Kinematics of

ME-212 Dynamics
Particles
Dr. Izhar Ul Haq
Email: izhar@uetpeshawar.edu.pk

Department of Mechatronics Engineering

UETP
© Faculty of Mechanical Engineering, GIKI
 Plane curvilinear motion
• Definition
– The motion of particle along a curve path other than
straight line in a single plane.

ME-212 Dynamics
• Commonly used coordinate systems
– Three different coordinate system are commonly used for
describing the vector relationship for curvilinear motion of a
particle in plane
• Rectangular coordinate system
• Normal and tangential coordinate system
• Polar coordinate system

© Faculty of Mechanical Engineering, GIKI Cylindrical coordinate

 Plane curvilinear motion

• Position Vector
– The particle position is completely specified if the
Position vector r magnitude and direction is known at

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the specific time

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 Plane curvilinear motion

• Position Vector Time= t+Δt

Time= t

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1 2
3

Note: Δr =change in
displacement

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4 Particle A velocity direction
 Plane curvilinear motion

• Average Velocity
r
v av =

ME-212 Dynamics
t
r
v = lim t →0
t

dr
v av = = r
dt

ds
v= v = = s
dt
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 Plane curvilinear motion
Hodograph
• Acceleration

v
a av =

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t

v
a = lim t →0
t
Particle path

dv
a av = = v
dt

Particle path

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 Rectangular Coordinates (x-y)
• Vector Representation

r = xi + yj tan =
y
x

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v = r = xi + y j

a = v = r = xi + yj

v 2 = vx + v y
2 2 vy
v = vx + v y
2 2
tan =
vx

a 2 = ax + a y ay
2 2
a = ax + a y
2 2
tan =
ax

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 Freefall
• In the absence of frictional drag, an object near
the surface of the earth will fall with the constant
acceleration of gravity g. Position and speed at

ME-212 Dynamics
any time can be calculated from the motion
equation
Illustrated here is the situation where an object
is released from rest. It's position and speed
can be predicted for any time after that. Since
all the quantities are directed downward, that
direction is chosen as the positive direction in
this case

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 Rectangular Coordinates (x-y)
• Projectile Motion
– A projectile is any object which once projected or
dropped continues in motion by its own inertia and is
influenced only by the downward force of gravity.

ME-212 Dynamics
• The most common example to explain two dimensional
motion is projectile motion

– Assumption
• Aerodynamic drag neglected
• Curvature and rotation of earth neglected
• Altitude change is small thus g is constant.
• Perpendicular component of motion are independent of
each other

– By definition, a projectile has only one force acting

upon it - the force of gravity. If there was any other
force acting upon an object then that object would
not be a projectile .
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• http://www.physclips.unsw.edu.au/jw/projectiles.htm
 Rectangular Coordinates (x-y)

• Examples of projectile motion

ME-212 Dynamics
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• http://www.glenbrook.k12.il.us/gbssci/phys/Class/vectors/u3l2a.html
 Rectangular Coordinates (x-y)
• Projectile Motion
– Vy at the same level are equal in projectile unless
otherwise change in condition.

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 Rectangular Coordinates (x-y)
• Projectile Motion

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 Rectangular Coordinates (x-y)
• Projectile Motion

ME-212 Dynamics
© Faculty of Mechanical Engineering, GIKI
 Rectangular Coordinates (x-y)
• Projectile Motion

ME-212 Dynamics
© Faculty of Mechanical Engineering, GIKI
 Rectangular Coordinates (x-y)
• Projectile Motion

ME-212 Dynamics
© Faculty of Mechanical Engineering, GIKI
 Rectangular Coordinates (x-y)
• Projectile Motion

ME-212 Dynamics
© Faculty of Mechanical Engineering, GIKI
 Rectangular Coordinates (x-y)
• Projectile Motion

ME-212 Dynamics
© Faculty of Mechanical Engineering, GIKI
 Rectangular Coordinates (x-y)
• Projectile Motion
Horizontal Vertical
Motion Motion

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Yes
Forces The force of
(Present? - Yes or No) No
gravity acts
(If present, what dir'n?) downward
Acceleration Yes
(Present? - Yes or No) No "g" is downward at
(If present, what dir'n?) 9.8 m/s/s
Velocity Changing
(Constant or Constant (by 9.8 m/s each
Changing?) second)

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 Rectangular Coordinates (x-y)
• Projectile motion
ax = 0 ay = − g

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v2 t2 v2 t2

 dv =(0) dt
v1 t1
 dv = − g  dt
v1 t1

v x = (v x ) 0 v y = (v y ) o - gt
x t2 y t2

 ds =(v )  dtx o  ds = [ (v )
yo t1
y o − gt ]dt
xo t1

1 2
x = xo + ( v x )o t y = yo + ( v y )o t + gt
2

v y = (v y )o − 2 g ( y − y0 )
2 2

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 Rectangular Coordinates (x-y)
• Position-Time / Velocity –Time Graph

ME-212 Dynamics
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 Rectangular Coordinates (x-y)

• Projectile Launcher

ME-212 Dynamics
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