ESci 124n

Engineering Mechanics II
Dynamics of Rigid Bodies

Prepared by:
Ruel C. Lamberte
Department of Agricultural and Biosystems Engineering
Course Instructor
 Module 2
Rectilinear Translation
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• the position, velocity and acceleration of a particle cannot be described by a single

continuous mathematical function along the entire path.

• graph is used to represent the motion of a particle.

• series of functions is used to specify the motion of a particle at different intervals.

Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• if a graph of the motion of a particle relates any two of the parameters or variables, the
s, v, a and t, it can be used to construct subsequent graphs using the following kinematic
differential equations or relationships:
𝒅𝒔
- 𝒗=
𝒅𝒕

𝒅𝒗
- 𝒂=
𝒅𝒕

- 𝒂 𝒅𝒔 = 𝒗 𝒅𝒗
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• Two (2) sets of graphs used to represent the motion of a particle considering the motion
parameters s, v, a and t:
1. The s-t, v-t and a-t Graphs – graph with respect to time (t).

2. The v-s and a-s Graphs – graph with respect to position (s).

Note: v – velocity
s – position
a – acceleration
t – time
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

1. The s-t, v-t, and a-t Graphs

s s

s1 s2 s3 s1 s2 s3

O t O t
t1 t2 t3 t1 t2 t3

The s-t graph

Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• The s-t Graph

 The x-axis of the s-t graph represents the time
s (t) while y-axis represents the position (s).

 The slope of s-t graph (represented by the

black dot and orange lines) is the velocity of a
particle.

s1 s2 s3  For instance, v1 is the velocity of a particle at

time t1 and position s1. By differentiating, the
t velocity at s1 and t1 can be solve.
O t1 t2 t3
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• The s-t Graph

 The slope of s-t graph or simply the velocity
s can be solved using one of the kinematic
differential equations, the:

𝒅𝒔
𝒗= 𝒅𝒕
s1 s2 s3 since it relates the variables s and t to velocity
v.
O t
t1 t2 t3 𝒅𝒔
 Thus, slope of s-t graph = velocity (v) =
𝒅𝒕
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• The s-t Graph

 The slope of s-t graph or simply the velocity
s
obtained at points (s0, t0), (s1, t1), (s2, t2) and (s3,
t3), can be used to construct the v-t graph by
simply replacing the y-axis of s-t graph, which
is the position s, into velocity v and then
s1 s2 s3
plotting the values.
O t
t1 t2 t3
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• The v-t Graph

 The x-axis of the v-t graph represents the time
v (t) while y-axis represents the velocity (v).

 The slope of v-t graph (represented by the

black dot and orange lines) is the acceleration
of a particle (same concept with s-t graph).

v1 v2 v3  For instance, a1 is the acceleration of a particle

v0 at time t1 and velocity v1. By differentiating,
t the acceleration at v1 and t1 can be solve.
t1 t2 t3
O
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• The v-t Graph

 The slope of v-t graph or simply the
v acceleration can be solved using one of the
kinematic differential equations, the:
𝒅𝒗
𝒂=
𝒅𝒕

v1 v2 v3 since it relates the variables v and t to

v0 acceleration a.
t
t1 t2 t3  Thus, slope of v-t graph = acceleration (a) =
O
𝒅𝒗
𝒅𝒕
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• The a-t Graph

 The a-t graph shown is the plotted values of
a acceleration a obtained from the slope of the v-
t graph by differentiation using the kinematic
equation:
𝒅𝒗
𝒂=
𝒅𝒕
a1 a2
a3
a0
t
t1 t2 t3
O
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

 Note that in converting s-t graph to v-t graph and v-t graph to a-t graph, differentiation
is used, by using the kinematic differential equations.

 Differentiation reduces a polynomial of degrees n to degree n – 1, then if:

 The s-t graph is parabolic (second degree curve) → it will be a sloping line (first-
degree curve) in v-t graph and → the a-t graph will be a constant or horizontal
line (zero-degree curve).
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• You can also construct v-t graph and s-t graph given a-t graph by integration of the kinematic
equations.
• For instance, given a-t graph below, v-t graph can be constructed using the kinematic equation
𝒅𝒗
𝒂= .
𝒅𝒕
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• Given a-t graph

 Consider the given a-t graph. The shaded part
(represented by red color) is the change in
velocity (Δv) from initial time (ti), which is
equal to zero (0), to time 1 (t1). It is derived
𝒅𝒗
from the kinematic equation 𝒂 = .
𝒅𝒕

 Thus, change in velocity (Δv) = area under a-

t graph or 𝚫𝒗 = ‫ 𝒕𝒅 𝒂 ׬‬.
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• To construct v-t graph from a-t graph, the small increments of area under a-t graph (those
represented by red color), which is the change in velocity (Δv), is added to the particle’s initial
velocity (vo).

• Basically, you just have to add the change in velocity (Δv) and the particle’s velocity at certain
point, that is (v1 = Δv + vo ), (v2 = Δv + v1), (v3 = Δv + v2 ) and so on. Then, plot the values to
construct the v-t graph.
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• Constructing v-t graph given a-t graph

 As shown on the graph, to get velocity 1 (v1),

you just have to do algebraic addition of the
area increments of the a-t graph, which is the
change in velocity (Δv), to the particle’s initial
velocity (vo) . Hence, v1 = Δv + vo and so on.
Then, plotting the values will form the v-t
graph.
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• Similarly, the s-t graph can be determine or constructed given v-t graph or using data from v-t
graph.

• It has the same process as constructing v-t graph given a-t graph, that is by integration using
𝑑𝑠
the kinematic equation 𝑣 = .
𝑑𝑡
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• Given a-t graph

 Consider the given v-t graph. The shaded part
(represented by red color) is the change in
position or displacement (Δs) from initial time
(ti), which is equal to zero (0), to time 1 (t1). It
𝒅𝒔
is derived from the kinematic equation 𝑣 = .
𝒅𝒕

 Thus, displacement (Δs) = area under v-t

graph or 𝚫𝒔 = ‫ 𝒕𝒅 𝒗 ׬‬.
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• To construct s-t graph from v-t graph, the small increments of area under v-t graph (those
represented by red color), which is the change in position or displacement (Δs), is added to the
particle’s initial position (so).

• Basically, you just have to add the change in position (Δs) and the particle’s position at certain
point, that is (s1 = Δs + so ), (s2 = Δs + s1), (s3 = Δs + s2 ) and so on. Then, plot the values to
construct the s-t graph.
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• Constructing s-t graph given v-t graph

 As shown on the graph, to get position 1 (s1),

you just have to do algebraic addition of the
area increments of the v-t graph, which is the
change in position (Δs), to the particle’s initial
position (so) . Hence, s1 = Δs + so and so on.
Then, plotting the values will form the s-t
graph.
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

 Note that in converting a-t graph to v-t graph and v-t graph to s-t graph, integration
is used, by using the kinematic differential equations.

 If the a-t graph is linear (first-degree curve) , the v-t graph is parabolic (second-degree
curve) and s-t graph is cubic (third-degree curve).
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

2. The v-s, and a-s Graphs

 The kinematic equation used to construct v-s graph and/or a-s graph is:
𝒗𝒅𝒗 = 𝒂𝒅𝒔.
 For instance, if a-s graph is given (shown below), then points on the v-s graph
can be determined by integrating the equation 𝒗𝒅𝒗 = 𝒂𝒅𝒔.
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• Given a-s graph

 The limits when integrating the equation
𝒗𝒅𝒗 = 𝒂𝒅𝒔 are:
1. Let v = v0 at s = so (initial position)
2. Let v = v1 at s = s1 (position 1)

 Then, integrating and applying the limits,

the area under a-s graph is:
𝑣1 𝑠
‫𝑣𝑑𝑣 𝑣׬‬ = ‫𝑠𝑑𝑎 𝑠׬‬
0 𝑜

1 2 𝑠
2
(𝑣1 − 𝑣𝑜2 ) = ‫׬‬0 𝑎𝑑𝑠
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• Given a-s graph

 So, if the red area is determined and the
initial velocity vo at initial position so is
known, we can use the simplified formula:

𝟏
𝒔𝟏 𝟐
𝒗𝟏 = 𝟐 න 𝒂𝒅𝒔 + 𝒗𝒐𝟐
𝟎
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• Given a-s graph

 After solving v1, we will add it to vo or the
initial velocity (as shown on the graph).

 Successive points on the v-s graph can be

constructed using this process.
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• However, if v-s graph is given instead of a-s graph, the acceleration a at any position
s can be determined by using again the kinematic equation 𝒗𝒅𝒗 = 𝒂𝒅𝒔 or 𝒂𝒅𝒔 =
𝒗𝒅𝒗.

𝒅𝒗
• Rearranging the equation, acceleration 𝒂 = 𝒗 . So, basically, the acceleration is
𝒅𝒔
equal to the slope of v-s graph times the velocity (as shown on the graph below).
Lesson 2.3:
Rectilinear Motion: Variable Acceleration

• Given v-s graph

 If v at a certain position and dv/ds is known, then the value of acceleration a can be
calculated.

 Then plotting the value/s of acceleration, the graph will be:

Lesson 2.3:
Rectilinear Motion: Variable Acceleration
Example 4
The s – t graph for an object is known. From the data, create the v – t and a – t graphs for the
motion; 0 ≤ t ≤ 40 s. For 0 ≤ t ≤ 30 s; the curve is s = (0.4 t2) m, and then it becomes straight for t
≥ 30 s with an equation of s = (24t – 360) m.

S (m)

600

360

40
t (s)
30
Lesson 2.3:
Rectilinear Motion: Variable Acceleration
Example 4
Given: Req’d:
S (m)
a. v – t graph
S = (24t – 360) @ t ≥ 30 s b. a – t graph
600

360

40
t (s)
30

S = (0.4 t2) @ 0 ≤ t ≤ 30 s
Lesson 2.3:
Rectilinear Motion: Variable Acceleration
Example 4
Sol’n:
a. Construct v – t graph
• Solve for the velocity per function or position with respect to time t.
At 0 ≤ t ≤ 30 s:
s = 0.4 t2 (given)
𝑑𝑠 𝑑
𝑣= = 0.4𝑡 2 Differentiate 0.4 t2 with respect to t.
𝑑𝑡 𝑑𝑡

𝑣 = 0.8𝑡
For t = 0s
v = 0.8(0) = 0 m/s
Lesson 2.3:
Rectilinear Motion: Variable Acceleration
Example 4
Sol’n:
For t = 0s
v = 0.8(0) = 0 m/s → Ans.
For t = 30s
v = 0.8(30s) = 24 m/s → Ans.
Lesson 2.3:
Rectilinear Motion: Variable Acceleration
Example 4
Sol’n:
At 30s ≤ t ≤ 40 s:
s = 24t – 360 (given)
𝑑𝑠 𝑑
𝑣= = 24𝑡 − 360 Differentiate 0.4 t2 with respect to t.
𝑑𝑡 𝑑𝑡

𝑣 = 24 𝑚/𝑠
For t = 30s to 40s
v = 24 m/s → Ans.
Lesson 2.3:
Rectilinear Motion: Variable Acceleration
Example 4
Sol’n:
• Then, plot the values.
v (m/s)

Answer
24

0 40
t (s)
30
Lesson 2.3:
Rectilinear Motion: Variable Acceleration
Example 4
Sol’n:
b. Construct a – t graph
• Solve for the acceleration using the velocity obtain at (a).
At 0 ≤ t ≤ 30 s
𝑣 = 0.8𝑡
𝑑𝑣 𝑑
𝑎= = (0.8𝑡) Differentiate 0.4 t2 with respect to t.
𝑑𝑡 𝑑𝑡
𝑚
𝑎 = 0.8 (exact value)
𝑠2

For t = 0s to 30s
a = 0.8 m/s2
Lesson 2.3:
Rectilinear Motion: Variable Acceleration
Example 4
Sol’n:
At 30s ≤ t ≤ 40 s:
v = 24 m/s (from a)
𝑑𝑣 𝑑 24𝑚
𝑎= =
𝑑𝑡 𝑑𝑡 𝑠
𝑚
𝑎=0
𝑠2

For t = 30s to 40s

a = 0 m/s2 → Ans.
Lesson 2.3:
Rectilinear Motion: Variable Acceleration
Example 4
Sol’n:
• Then, plot the values.
a (m/s2)

Answer
0.8

0 40
t (s)
30