TOPIC 1 (Week 1) Kinematics of Particles (Rectilinear Motion)

Eleventh Edition
CHAPTER VECTOR MECHANICS FOR ENGINEERS:
11 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinematics of Particles
Brian P. Self
(Rectilinear Motion of
Particles)
Copyright © McGraw-Hill Education. Permission required for reproduction or display.

Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Learning Outcomes
This topic is designed to assess student ability’s on:
• Able to find the kinematic quantities (position, velocity, and acceleration)

of a particle traveling along a straight path. (CO1-PO1)
• Able to determine the motion of a particle. (CO1-PO1)
Copyright © McGraw-Hill Education. Permission required for reproduction or display. 11 - 2

Edition
Eleventh
Contents
Introduction
Rectilinear Motion: Position, Velocity & Acceleration
Determination of the Motion of a Particle
Sample Problem 1
Sample Problem 2
Sample Problem 3
Group Problem Solving 1

Edition
Eleventh
Application
Kinematic relationships are used to help
us determine the trajectory of a golf ball,
snowboarder completing a jump, the
orbital speed of a satellite, and the
accelerations during acrobatic flying.

Edition
Eleventh
An Overview of Mechanics
Mechanics: The study of how bodies
react to the forces acting on them.
Statics: The study of Dynamics:

bodies in equilibrium. 1. Kinematics – concerned with
the geometric aspects of motion
2. Kinetics - concerned with
the forces causing the motion

Edition
Eleventh
Introduction
• Dynamics includes:
Kinematics: study of the geometry of motion.
Relates displacement, velocity, acceleration, and time without reference
to the cause of motion.
Fthrust
Fdrag
Flift
Kinetics: study of the relations existing between the forces acting on

a body, the mass of the body, and the motion of the body. Kinetics is
used to predict the motion caused by given forces or to determine the
forces required to produce a given motion.
Edition
Eleventh
Introduction
• Particle kinetics includes:
• Rectilinear motion: position, velocity, and acceleration of a

particle as it moves along a straight line.
• Curvilinear motion: position, velocity, and acceleration of a

particle as it moves along a curved line in two or three
dimensions.
Edition
Eleventh
RECTILINEAR KINEMATICS: Continuous Motion
• 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.
• Typical units for r and s are meters

(m).
• 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.
Edition
Eleventh
RECTILINEAR KINEMATICS: Continuous Motion
• Position coordinate: defined by

positive or negative distance from a
fixed origin on the line.
• The motion of a particle is known if

the position coordinate for particle is
known for every value of time t.
• May be expressed in the form of a
function, e.g.,
x  6t 2  t 3
or in the form of a graph x vs. t.

Edition
Eleventh
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.
• The average velocity of a particle during a
time interval t is
vavg = x / t
• The instantaneous velocity is the time-derivative of position.

v = dx / dt
• Instantaneous velocity may be positive or

negative.

Edition
Eleventh
VELOCITY
• Magnitude of velocity is referred to as

particle speed.
• Average speed is the total distance

traveled divided by elapsed time:
(vsp)avg = sT / t
• From the definition of a derivative,

dx
v
dt
e.g., x  6t 2  t 3
dx
v  12t  3t 2
dt

Edition
Eleventh
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 = d2x / dt2
• Acceleration can be positive (speed
increasing) or negative (speed decreasing).
• From the definition of a derivative,
dv d 2 x
a  2
dt dt
e.g. v  12t  3t 2
dv
a  12  6t
dt
Edition
Eleventh
Rectilinear Motion: Position, Velocity & Acceleration
• From our example,
x  6t 2  t 3
dx
v  12t  3t 2
dt
dv d 2 x
a  2  12  6t
dt dt
• What are x, v, and a at t = 2 s ?
- at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0
• Note that vmax occurs when a=0, and that the

slope of the velocity curve is zero at this point.
• What are x, v, and a at t = 4 s ?

- at t = 4 s, x = xmax = 32 m, v = 0, a = -12 m/s2

Edition
Eleventh
Determination of the Motion of a Particle
• We often determine accelerations from the forces applied
(kinetics will be covered later)
• Generally have three classes of motion
- 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)
• Can you think of a physical example of when force is a

function of position? When force is a function of velocity?
a spring drag
Edition
Eleventh
Acceleration as a function of time, position, or velocity
If…. Kinematic relationship Integrate
v t
 dv   a  t  dt
dv
a  a t   a(t )
dt v0 0
dx dv
dt  and a  v x
 v dv   a  x  dx
v dt
a  a  x
v dv  a  x  dx
v0 x0
v t
dv dv
dt
 a (v ) v a  v   0 dt
a  a v
0
x v
dv
v  a v v dv
x dx  v a  v 
dx
0 0

Edition
Eleventh
Sample Problem 1
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.

Edition
Eleventh
Sample Problem 1(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   ds   (4 t – 3 t2) dt
 s – so = 2 t 2 – t 3 so o
 s – 0 = 2(4)2 – (4)3  s = – 32 m (or )

Edition
Eleventh
Sample Problem 2
SOLUTION:
• Integrate twice to find v(t) and y(t).
• Solve for t when velocity equals zero

(time for maximum elevation) and
evaluate corresponding altitude.
• Solve for t when altitude equals zero

Ball tossed with 10 m/s vertical velocity (time for ground impact) and evaluate
from window 20 m above ground. corresponding velocity.
Determine:
• velocity and elevation above ground at
time t,
• highest elevation reached by ball and
corresponding time, and
• time when ball will hit the ground and
corresponding velocity.
Edition
Eleventh
Sample Problem 2
SOLUTION:
• Integrate twice to find v(t) and y(t).
dv
 a  9.81 m s 2
dt
v t  t
 dv    9.81 dt vt   v0  9.81t
v0 0
m  m
vt   10   9.81 2  t
s  s 
dy
 v  10  9.81t
dt
y t  t
 dy   10  9.81t dt y t   y0  10t  12 9.81t 2
y0 0
 m  m
yt   20 m  10 t   4.905 2 t 2
 s  s 
Edition
Eleventh
Sample Problem 2
• Solve for t when velocity equals zero and evaluate
corresponding altitude.
m  m
vt   10   9.81 2  t  0
s  s 
t  1.019 s
• Solve for t when altitude equals zero and evaluate

 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  25.1 m

Edition
Eleventh
Sample Problem 2
• Solve for t when altitude equals zero and evaluate
 m  m
yt   20 m  10 t   4.905 2 t 2  0
 s  s 
t  1.243 s meaningles s 
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
v  22.2
s

Edition
Eleventh
Sample Problem 3
SOLUTION:
a  kv • Integrate a = dv/dt = -kv to find v(t).

• Integrate v(t) = dx/dt to find x(t).
• Integrate a = v dv/dx = -kv to find
v(x).
Brake mechanism used to reduce gun
recoil consists of piston attached to barrel
moving in fixed cylinder filled with oil.
As barrel recoils with initial velocity v0,
piston moves and oil is forced through
orifices in piston, causing piston and
cylinder to decelerate at rate proportional
to their velocity.
Determine v(t), x(t), and v(x).

Edition
Eleventh
Sample Problem 3
SOLUTION:
• Integrate a = dv/dt = -kv to find v(t).
dv
v
dv
t
v t 
a
dt
 kv v v  k 0 dt ln
v0
 kt
0
vt   v0 e kt
• Integrate v(t) = dx/dt to find x(t).

dx
v t    v0e kt
dt
t
 1 
x t
 dx  v0  dt
e  kt
x  t   v0   e  kt 
0 0  k 0
xt  
v0
k

1  e kt 
Edition
Eleventh
Sample Problem 3
• Integrate a = v dv/dx = -kv to find v(x).
v x
dv
a  v  kv dv  k dx  dv  k  dx
dx v0 0
v  v0  kx
v  v0  kx
• Alternatively,
with xt  
v0
k

1  e kt 
vt 
and vt   v0 e kt or e kt 
v0
v0  vt  
then xt   1  
k  v0 
v  v0  kx

Edition
Eleventh
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
Edition
Eleventh
A bowling ball is dropped from a boat so that it
strikes the surface of a lake with a speed of 8 m/s.
+y Assuming the ball experiences a downward
acceleration of a =3 - 0.1v2 when in the water,
10m determine the velocity of the ball when it strikes the
bottom of the lake.
Which integral should you choose?

v t v x
(a)  dv   a  t  dt
v0 0
(c)  v dv   a  x  dx
v0 x0
v t
x v dv
(b)  dx  
v dv (d) v a  v   0 dt
x0 v0
a v 0

Edition
Eleventh
Concept Question (continued)
When will the bowling ball start slowing down?
A bowling ball is dropped from a boat so that it

strikes the surface of a lake with a speed of 8 m/s.
+y Assuming the ball experiences a downward
acceleration of a =3 - 0.1v2 when in the water,
10m determine the velocity of the ball when it strikes the
bottom of the lake.
The velocity would have to be high

enough for the 0.1 v2 term to be bigger
than 3

Edition
Eleventh
SOLUTION:
• Determine the proper kinematic
relationship to apply (is acceleration
a function of time, velocity, or
position?
• Determine the total distance the car
The car starts from rest and accelerates travels in one-half lap
according to the relationship
• Integrate to determine the velocity
a  3  0.001v 2
after one-half lap
It travels around a circular track that has

a radius of 200 meters. Calculate the
velocity of the car after it has travelled
halfway around the track. What is the
car’s maximum possible speed?

Edition
Eleventh
Group Problem Solving (continued)
Given: a  3  0.001v2 Find: v after ½ lap
vo = 0, r = 200 m Maximum speed
Choose the proper kinematic relationship
Acceleration is a function of velocity, and
we also can determine distance. Time is not
involved in the problem, so we choose:
x v
dv
v  a v v dv
x dx  v a  v 
dx
0 0
Determine total distance travelled

x   r  3.14(200)  628.32 m

Edition
Eleventh
Determine the full integral, including limits
x v
v dv 628.32 v
x v a  v 
 v
0
dx
0

0
dx  
0
3  0.001v 2
dv
Evaluate the interval and solve for v

1 2 v
628.32   ln 3  0.001v 
0.002 0
628.32(0.002)  ln 3  0.001v2   ln 3  0.001(0)
ln 3  0.001v2   1.2566  1.0986=  0.15802
Take the exponential of each side 3  0.001v2  e0.15802

Edition
Eleventh
Solve for v 3  0.001v2  e0.15802
3  e0.15802
v 
2
 2146.2 v  46.3268 m/s
0.001
How do you determine the maximum speed the car can reach?
Velocity is a maximum when a  3  0.001v2
acceleration is zero
This occurs when 0.001v2  3
vmax  3
0.001 vmax  54.772 m/s

Edition
Eleventh
ATTENTION QUIZ
1. A particle has an initial velocity of 3 m/s to the left at

s0 = 0 m. 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

TOPIC 1 (Week 1) Kinematics of Particles (Rectilinear Motion)

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Eleventh Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

Copyright © McGraw-Hill Education. Permission required for reproduction or display.

This topic is designed to assess student ability’s on:

• Able to find the kinematic quantities (position, velocity, and acceleration)

• Able to determine the motion of a particle. (CO1-PO1)

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 11 - 2

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 11 - 3

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 11 - 4

Statics: The study of Dynamics:

Copyright © McGraw-Hill Education. Permission required for reproduction or display.

Kinetics: study of the relations existing between the forces acting on

• Rectilinear motion: position, velocity, and acceleration of a

• Curvilinear motion: position, velocity, and acceleration of a

• Typical units for r and s are meters

• Position coordinate: defined by

• The motion of a particle is known if

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 11 - 9

• The instantaneous velocity is the time-derivative of position.

• Instantaneous velocity may be positive or

Copyright © McGraw-Hill Education. Permission required for reproduction or display.

• Magnitude of velocity is referred to as

• Average speed is the total distance

• From the definition of a derivative,

Copyright © McGraw-Hill Education. Permission required for reproduction or display.

• Note that vmax occurs when a=0, and that the

• What are x, v, and a at t = 4 s ?

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 11 - 13

• Can you think of a physical example of when force is a

Copyright © McGraw-Hill Education. Permission required for reproduction or display. 11 - 15

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

Find: The position and acceleration of the particle

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

Copyright © McGraw-Hill Education. Permission required for reproduction or display.

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

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

Copyright © McGraw-Hill Education. Permission required for reproduction or display.

• Solve for t when velocity equals zero

• Solve for t when altitude equals zero

• Solve for t when altitude equals zero and evaluate

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a  kv • Integrate a = dv/dt = -kv to find v(t).

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• Integrate v(t) = dx/dt to find x(t).

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Which integral should you choose?

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When will the bowling ball start slowing down?

A bowling ball is dropped from a boat so that it

The velocity would have to be high

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It travels around a circular track that has

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Determine total distance travelled

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Evaluate the interval and solve for v

628.32(0.002)  ln 3  0.001v2   ln 3  0.001(0)

ln 3  0.001v2   1.2566  1.0986=  0.15802

Take the exponential of each side 3  0.001v2  e0.15802

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This occurs when 0.001v2  3

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