Chapter 12 :

Kinematics of a Particle
（I）

by

Dr. Toh Hoong Thiam

 Chapter Outline
• Rectilinear Kinematics:
− Continuous Motion
− Erratic Motion

• Curvilinear Motion:
− Rectangular Components
− Motion of a Projectile
− Normal and Tangential Components
− Cylindrical Components
• Absolute Dependent Motion Analysis of Two Particles
• Relative Motion Analysis of Two Particles Using Translating
Axes.
 Rectilinear Kinematics:
Continuous Motion

The kinematics of a particle is characterized by

specifying, at any given instant, the particle’s
• position,
• velocity, and
• acceleration.
 Position
 Single coordinate axis, s.
 Position coordinate s is used to specify the location of the
particle P at any given instant.

P
O s

 Position is a vector quantity as it has both magnitude and

direction.

Note :
Since the direction of s always remain along the coordinate axis, the
scalar s (together with its sign) is used to represent a vector quantity.
 Displacement
 The displacement of the particle is the change in its position.
 If particle moves from P to P’, the displacement Ds given by



 
Ds = s’ − s
Ds is +ve if the particle’s final position is to the right of its initial position.
Ds is −ve if the particle’s final position is to the left of its initial position.

 The displacement of a particle is also a vector quantity.

 Velocity

 Average Velocity

If the particle moves through a displacement Ds during the time

interval Dt, the average velocity of the particle during this time
interval is


Ds
 vavg 
  Dt
 Instantaneous Velocity
 The instantaneous velocity is defined as

 Ds 
v  lim 
Dt 0 Dt
or  

 ds
 v
  dt

Note:
• If the particle is moving to the right, the velocity is +ve.
• If the particle is moving to the left, the velocity is –ve.

 Velocity is a vector quantity. Its magnitude is known as the

speed.
 Average Speed

The average speed is defined as the total distance traveled by a

particle, sT, divided by the elapsed time Dt.

v  
sT
Dt
sp avg

Note:
• The total distance traveled is a positive scalar.

• Therefore, the average speed is always a positive scalar.

Example
Consider a particle travels along the path of length sT in time Dt.

 Average speed of the particle is

v  
sT
Dt
sp avg

 Average velocity is
 Ds
 vavg  
  Dt
 Acceleration
 Average Acceleration

 At time t, the velocity of the particle = v

A t time t +Dt, the velocity of the particle = v’

 The average acceleration of the particle during the time interval

Dt, is
 Dv
 aavg 
  Dt

where Dv = v’− v
 Instantaneous Acceleration
 The instantaneous acceleration of the particle at time t is
 Dv 
a  lim 
Dt 0 Dt
 
or
 dv
 a
  dt

ds
 Since v = dt , we have


d  ds 
 a  
  dt  dt 
i.e.,
 d 2s
 a 2
  dt
 A differential relation involving a, s, v can be obtained as follows
 dv
 a
  dt

dv ds
a
ds dt

dv
av
ds
or


 
a ds  v dv
Note:
• If the particle is slowing down, its speed is decreasing
⟹ Dv = v’ ─ v will be negative.

Consequently, a will also be negative, & therefore it will act to the

left, in the opposite sense to v.

The particle is said to be decelerating.

Deceleration is negative

• If velocity is constant, acceleration is zero.

 Formulas that relate velocity, displacement and time at
constant acceleration (a = ac)

 Velocity as a Function of Time

• Suppose v = v0 when t = 0.

 dv
  ac
  dt

v t

v0
dv   ac dt
0

v  v0  ac t  0

v = v0 + ac t
 Velocity as a Function of Position
• Suppose v = v0 when s = s0
 dv
  ac
  dt

dv ds
 ac
ds dt
dv
v  ac
ds
v s
 vdv  
v0 s0
ac ds
v
v 
2

   ac s s
s0
  v0
2

v 2  v02  2ac s  s0 
 Position as a Function of Time

• Suppose s = s0 when t = 0.

 ds

 
v
dt
ds
 v0  ac t
dt

 ds   v  ac t  dt
s t
0
s0 0

t
 t2 
sss  v0t  ac 
 2 0
0

1 2
s  s 0  v0 t  a c t
2
PROCEDURE FOR ANALYSIS
1) Coordinate System
 Establish a position coordinate s along the path and
specify its fixed origin and positive direction.

 The particle’s position, velocity, and acceleration, can be

represented as s, v and a respectively and their sense is
then determined from their algebraic signs.

 The positive sense for each scalar can be indicated by an

arrow shown alongside each kinematics equation as it is
applied.
2) Kinematic Equation

 If a relationship is known between any two of the four

variables a, v, s and t, then a third variable can be
obtained by using one of the three kinematic equations.

 When integration is performed, it is important that

position and velocity be known at a given instant in order
to evaluate either the constant of integration if an
indefinite integral is used, or the limits of integration if a
definite integral is used.
Example 12.1
Given:

• The car moves in a straight line such that for a short time its
velocity is defined by v = (0.9t2 + 0.6t) m/s where t is in seconds.

• When t = 0, s = 0.

Find:
Determine its position and acceleration when t = 3s.
Solution
Position
• Since v = f(t), the car’s position can be found from v = ds/dt
 ds
 v
  dt
ds
dt

 0.9t 2  0.6t 
0
s t

ds   0.9t 2  0.6t dt
0

 0.3t  t
[ s] s
0
3
 0.3t 2
0

s  0.3t 3  0.3t 2

• When t = 3s, s= 0.3 (3)3 + 0.3 (3)2 = 10. 8 m

Acceleration

• Since v = f(t), the car’s position can be found from a = dv/dt

 dv
 a
  dt

a
d
dt

0.9t 2  0.6t 

= 1.8 t + 0.6
• When t = 3s,
a = 1.8 (3) + 0.6
a = 6 m/s2 →
Example 12.2
Given:
• A small projectile is fired vertically
downward into a fluid medium
with an initial velocity of 60m/s.

• Due to the resistance of the fluid

the projectile experiences a
deceleration of
a = (−0.4v3) m/s2,
where v is in m/s.

Find:
Determine the projectile’s velocity and position 4s after it is fired.
Solution:
Coordinate System : Take the position coordinate to be +ve downward
Velocity dv
   a  0 .4 v 3
dt
v dv t
60 m/s  0.4v 3
  dt
0

v
 1  1 1 t
  0.4   2  v 2   0 dt
    60

1 1 1 
 2  2
t
0.8  v 60 
 
 1 
1/ 2


v    0.8t   m/s
  
 60
2
  

When t = 4s, v = 0.559 m/s ↓

Position
• Since v = f(t), the position can be found from v = ds/dt

  ds
v & s = 0 when t = 0 (initial condition)
dt
1 / 2
ds  1 
   0.8t 
dt  602

1 / 2
s  1
t 
0 ds  0  602  0.8t  dt

1/ 2 t
 2  1   
1  1 
1/ 2
1 
s     0.8t    
  0.8t 
   m
 0.8  60
2
  0.4  602
 60 
0  

When t = 4s,
s = 4.43m
Example 12.3
Given:
• A rocket travels upward at 75m/s.
• When it is 40m from the ground,
the engine fails.

Find:
Determine the maximum height
sB reached by the rocket and its
speed just before it hits the
ground.
Solution:
Coordinate System.
• Origin O is located at ground level.
• Positive upward.

Position.
• At t = 0, vA = +75m/s , sA = 40 m
• At the maximum height s = sB , v = vB = 0.

• Acceleration : ac = − 9.81 m/s2

  vB2  vA2  2aC (sB  s A )

0 = (75)2 +2 (─ 9.81 )(sB ─ 40)

sB = 327 m
Velocity.
• When the rocket hits the ground, s = sC = 0

Therefore,

  vC2  vB2  2aC (sC  sB )

( vC)2 = (0)2 +2 (─9.81 )(0 ─ 327)

( vC)2 = 6415.74

vC = −80.1 m/s
= 80.1 m/s ↓
Note:
The negative root was chosen since the rocket is moving downward
Example 12.4
Given:
• A metallic particle travels downward
through a fluid that extends from plate A
& plate B under the influence of a
magnetic field.

• The particle is released from rest at

midpoint C, s = 100 mm, and the acceleration is
a = (4s) m/s2, where s in meters.

Find:
(a) The velocity when the particle reaches plate B,
(b) The time needed by the particle to travel from C to B.
Solution:
Coordinate System
• Origin O is located at plate A.
• Positive downward

Velocity
𝑑𝑣
• Since a = (4s) m/s2, the velocity can be found from a = v 𝑑𝑠

• At t= 0, the particle is at C, where s = 100 mm = 0.1 m, v = 0.

dv
  av
ds
v dv  a ds
v s
 vdv  
0 0.1
4 s ds
   v
 1 v2    4 s2 
s

 2  0  2  0.1


v 2  4 s 2  0.01 
 
1
v  2 s  0.01
2 2

At B, s = 200 mm = 0.2 m,

 
1
  vB  2 0.2 2  0.01 2

vB = 0.346 m/s
= 346 mm/s ↓
Time

  v
ds
dt
ds = v dt

 
1
ds  2 s 2  0.01 dt 2

s ds t
   2 dt
s  0.01
0.1 1 0
2 2

ln s  0.01  s
2
 s
0.1  2t 0
t


ln s 2  0.01  s  2.303  2t 
  t
 
ln s 2  0.01  s  2.303
2

At B, s = 200 mm = 0.2 m,

ln 0.22  0.01  0.2   2.303

t  
2

t = 0.6587 s
Example 12.5
Given:
• A particle moves along a horizontal path with a velocity of
v = (3t2 – 6t) m/s.

• The particle is initially located at the origin O.

Find:
(a) The distance traveled by the particle in 3.5 s,

(b) The particle’s average velocity and average speed during the
time interval.
Solution:
Coordinate System :
• Positive motion to the right, measured from the origin, O.

Path of motion
From the graph of v = (3t2 – 6t) m/s, we have

• 0 < t < 2 s : ─ ve velocity

=> particle is moving to the left.

• t > 2s : +ve velocity

=> particle is moving to the right.
Position
𝑑𝑠
• Since v = (3t2 – 6t) m/s, the position can be found from v =
𝑑𝑡

• Initial condition: at t = 0, s = 0.
 ds
  v
  dt
ds = v dt

ds = (3t2 – 6t) dt


0
s t
 
ds   3t 2  6t dt
0

s = (t3 – 3t2) m
• Therefore,

s  0,
t 0

s  (23 – 3  2 2 )  4 m
t 2 s

s  0,
t 3 s

s  (3.53 – 3  3.52 )  6.125 m

t 3.5 s

(a) The total distance traveled in 3.5 s is

sT  Dst 0t  2 s  Dst  2 s t 3s  Dst 3 s t 3.5 s

sT = 4.0 + 4.0 + 6.125

= 14.125 m
(b) The displacement from t = 0 to t = 3.5 s is

Ds  s s  6.125  0  6.125 m
t 3.5 s t 0

• The average velocity is

Ds 6.125
vavg   = 1.75 m/s →
Dt 3.5  0

• The average speed is

v  
sT

14.125
= 4.04 m/s
Dt 3 .5  0
sp avg