  dx
v0 0
v  v0  kx
=> v  v0  kx
Sample Problems
1. The brake mechanism used to reduce • Alternatively,
 
to a barrel moving in the fixed cylinder v0
filled with oil. As the barrel recoils with xt   1  e  kt
an initial velocity v0, the piston moves k
vt 
in the piston, causing the piston and the vt   v0 e  kt or e  kt 
cylinder to decelerate at a rate v0
proportional to their velocities given by
a  kv v t 
 
  v0

x t  1  
k  v0 
=> v  v0  kx

Sample Problems
2. A ball is tossed upward with 10 m/s
vertical velocity from a window 20 m
above ground. Determine (a) velocity
and elevation above ground at time t, (b)
highest elevation reached by the ball and
the corresponding time, and (c) time
when the ball will hit the ground and the
corresponding velocity.
Sample Problems
2. A ball is tossed upward with 10 m/s SOLUTION:
vertical velocity from a window 20 m • Integrate twice to find v(t) and y(t).
v t  t
and elevation above ground at time t, (b) dv
highest elevation reached by the ball and dt
 a  9.81 m s 2  dv   9.81 dt
v0 0
when the ball will hit the ground and the vt   v0  9.81t
m  m
=> vt   10   9.81 2  t
s  s 
y t  t
 dy   10  9.81t dt

dy
 v  10  9.81t
dt y0 0
yt   y0  10t  12 9.81t 2
 m  m 2
=> y t   20 m  10 t   4.905 2 t
 s  s 
Sample Problems
2. A ball is tossed upward with 10 m/s • Solve for t at which velocity equals zero and
vertical velocity from a window 20 m evaluate corresponding altitude.
m  m
v t   10   9.81 t  0
s  s 
2
when the ball will hit the ground and the => t  1.019 s
• Solve for t at which altitude equals zero
and evaluate corresponding velocity.
 m  m
y t   20 m  10 t   4.905 2 t 2
 s  s 
 m  m
y  20 m  10 1.019 s    4.905 2 1.019 s 
2
 s  s 
=> y  25.1m
Sample Problems
2. A ball is tossed upward with 10 m/s • Solve for t at which altitude equals zero and
vertical velocity from a window 20 m evaluate corresponding velocity.
 m  m 2
y t   20 m   10 t   4.905 t  0
 s  s 
2
when the ball will hit the ground and the t  1.243s meaningless 
corresponding velocity. => 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 m
=> v  22.2 or 22.2 
s s
Uniform Motion
For a 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
Uniformly Accelerated Motion
For a particle in uniformly accelerated rectilinear motion, the acceleration of
the particle is constant.
v t
dv
dt
 a  constant  dv  a  dt
v0 0
v  v0  at
=> v  v0  at
x t
 dx   v0  at dt
dx x  x0  v0t  12 at 2
 v0  at
dt x0 0
=> x  x0  v0t  12 at 2
v 
v x
 v dv  a  dx  v02  ax  x0 
dv 2
v  a  constant 1
2
dx v0 x0
=> v 2  v02  2ax  x0 
Sample Problem
3. A ball is thrown vertically from the 12
m level in the elevator shaft with an initial
velocity of 18 m/s. At the same instant,
an open-platform elevator passes the 5 m
level moving upward at 2 m/s. Determine
when and where the ball hits the elevator.
Sample Problem
3. A ball is thrown vertically from the 12 SOLUTION:
m level in the elevator shaft with an initial • Substitute initial position and velocity and
velocity of 18 m/s. At the same instant, constant acceleration of ball into general
an open-platform elevator passes the 5 m equations for uniformly accelerated
level moving upward at 2 m/s. Determine rectilinear motion.
vB  v0  at
m  m
 18   9.81 2 t
s  s 
yB  y0  v0t  12 at 2
 m  m
 12 m  18 t   4.905 2 t 2
 s  s 
Sample Problem
3. A ball is thrown vertically from the 12 • Substitute initial position and constant
m level in the elevator shaft with an initial velocity of elevator into equation for
velocity of 18 m/s. At the same instant, uniform rectilinear motion.
level moving upward at 2 m/s. Determine
when and where the ball hits the elevator. vE  constant
m
2
s
y E  y0  v E t
 m
 5 m   2 t
 s
Sample Problem
3. A ball is thrown vertically from the 12 • Equate the position functions of the ball
m level in the elevator shaft with an initial and the elevator to determine the time at
velocity of 18 m/s. At the same instant, which they hit one another.
level moving upward at 2 m/s. Determine 
12  18t  4.905t 2  5  2t  
t  0.39 s meaningless 
=> t  3.65 s
• Substitute time into equations for position

of elevator or of ball.
y E  5  23.65
=> y E  12.3 m
References
• Beer, F.P. et al. (2012). Vector Mechanics for
Engineers: Dynamics. 6th Ed. SI. McGraw-Hill.
34

Kinematics of Particles

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Kinematics of Particles

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Kinematics of Particles

Rectilinear Curvilinear Independent Dependent

Non-Uniformly Uniformly- Use of Use of Normal

• identify the particle model in a given problem,

The position coordinate of a particle is defined by the positive or negative

Positive Position Coordinate Negative Position Coordinate

This can be expressed in terms of the graph shown.

It can be noticed that the particle reached

The average velocity of a particle is defined

The instantaneous velocity of a particle is x

Instantaneous velocity may be positive or negative. The magnitude of velocity

Positive Velocity Negative Velocity

Observe that at the time when v = 0 (at t = 4 s),

The instantaneous acceleration of

Instantaneous acceleration may be positive or negative. However, it is not

Positive Acceleration Negative Acceleration

– increasing positive velocity, or – decreasing positive velocity, or

– decreasing negative velocity – increasing negative velocity

• Typically, the conditions of motion are specified by the type of

• Rectilinear motion can be categorized into three:

• Determination of velocity and position requires two successive

• In general, especially for non-uniformly accelerated motion, motion may

Determine v (t), x (t), and v (x). Assume

Determine v (t), x (t), and v (x). Assume

Determine v (t), x (t), and v (x). Assume

Determine v (t), x (t), and v (x). Assume

 dy   10  9.81t dt

yt   y0  10t  12 9.81t 2

=> v 2  v02  2ax  x0 

• Substitute time into equations for position

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