Dynamics

MCB 2043
Rectilinear Kinematics: Erratic Motion

Dereje Engida Woldemichael (PhD, CEng MIMechE)

dereje.woldemichael@petronas.com.my
May 2013 Semester
Lesson Outcomes

At the end of this lecture you should be able to:

 Determine position, velocity, and acceleration of a
particle using graphs.
Overview

Rectilinear kinematics: erratic motion

s-t, v-t, a-t, v-s, and a-s diagrams
 Rectilinear Kinematics: Erratic Motion

Application In many experiments, a

velocity versus position (v-s)
profile is obtained.

If we have a v-s graph for the

tank truck, how can we
determine its acceleration at
position s = 1500 m?
 Erratic Motion

 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 a-s
s1
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.
 Summary of Graphical Interpretation
v=slope of s-t curve a=slope of v-t curve

ds dv
v= a=
dt dt
s v a

dv
a= = v&
ds dt
v = = s& 1 a
dt
1 v

t t
t t t
t1 t t t1 t t1 t
dt dt
2 2 2
v2 t2
s2
s2 − s1 = ∫ ds = ∫ vdt
t2
v 2 − v1 = ∫ dv = ∫ adt
v1 t1
s1 t1

s=area under v-t curve v=area under a-t curve

Summary of Graphical Interpretation (Cont’d)
area under a-s curve

v2 s2 1 2
∫ ∫
s2

v1
vdv =
s1
a ( s )ds or
2
( )
v 2 − v12 = ∫ a ( s )ds
s1

a v
dv
ds
1

s
s s
s1 s1 s s2
ds s2
 dv 
a = v 
 ds 

a = v x slope of v-s curve

Graphical Interpretation of Constant Acceleration
a
Assuming t0=0
a =Const.
a –t Curve

O t
v
v=v0+at
at
v –t Curve v0
v
v0
O t
s
1
s = s0 + v0 t + at 2
2 1
s –t Curve v 0 t + at 2
2 s
s0
s0
O t t
 Example #1
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 #1 (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 #1 (continued)
Similarly, the a-t graph can be constructed by finding the slope at various points
along the v-t graph.

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-t graph

a(m/s2)

t(s)
5 10
 Example #2

Given: The v-t graph shown.

Find: The a-t graph, average

speed, and distance
traveled for the 0 - 90 s
interval.
Plan:

 Find slopes of the v-t curve and draw the a-t graph.
 Find the area under the curve. It is the distance traveled.
 Finally, calculate average speed (using basic definitions!).
 Example #2 (continued)
Solution:

Find the a–t graph:

For 0 ≤ t ≤ 30 a = dv/dt = 1.0 m/s²

For 30 ≤ t ≤ 90 a = dv/dt = -0.5 m/s²

a(m/s²) a-t graph

1
30 90 t(s)
-0.5
 Example #2 (continued)
Now find the distance traveled:

∆s0-30 = ∫ v dt = (1/2) (30)2 = 450 m

∆s30-90 = ∫ v dt
= (1/2) (-0.5)(90)2 + 45(90) – (1/2) (-0.5)(30)2 – 45(30)
= 900 m

s0-90 = 450 + 900 = 1350 m

vavg(0-90) = total distance / time

= 1350 / 90
= 15 m/s
Example #3
A motorcycle starts from rest and travels on a straight road with a constant
acceleration of 5 m/s2 for 8 sec, after which it maintains a constant speed for 2
sec. Finally it decelerates at 7 m/s2 until it stops. Plot a-t, v-t diagrams for the
entire motion.Determine the total distance travelled.
Sketch a-t diagram from the known accelerations, thus a (m/s2)

 5 (0 ≤ t < 8 s ) (segment I) 5
t (s)

a =  0 (8 ≤ t < 10s) (segment II)
8 10 t' (=15.71)
− 7 (10 ≤ t ≤ t ' )
 (segment III) -7

Since dv=adt, the v-t diagram is determined by integrating a-t Diagram

the straight line segments of a-t diagram. Using the initial
condition t=0, v=0 for segment I, we have
v t
0 ≤ t < 8s ∫ 0
dv = ∫ 0
5 dt v = 5t

When t =8 s, v =5××8= 40m/s. Using this as the initial condition

for segment II, thus
v t
8 ≤ t < 10 s ∫ 40
dv = ∫ 8
0 dt v = 40m / s

Similarly, for segment III

v t
10 ≤ t ≤ t ' ∫40
dv = ∫ 10
( − 7 ) dt v = −7 t + 110
When v=0 (i.e. motorcycle stops)

0 = −7 t '+110 t ' = 15 .71 s v (m/s)

40
Thus, the velocity as the function of time can s1 s2 s3 t (s)
be expressed as
8 10 15.71
 5t (0 ≤ t < 8 s )
 v-t Diagram
v= 40 (8 ≤ t < 10s )
− 7t + 110 (10 ≤ t ≤ 15.71s )


The total distance travelled (using the area under v-t diagram)

1  1 
s = s1 + s 2 + s 3 =  × 8 × 40  + (2 × 40 ) +  × 5 .71 × 40  = 354 .2 m
2  2 
Example #4
A test projectile is fired horizontally into a viscous liquid with a velocity
v0.The retarding force is proportional to the square of the velocity, so
that the acceleration becomes a=-kv2. Derive expressions for distance
D travelling in the liquid and the corresponding time t required to reduce
the velocity to v0/2.Neglect any vertical motion.

Note the acceleration a is non-constant.

Using vdv = ads = −kv 2 ds
v0 v
D vdv 0
dv
∫ 0
ds = ∫2
v0 − kv 2
= − ∫v0 kv
2

v0 v0
 ln v  2 1 ln 2 0 .693
D = −  = − ln 2 = =
 k  v0 k v0 k k

dv
Using a= = − kv 2
dt
v0
v0
dv t
1 1 1
∫ ∫
2
2
= dt t= =
v0 − kv 2 0 v 
k   v0 kv 0
 Example #5
The acceleration of a particle which moves in the ax (m/s2)
positive s-direction varies with its position as
0.4
shown. If the velocity of the particle is 0.8 m/s
when s=0, determine the velocities v of the particle 0.2
when s=0.6 and 1.4 m.
s (m)
v 0.4 0.6 0.8 1.2 1.4
s v v  2
v −v 2 2
Using
∫0
ads = ∫ vdv =   =
v0
 2  v0 2
0

For x=0.6m

0 .6  1 
v = v02 + 2 ∫ ads = 0 .8 2 + 2 ×  ( 0 .4 × 0 .4 ) + ( 0 .3 + 0 .4 ) × 0 .2  = 1 .05 m / s
0
 2 
Area under ax-x curve
(0≤x ≤ 0.6)
For x=1.4m
1.4  1 
v = v02 + 2 ∫ ads = 0.8 2 + 2 × (0.4 × 0.4) + (0.2 + 0.4) × 0.4 + 0.4 × 0.2 + 0 = 1.17 m / s
0
 2 
Area under ax-x curve Where v0=0.8 m/s
(0≤x ≤ 1.4)
Example #6
The v-s diagram for a testing vehicle travelling on a v (m/s)
straight road is shown. Determine the acceleration
of the vehicle at s=50 m and s=150 m. Draw the 8
a-s diagram.
s (m)
Since the equations for segments of v-s diagram are given, 100 200
we can use ads=vdv to determine a-s diagram.

0 ≤ s < 100 m v = 0.08 s a (m/s2)

dv d
a=v = ( 0 . 08 s ) ( 0 . 08 s ) = 0 . 0064 s 0.64
ds ds

100 ≤ s ≤ 200 m v = −0.08 s + 16

100 200 s (m)
d
a = ( − 0 . 08 s + 16 ) ( − 0 . 08 s + 16 ) = 0 .0064 s − 1 .28
ds -0.64

When s=50 m, then a = 0.0064× 50 = 0.32m / s 2 (acceleration in segment I)

2
When s=150 m, then a = 0.0064× 150− 1.28 = −0.32m / s (deceleration in segment II)
Summary Questions
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 D) s-t
Summary Questions (continued)

3. 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

4. The particle in Problem 3 stops moving at t = _______.

A) 10 s B) 20 s
C) 30 s D) 40 s
Summary Questions (continued)
5. 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
6. Select the correct a-t graph for the velocity curve shown.
a a
v
A) t B) t
a a t
C) t D) t
References:

R.C. Hibbeler, Engineering Mechanics: Dynamics,

SI 13th Edition, Prentice-Hall, 2012.