INGE 3032 Particle Kinematics

INGE 3032: Dynamics
Chapter 12: PARTICLE KINEMATIC

Section1: Basic Definitions
Lecture Notes and Problems
Professor: Basir Shafiq

Summer Semester 2020-21
Zoom Meeting ID: 787 832 4040

Zoom Password: INGE
Email: Prof.BasirShafiq@gmail.com
An Overview of Dynamics Course
• The book is divided into:
• Particle Dynamics [chapters 12-15] – the size of the
body (and thus rotations) are ignored.
• Rigid Body Dynamics [chapters 16-19] – bodies have
finite size, thus both translation and rotation are involved.
Ch. 12 and 16 deal with kinematics [relationship between
distance, velocity, acceleration and time].
Ch. 13 and 17 deal with kinetics [Newton’s 2nd law SF=ma to
solve problems involving force and motion].
Ch. 14 and 18 deal with Work and Energy Principles
[conservation of energy helps solve problems involving motion].
Ch. 15 and 19 deal with Impulse and Momentum [deals with
impact/contact type of problems].
Chapter 12 2
Some Basic Terminology
• Body: a generic word to describe any object, e.g., car, hand,
tree, etc.
• Rigid Body: a body of finite (measurable) dimensions that
does not deform under the application of force.
• Translation: refers to displacement of a body from one point
to another.
• Rectilinear Motion: implies a straight-line motion.
• Curvilinear Motion: implies motion along a curved path.
• Rotation: implies a change of orientation with respect to a
fixed axis of rotation.
• Vector: has both magnitude and direction – any quantity
requiring a direction to be specified becomes a vector, e.g.,
force, velocity, electromagnetic field are vectors.
• Scalar: magnitude part of the vector.
Chapter 12 3
Rotation
• To produce ROTATION requires a location where the force is
applied and an axis about which the body rotates.
• i.e., some finite distance is required between the point of
application of force and the rotation axis.
• As the distance “d”

reduces, it makes it
more difficult to
create rotation by the
same force “F”.
𝑑
Axis of rotation is
the axis of the bolt
• No rotation is possible if your hand moves
over the axis of rotation.
4
Chapter 12
Particle vs Rigid Body Analysis
• Particle Analysis: For mathematical simplification, a body can
be assumed to be of such small dimensions that makes it
impossible to discern the distance between the point of
application of the force and the axis of rotation – i.e.,
rotations can not be produced. 𝑭
• Imagine a speck of dust or particle of sand.
• Rigid Body Analysis:

Dimensions can not be ignored,
thus, body both translates and
rotates.
e.g., in this printing press
mechanism, each gear and link
rotates and translates.
5
Chapter 12
Sections 2: PARTICLE Kinematics
Basic Principles
relationships between
• Position (s)
• Velocity (v)
• Acceleration (a)
• Time (t)
are established
No rotations are involved

forces and moments that cause the motion are
ignored.
Chapter 12 6
APPLICATIONS If we measure
The motion of large objects, the altitude of
such as rockets, airplanes, this rocket as a
or cars, can often be function of
analyzed as if they were time, the
particles. objective is to
Why? Because their determine its
rotations can be ignored. velocity and
acceleration?
Can we treat the car as a

particle?
If the car accelerates at a
constant rate, how can we
determine its position and
velocity at some instant?
Chapter 12 7
Displacement
𝒔 𝐨𝐫 𝒔ത A fixed reference location is required to
∆s determine the changing location of a body.
s A particle travels along a straight-line
𝑶 𝑠
1 path defined by the coordinate axis s.
𝑠2
The position (location) of the particle at any
Fixed instant, relative to the fixed reference, O,
Reference is defined by the position vector 𝒔ത , or the scalar s
{bar distinguishes a vector from a scalar}.
The displacement of the particle is defined as its change in position.
Displacement (in scalar form, distance only)
∆𝒔 = 𝒔𝟐 − 𝒔𝟏
Displacement (in vectorial form, distance in a given direction)
∆ത𝒔 = 𝒔ത 𝟐 − 𝒔ത 𝟏
Typical units are feet (ft) or meters (m).
Chapter 12 8
Velocity
• Velocity is a measure of the rate of change in the position.
• The magnitude of the velocity is called speed.
• The units of velocity are m/s or ft/s.
𝒔ത
∆ 𝒔ത Velocity is a vector.
s Speed is a scalar.
𝒔ത1
𝒔ത 2 The average velocity of a particle
during a time interval t is
∆𝒔
Fixed Reference 𝒗𝒂𝒗𝒆 = A scalar
∆𝒕
Example: Find average speed of a car between Mayagüez and
Manati if the distance is 60 miles and the time it takes is 80 minutes.
∆𝑠 60 𝑚𝑖
𝑣𝑎𝑣𝑒 = = = 45 𝑚𝑖ൗℎ
∆𝑡 1ℎ
80 𝑚𝑖𝑛 ×
60 𝑚𝑖𝑛 Chapter 12
9
Velocity
• Average Velocity fails to account for the changes in velocity
en-route; stop and go, etc. Develop a Time vs
• In engineering applications (and Distance table
law enforcement, for example), it
Plot it
is the INSTANTANEOUS
VELOCITY that matters. Establish 𝒔 = 𝒇(𝒕)
Instantaneous: means at a given
instant in time.
s
The instantaneous velocity is the time-
derivative of the position (function).
𝒔 = 𝒇(𝒕)
𝒅ത𝒔 𝒔ത , a vector, has to be
ഥ=
𝒗 a function of time
𝒅𝒕
Provides 𝑣 = 𝑓(𝑡) t
Evaluate the velocity at the desired 𝑡1 𝑡2
time, 𝑡1 or 𝑡2 . Chapter 12
10
Acceleration
• Acceleration is the rate of change in the velocity of a particle.
• Acceleration is a vector.
• Typical units are m/s2 or ft/s2.
The (instantaneous) acceleration
𝑣 is the time derivative of velocity.
𝑣 = 𝑓(𝑡) 𝒅ഥ𝒗
ഥ=
𝒂
𝒅𝒕
v has to be a function of time
t Acceleration can be:

- positive (speed increasing)
- negative (speed decreasing
also called deceleration).
Acceleration is always instantaneous, there is no such thing as the
average acceleration. Chapter 12 11
The Three Kinematic Equations
𝒗 = 𝒅𝒔ൗ𝒅𝒕 𝒂 = 𝒅𝒗ൗ𝒅𝒕
These two equations for velocity and acceleration can be

combined to get
𝑑𝑣 𝑑𝑣 𝒂𝒅𝒔 = 𝒗𝒅𝒗
𝑎= =
𝑑𝑡 𝑑𝑠ൗ
𝑣
Depending on what’s given and what needs to be determined,
you may take a derivative or integrate these equations.
For proper integration, like terms must appear on the
same side of the equation.
Important: Acceleration can be given or determined in
terms of
Time, t Position, s Velocity, v
Acceleration can be measured using a device called “accelerometer”.
Chapter 12 12
Acceleration (accelerometer) 𝒂 = 𝒅𝒗ൗ𝒅𝒕
• If 𝒂 = 𝒇(𝒕), then from 𝑎 = 𝑑𝑣Τ𝑑𝑡 𝒂𝒅𝒔 = 𝒗𝒅𝒗
𝑣𝑓 𝑡𝑓
න 𝑑𝑣 = න 𝑎(𝑡)𝑑𝑡 Find “v”
𝑣𝑖 𝑡𝑖 a 𝑎 = 𝑓(𝑡)
• If 𝒂 = 𝒇(𝒔), then from 𝑎𝑑𝑠 = 𝑣𝑑𝑣
𝑠𝑓 𝑣𝑓
න 𝑎(𝑠)𝑑𝑠 = න 𝑣 𝑑𝑣 Find “v” t
𝑠𝑖 𝑣𝑖
a
• If 𝒂 = 𝒇(𝒗), then 𝑎 = 𝑓(𝑠)
• If time is desired, then from 𝑎 = 𝑑𝑣Τ𝑑𝑡
𝑡𝑓 𝑣𝑓
1 s
න 𝑑𝑡 = න 𝑑𝑣
𝑡𝑖 𝑣𝑖 𝑎(𝑣) a 𝑎 = 𝑓(𝑣)
• If position is desired, from 𝑎𝑑𝑠 = 𝑣𝑑𝑣
𝑠𝑓 𝑣𝑓
𝑣
න 𝑑𝑠 = න 𝑑𝑣 v
𝑠𝑖 𝑣𝑖 𝑎(𝑣) 13
𝒗 = 𝒅𝒔ൗ𝒅𝒕
Constant Acceleration
𝒂 = 𝒅𝒗ൗ𝒅𝒕
If acceleration is constant, then 𝒂𝒅𝒔 = 𝒗𝒅𝒗
The kinematic equations can be integrated to obtain
𝑣𝑓 𝑡𝑓
න 𝑑𝑣 = න 𝑎𝑑𝑡 𝑣𝑓 = 𝑣𝑖 + 𝑎𝑡 𝒗 = 𝒗𝒊 + 𝒂𝒕
𝑣𝑖 𝑡𝑖
𝑠𝑓 𝑡𝑓 𝑡𝑓
න 𝑑𝑠 = න 𝑣(𝑡)𝑑𝑡 = න (𝒗𝒊 + 𝒂𝒕 )𝑑𝑡
𝑠𝑖 𝑡𝑖 𝑡𝑖
𝟏 𝟐 𝟏 𝟐
𝒔𝒇 − 𝒔𝒊 = 𝒗𝒊 𝒕 + 𝒂𝒕 𝐬 = 𝒗𝒊 𝒕 + 𝒂𝒕
𝟐 𝟐
𝑣𝑓 𝑠𝑓
න 𝑣 𝑑𝑣 = න 𝑎𝑑𝑠
𝑣𝑖 𝑠𝑖
𝟐 𝟐 𝒗 𝟐 − 𝒗𝒊 𝟐
= 𝟐𝒂𝒔
𝒗𝒇 − 𝒗𝒊 = 𝟐𝒂(𝒔𝒇 − 𝒔𝒊 )
Example: Acceleration due to Gravity,
Chapter 12
a = g = 9.81 m/s2 = 32.2 ft/s2 downward. 14
Practice Problem 1: Ball A is released from rest at a height of 40 ft
at the same time that ball B is thrown upward, 5 ft from the ground.
The balls pass one another at a height of 20 ft. Find: The speed at
which ball B was thrown upward.
Let’s Think
Suppose you were to meet your friend,
after this class,
what must occur in terms of
location and time?
For the ball A and B to meet at
20 ft height, what must occur in
terms of place and time?
20 𝑓𝑡
So how do we 𝒗 = 𝒗𝒊 + 𝒂𝒕
proceed? 𝟏 𝟐
𝐬 = 𝒗𝒊 𝒕 + 𝒂𝒕
What equation 𝟐 Reference
would you use? 𝒗 𝟐 − 𝒗𝒊 𝟐 = 𝟐𝒂𝒔 Chapter 12
15
Practice Problem 1 . . .
Solution: Acceleration due to gravity acts downward with a
magnitude of 32.2 ft/s2.
1) First consider ball A.
Given: (vA)i = 0, (sA )i = 40 ft.
Find: time required for ball A
to drop to 20 ft (sA)f = 20 ft).
𝟏 𝟐
+ 𝒔𝑨)𝒇 = 𝒔𝑨)𝒊 + 𝒗𝑨)𝒊 𝒕 + 𝟐 𝒂𝒕
𝟏
−𝟐𝟎 = −𝟒𝟎 + 𝟎 𝒕 + (𝟑𝟐. 𝟐)𝒕𝟐
𝟐
𝒕 = 𝟏. 𝟏𝟏𝟓 𝒔
20 𝑓𝑡
Reference
Chapter 12 16
Practice Problem 1 . . . 𝟏 𝟐
t = 1.115 s 𝐬 = 𝒗𝒊 𝒕 + 𝒂𝒕
𝟐
2) Now consider ball B.
Given: (sB)i = 5 ft, sB)f = 20 ft and at the same
time ball A reaches this height (t = 1.115 s).
Find: (vB)i
𝟏 𝟐
+ 𝒔𝑩)𝒇 = 𝒔𝑩)𝒊 + 𝒗𝑩)𝒊 𝒕 + 𝒂𝒕
𝟐
𝟐𝟎 = 𝟓 + 𝒗𝑩)𝒊 𝟏. 𝟏𝟏𝟓
𝟏 𝟐
+ −𝟑𝟐. 𝟐 𝟏. 𝟏𝟏𝟓
𝟐
(𝒗𝑩)𝒊 = 𝟑𝟏. 𝟒 𝒇𝒕/𝒔
20 𝑓𝑡
Reference
Chapter 12 17
Practice Problem 2
Given: 𝑣𝑖 = 15 𝑚Τ𝑠 , 𝑠 = 50𝑚 Find: “a” to stop the car

Solution:
𝒗𝒇 = 𝒗𝒊 + 𝒂𝒕 Deceleration
must always be
used with a
𝒂 = −𝟐. 𝟐𝟓 𝒎ൗ 𝟐 𝒕 = 𝟔. 𝟔𝟕 𝒔
negative sign.
𝒔
Deceleration must
always come out
negative. 𝑣 = 𝑣𝑖 + 𝑎𝑡
1 2
s = 𝑣𝑖 𝑡 + 𝑎𝑡
2
𝑣 2 − 𝑣𝑖 2 = 2𝑎𝑠
Practice Problem 3
A train accelerates uniformly as it passes successive kilometer
marks while traveling at 2 𝑚Τ𝑠 and then 10 𝑚Τ𝑠. Determine the
train’s velocity when it passes the next kilometer mark and the
time it takes to travel the 2km distance.
Given: 𝑣1 = 2 𝑚Τ𝑠 , 𝑣2 = 10 𝑚Τ𝑠 , 𝑠 = 1000𝑚 between mark
Find: 𝑣3 @ 𝑠 = 2𝑘𝑚
Solution: find acceleration using information about marks 1 and 2
𝒗𝟐𝟐 − 𝒗𝟐𝟏 = 𝟐𝒂 𝒔𝟐 − 𝒔𝟏 1 2 3 Km
102 − 22 = 2𝑎 1000 − 0
𝒂 = 𝟎. 𝟎𝟒𝟖 𝒎ൗ 𝟐 REF
To find 𝒗𝟑 𝒔
𝒗𝟐𝟑 − 𝒗𝟐𝟐 = 𝟐𝒂 𝒔𝟑 − 𝒔𝟐
𝑣32 − 102 = 2 0.048 1000 − 0 𝒗𝟑 = 𝟏𝟒 𝒎Τ𝒔
Finally, to find time
𝒗𝟑 = 𝒗𝟏 + 𝒂𝒕 14 = 2 + (0.048)𝑡 𝒕 = 𝟐𝟓𝟎𝒔
HW Problem 12-1: A motorcycle starts from rest and accelerates at 𝑎1 as the
traffic light turns green at an intersection; the motorcycle reaches a maximum
speed and then comes to a stop at a red light while decelerating at 𝑎2 . The
distance between the two traffic lights is “𝑠”.
(a) Find the governing equation of the total time elapsed by the motorcycle
between the two traffic lights.
(b) Then evaluate this equation for 𝑎1 = 2.3 𝑚Τ𝑠2 , 𝑎2 = 3 𝑚Τ𝑠 2 and 𝑠 = 3.5𝑘m.
Hint: Label the three position (start, maximum speed and stop) on a straight
line. Write kinematics equations corresponding to positions 1-2 and 2-3; and
solve the resulting equations simultaneously to find an expression for time in
terms of 𝑎1 , 𝑎2 and 𝑠.
Practice Problem 4
A sphere is fired downward into a medium with an initial speed of
27m/s. If it experiences a deceleration of 𝒂 = −𝟔𝒕 𝒎Τ𝒔𝟐 , determine
the distance it travels before it stops. 𝒅𝒔ൗ
𝒗 = 𝒅𝒕
Given: 𝒗𝒊 = 𝟐𝟕 𝒇𝒕Τ𝒔 , 𝒂 = −𝟔𝒕 𝒇𝒕ൗ𝒔𝟐 𝒂 = 𝒇(𝒕)
Find: s when it stops, i.e., 𝒗 = 𝟎
𝒂𝒅𝒔 = 𝒗𝒅𝒗
Solution: First, we need to find time required to stop
the sphere – but be careful with the function
𝑣 𝑡 𝑡 Do not put the
න 𝑑𝑣 = න 𝑎𝑑𝑡 = න −6𝑡 𝑑𝑡 upper limits in
𝑣𝑖 =27 𝑡𝑖 =0 𝑡𝑖 =0
the integrals
𝑣 = 27 − 3𝑡 2 𝑚Τ𝑠 @𝑣 = 0 → 𝑡 = 3𝑠
𝒔 = 𝟓𝟒 𝒎
Practice Problem 5
A particle starts from rest along a straight line with an
acceleration of 𝒂 = 𝟑𝟎 − 𝟎. 𝟐𝒗 𝒇𝒕ൗ𝒔𝟐 . Determine the time
when the velocity of the particle is 𝒗 = 𝟑𝟎 𝒇𝒕Τ𝒔.
𝒇𝒕 𝒇𝒕
Given: 𝒗𝒊 = 𝟎 ,𝒂 = 𝟑𝟎 − 𝟎. 𝟐𝒗 ൗ𝒔𝟐 𝒂 = 𝒇(𝒗)
𝒔
Find: t when𝒗 = 𝟑𝟎 𝒇𝒕Τ𝒔

Solution:
30
𝒕 = 𝟏. 𝟏𝟐 𝒔
0 𝒗 = 𝒅𝒔ൗ𝒅𝒕
𝒂𝒅𝒔 = 𝒗𝒅𝒗
Practice Problem 6 A particle is moving along a straight line such
that its velocity is defined as 𝒗 = (−𝟒𝒔𝟐) m/s. If at t=0, s=2m,
determine the velocity and acceleration as a function of time.
Solution: Can we use 𝒂 = 𝒅𝒗/𝒅𝒕 to
First find a relationship find the acceleration?
between position and time 𝒗 = (−𝟒𝒔𝟐)
from 𝒗 = 𝒅𝒔/𝒅𝒕 𝒗 = 𝒅𝒔ൗ𝒅𝒕
𝒕 𝒔 𝒔 𝒂 = 𝒅𝒗ൗ𝒅𝒕
𝒅𝒔 𝟏 −𝟐 𝒅𝒔
න 𝒅𝒕 = න 𝟐
= − න 𝒔 𝒂𝒅𝒔 = 𝒗𝒅𝒗
𝟎 𝟐 −𝟒𝒔 𝟒 𝟐
𝟏 𝒔−𝟏 s 𝟏 𝟏 2
𝒕= − ቃ 𝟒𝒕 = − 𝐬= 𝑚
𝟒 −𝟏 𝒔 𝟐 8𝑡 + 1
2
Now, to find the velocity as a function of time
𝒅 𝒅
𝒅𝒔 𝟖𝒕+𝟏 ∙𝒅𝒕 𝟐 −𝟐∙𝒅𝒕 𝟖𝒕+𝟏
𝒗= =
𝒅𝒕 𝟖𝒕+𝟏 𝟐
𝟏𝟔
𝒗=− 𝒎/𝒔
𝟖𝒕+𝟏 𝟐
Practice Problem 6 . . . 𝟏𝟔
𝒗=− 𝒎/𝒔
𝟖𝒕+𝟏 𝟐
To find acceleration as a function of time

𝟖𝒕 + 𝟏 𝟐 ∙ 𝒅 −𝟏𝟔 − (−𝟏𝟔) ∙ 𝒅 𝟖𝒕 + 𝟏 𝟐
𝒅𝒗 𝒅𝒕 𝒅𝒕
𝒂= =
𝒅𝒕 𝟖𝒕 + 𝟏 𝟒
𝟏𝟔(𝟏𝟐𝟖𝒕+𝟏𝟔) 𝟐𝟓𝟔(𝟖𝒕+𝟏)
𝒂= =
𝟖𝒕+𝟏 𝟒 𝟖𝒕+𝟏 𝟒
𝟐𝟓𝟔
𝒂= 𝒎/𝒔𝟐
𝟖𝒕+𝟏 𝟑
Acceleration as a function of time could have also been

found using the chain rule of differentiation 2
𝒅𝒗 𝒅𝒔 𝐬=
𝒂= ∙ 8𝑡 + 1
𝒅𝒔 𝒅𝒕 𝑣 = (−4𝑠2)
𝒅
−𝟐∙𝒅𝒕 𝟖𝒕+𝟏 𝟐 −𝟐∙𝟖 𝟐𝟓𝟔
𝒂 = −𝟖𝒔 . 𝟐 = −𝟖 ∙ . = 𝐦/𝒔𝟐
𝟖𝒕+𝟏 𝟖𝒕+𝟏 𝟖𝒕+𝟏 𝟐 𝟖𝒕+𝟏 𝟑
Practice Problem 7
𝒂 = 𝒇(𝒕)
HW Problem 12-2: A bearing ball is subject to the influence of a
magnetic pull. If the ball starts moving from rest at some distance s = 𝑠1 Ball
and accelerates at “𝑎” towards the magnet.
a. Find the equation governing the velocity of the ball in terms of the 𝑠
distance “s” as the ball moves towards the magnet.
b. Find the equation governing the time in terms of s.
Hints:
The force of attraction between a magnet and an iron object is a function
of the inverse square distance between the two objects: Magnet
1
𝐹 = 𝑓 𝑠2 As the distance decreases, the force of attraction increases.
𝐹
The Force is related to acceleration as: F=ma or 𝑎 = which means
𝑚
that the acceleration is a function of distance since force is a function of
distance, 𝑎 = 𝑓(𝑠)
1. To find velocity, acceleration-velocity-position relationship

2. To find time, use position-velocity-time relationship
Ball Bearing
INGE 3032 - Dynamics
Chapter 12: Particle Kinematics
Section 6: Projectile Motion
Analysis of Curvilinear Motion

using
Cartesian Coordinate System
y, 𝑗
Cartesian
Coordinate
System
𝑥, 𝑖 ҧ
Chapter 12 Section 6 27
Applications
A basketball is shot
at a certain angle.
A good kicker What parameters
instinctively knows at should the shooter
what angle, q, and initial consider in order for
velocity, vA, he must kick the basketball to pass
the ball to make a field through the basket?
goal. For a given kick Distance, speed, the
“strength”, at what angle basket location, …
should the ball be kicked anything else ?
to get the maximum
A firefighter needs to
distance?
know the maximum
height on the wall she
can project water from
the hose. What
parameters are needed
Chapter 12 Section 6 to find the angle, q? 28
Motion of a Projectile
Projectile motion can be analyzed using two components of motion:
• vertical component experiencing constant acceleration of gravity.
• horizontal component of motion experiencing zero acceleration
Consider the two balls on the left.
The Black ball falls from rest
downward.
The Blue ball is given a horizontal
velocity.
Both balls are subjected to the same
downward acceleration.
The horizontal distance is constant
since there is no acceleration in that
direction – the velocity in the
horizontal direction is constant.29
Chapter 12 Section 6
y Motion of a Projectile (Constant Acceleration)
v =0 𝒗 = 𝒗𝒊 + 𝒂𝒕
vi y vx 𝟏 𝟐
i 𝐬 = 𝒗𝒊 𝒕 + 𝒂𝒕
vi)y f 𝒗𝒇)𝒙 = 𝒗𝒙 𝟐
𝒗𝒊)𝒙 𝟐
vf)y 𝒗 − 𝒗 𝟐
= 𝟐𝒂𝒔
yi = 𝒗𝒙 hmax 𝒇 𝒊
vf
yf HORIZONTAL DIRECTION:
𝑎𝑥 = 0
R x
xi xf 𝒗𝒇)𝒙 = 𝒗𝒊)𝒙 + 𝒂𝒙 𝒕
𝒗𝟐 𝒇)𝒙 − 𝒗𝟐 𝒊)𝒙 = 𝟐𝒂𝒙 (𝒙𝒇 − 𝒙𝒊 )
VERTICAL DIRECTION: 𝟏
𝒂𝒚 = −𝒈 𝒙𝒇 − 𝒙𝒊 = 𝒗𝒊)𝒙 𝒕 + 𝒂𝒙 𝒕𝟐
𝟐
𝒗𝒇)𝒚 = 𝒗𝒊)𝒚 − 𝒈𝒕 𝒙𝒇 − 𝒙𝒊 = 𝒗𝒊)𝒙 𝒕
𝟏 𝑹 = 𝒗𝒙 𝒕
𝒚𝒇 − 𝒚𝒊 = 𝒗𝒊)𝒚 𝒕 − 𝒈𝒕𝟐
𝟐
𝒗𝟐 𝒇)𝒚 − 𝒗𝟐 𝒊)𝒚 = −𝟐𝒈(𝒚𝒇 − 𝒚𝒊 ) R is called the Range

Practice Problem 8: The skateboard rider leaves the ramp at A with
an initial velocity vA at 30o angle. If he strikes the ground at B, find
vA, time of flight, maximum height and impact velocity at B.
𝒗𝑨)𝒚
Given: qA =30o, hA=1m, R=5m 𝒗𝑩 𝒗𝑩)𝒚
𝒗𝑨)𝒙
Find: VA, tA-B, VB, hmax 𝒉𝒎𝒂𝒙 qB
𝒉𝑨 = 𝟏𝒎
Solution:
𝒗𝑩)𝒙
To find vA and t
→ 𝑥𝐵 = 𝑥𝐴 + 𝑣𝐴)𝑥 𝑡
5
5 = 0 + 𝑣𝐴 𝑐𝑜𝑠30. 𝑡 or 𝑣𝐴 = (1)
𝑡.𝑐𝑜𝑠30
1
↑ 𝑦𝐵 − 𝑦𝐴 = 𝑣𝐴)𝑦 𝑡 − 𝑔𝑡 2
2
1
0 − 1 = 𝑣𝐴 𝑠𝑖𝑛30. 𝑡 − 9.8 𝑡 2 (2)
2
Substitute Eq. 1 into Eq. 2 to obtain
VA=6.49 m/s and t=0.89s REF
To find maximum height VA=6.49 m/s
t=0.89s
𝑣 2 ℎ𝑚𝑎𝑥 − 𝑣 2𝐴)𝑦 = −2𝑔(ℎ𝑚𝑎𝑥 − ℎ𝐴 )
0 − 6.49𝑠𝑖𝑛30 2 = −2(9.8)(ℎ𝑚𝑎𝑥 − 1)
ℎ𝑚𝑎𝑥 − 1 = 0.54
ℎ𝑚𝑎𝑥 = 1.54m 𝑣𝑦 = 0 @ ℎ𝑚𝑎𝑥
To find velocity at B 𝒗𝑨)𝒚
𝒗𝑩 𝒗𝑩)𝒚
The x-component does not 𝒗𝑨)𝒙
change, therefore, 𝒉𝒎𝒂𝒙 qB
𝒉𝑨 = 𝟏𝒎
vB)x=vAcos30=6.49cos30 𝒗𝑩)𝒙
vB)x=5.62m/s
The y-component of velocity at B,
𝑣𝐵)𝑦 = 𝑣𝐴)𝑦 − 𝑔𝑡 𝒂𝒙 = 𝟎
𝒂𝒚 = −𝒈
𝑣𝐵)𝑦 = 𝑣𝐴 𝑠𝑖𝑛30 − 9.8 0.89
𝑣𝐵)𝑦 = −5.47𝑚/𝑠
vB)x=5.62m/s
The magnitude of the velocity at B, 𝒗𝑩)𝒚 = −𝟓. 𝟒𝟕𝒎/𝒔
𝑣𝐵 = 𝑣 2 𝐵)𝑥 + 𝑣 2 𝐵)𝑦 = 5.622 + −5.47 2
𝑣𝐵 = 7.84𝑚/𝑠
The direction of velocity at B,
𝑣
−1 𝐵)𝑦 = 𝑡𝑎𝑛−1
5.47
𝜃𝐵 = 𝑡𝑎𝑛
𝑣𝐵)𝑥 5.62
𝜃𝐵 = 44.22𝑜
𝒗𝑩 𝒗𝑩)𝒚
𝒉𝒎𝒂𝒙 qB
𝒉𝑨 = 𝟏𝒎
𝒗𝑩)𝒙
Practice Problem 9: The girl always throws the toys at an angle of
30o from point A as shown. Determine the time between the throws so
that both toys strike the edges of the pool B and C at the same time.
With what speed must she throw each toy?
Given: various dimensions and initial angle
Find: time between throws and velocity of each throw
Solution:
To strike B
𝑥𝐵 = 𝑥𝐴 + 𝑣𝐴)𝑥 𝑡
2.5 = 0 + 𝑣𝐴 𝑐𝑜𝑠30. 𝑡
2.5
𝑣𝐴 = (1) REF
𝑡.𝑐𝑜𝑠30
1
𝑦𝐵 − 𝑦𝐴 = 𝑣𝐴)𝑦 𝑡 − 𝑔𝑡 2
2
1
0.25 − 1 = 𝑣𝐴 𝑠𝑖𝑛30. 𝑡 − 9.8 𝑡 2 (2)
2
VA)B=4.32 m/s and tA-B =0.667s
To strike C
𝑥𝐶 = 𝑥𝐴 + 𝑣𝐴)𝑥 𝑡
4 = 0 + 𝑣𝐴 𝑐𝑜𝑠30. 𝑡
4
𝑣𝐴 = (3) REF
𝑡.𝑐𝑜𝑠30
1
𝑦𝐶 − 𝑦𝐴 = 𝑣𝐴)𝑦 𝑡 − 𝑔𝑡 2
2
1
0.25 − 1 = 𝑣𝐴 𝑠𝑖𝑛30. 𝑡 − 9.8 𝑡 2 (4)
2

VA)C=5.85 m/s and tA-C =0.79s
Time between throws

VA)B=4.32 m/s and tA-B =0.667s
∆𝑡 = 𝑡𝐴−𝐶 − 𝑡𝐴−𝐵
∆𝑡 = 𝟎. 𝟕𝟗 − 𝟎. 𝟔𝟔𝟕 = 𝟎. 𝟏𝟐𝟏𝒔
Practice Problem 10: The fireman holds the hose at an angle q=30o
with the horizontal, and the water is discharged from the hose at A
with a speed of vA=40ft/s. If the water stream strikes the building at
B, determine his two possible distances s from the building.
Given: various dimensions, qA=30o and VA=40ft/s
Find: 2-possible positions
Solution:
1
𝑦𝐵 − 𝑦𝐴 = 𝑣𝐴)𝑦 𝑡 − 𝑔𝑡 2
2
1
8 − 4 = 40𝑠𝑖𝑛𝜃. 𝑡 − 32.2 𝑡 2
2
16.1𝑡 2 − 20𝑡 = 4 = 0
−𝑏± 𝑏2 −4𝑎𝑐
𝑡1,2 =
2𝑎
−(−20)± (−20)2 −4(16.1)(4)
𝑡1,2 = t1,2=0.25s, 0.99s
2(16.1)
From, t1,2=0.25s, 0.99s
𝑥𝐵 = 𝑥𝐴 + 𝑣𝐴)𝑥 𝑡
𝑠 = 0 + 40𝑐𝑜𝑠𝜃. 𝑡
substituting t1 and t2
S1=8.68 ft
S2=34.4 ft
HW (not to be turned-
in): Find the location
(s) of the maximum
height in each case.
HW Problem 12-3: A biker plans a jump when it reaches the hilltop shown. Given 𝜃𝑖 , 𝜃𝑓 , 𝑠
Write kinematic equations for:
a. The bike’s take-off speed 𝑣𝑖 .
b. The bike’s landing velocity 𝑣𝑓 . 𝜃𝑖 ℎ
c. The time of flight from take-off to landing.
d. The maximum height “h” attained. 𝑖
𝑠
𝜃𝑖
𝑓
𝜃𝑟
Flight of Curveball
HW Problem 12-4: Flight of a curve ball in
𝒗𝒇 𝒗𝒊 𝜽𝒊
baseball is recorded by a camera as shown.
a. If the ball is thrown at a velocity 𝑣𝑖 at ℎ𝑚𝑎𝑥
an angle 𝜃𝑖 , find the final velocity 𝜽𝒇 Breaking point
(magnitude and direction). ℎ𝑖
ℎ𝑓 𝑠
b. If ℎ𝑖 is given find ℎ𝑓 .
Given: 𝑣𝑖 , 𝜃𝑖 , 𝑠, ℎ𝑖
Find: 𝑣𝑓 , ℎ𝑓
Section 7: Normal and Tangential Components
How can you find the Position, s

tangential direction? 𝑠 = 𝑎𝑡 2 + 𝑏𝑡
𝑑𝑠
𝑡𝑎𝑛𝜃 = ቤ
𝑑𝑡 𝑡
1 𝜃
𝑡𝑖𝑚𝑒, 𝑡
1st derivative always gives 𝑡1 𝑡𝑎𝑛𝑔𝑒𝑛𝑡
tangent to the curve. (𝑡, 𝑒𝑡ҧ )
How about: While moving in a car, the body

𝑣ҧ = 𝑑 𝑠ൗ
ҧ
𝑑𝑡 only shifts under acceleration.
Velocity is always tangent At constant speed, the body does
to the curve. not move relative to the car.
Applications
Cars traveling along an A roller coaster travels down a hill for

interchange experience an which the path can be approximated by
acceleration due to a change in a function y = f(x).
velocity as well as due to a
change in direction of the The roller coaster starts from rest and
velocity. increases its speed at a constant rate.
Why would you care about the How can we determine its velocity and
total acceleration of the car? acceleration at the bottom?
Why would we want to know these
values?
Normal and Tangential Components
It is difficult to measure displacement along a curved path which
is required for velocity and acceleration.
By definition, 𝑣 = 𝑑𝑠Τ𝑑𝑡, the velocity is
always tangent to the curve.
𝑒𝑛
When the path of motion is known,
normal (n) and tangential (t) coordinates
𝑣
can easily be obtained.
𝑒𝑡
The t-axis is tangent to the path (curve) at the
instant considered,
positive in the direction of the particle’s velocity (motion).
The n-axis is perpendicular to the t-axis
with the positive direction toward the center of curvature of the
curve.
In the n-t coordinate system, the origin is located on the particle
and it moves with the particle. 42
Normal and Tangential Components
The positive n and t directions are
defined by the unit vectors en and et,
𝒆𝒏 respectively.
The center of curvature, O’, always

𝒗 lies on the concave side of the curve.
𝒆𝒕
The radius of curvature, r, is defined
as the perpendicular distance from
the curve to the center of curvature at
that point. 3
𝑜 2 ൗ2
𝑑𝑦ൗ
𝜌 𝜌 1+ 𝑑𝑥
𝑜 𝜌=
𝑜 𝑑 2 𝑦ൗ
𝜌 𝑑𝑥 2
Normal and Tangential Components: Velocity
The velocity vector is always tangent
to the path of motion (t-direction)
𝒆𝒏 because of its definition: 𝑣ҧ = 𝑑𝑠Τҧ 𝑑𝑡.
In the n-t coordinate system, analysis
𝒗 generally starts with the velocity
𝒆𝒕 (magnitude and/or direction).
ഥ = 𝒗ത𝒆𝒕
𝒗
Here 𝒗 defines the magnitude of the velocity
(speed) and 𝒆ത 𝒕 defines the direction of the
velocity vector.
If the path function is given, then the magnitude is 𝒗 = 𝒅𝒔Τ𝒅𝒕

and the direction is the tangential direction.
Time Derivative of a Unit Vector
Derivatives of the unit vectors are often required.
𝒔𝒊𝒏𝜽 y, 𝐽 ҧ
𝒆ത 𝒏 = −𝑐𝑜𝑠𝜃𝒊ҧ − 𝑠𝑖𝑛𝜃 𝐽 ҧ Functions
𝒆ത 𝒕 𝒄𝒐𝒔𝜽
𝒆ത 𝒕 = −𝑠𝑖𝑛𝜃 𝒊ҧ + 𝑐𝑜𝑠𝜃 𝐽 ҧ of 𝜃 q
𝒄𝒐𝒔𝜽
𝑑 𝑑ത𝒆𝒕 𝑑𝜃 ሶ ҧ ሶ q x, 𝒊ҧ
𝒆ത 𝒕 = ҧ
= −𝑐𝑜𝑠𝜃𝒊. 𝜃 − 𝑠𝑖𝑛𝜃 𝐽. 𝜃 𝒔𝒊𝒏𝜽
𝑑𝑡 𝑑𝜃 𝑑𝑡 𝒆ത 𝒏
𝑒ሶ𝑡ҧ = 𝜃ሶ −𝑐𝑜𝑠𝜃𝒊ҧ − 𝑠𝑖𝑛𝜃 𝐽 ҧ
ሶ 𝒆𝒏 The magnitude of a
𝑒ሶ𝑡ҧ = 𝜽ത
unit vector is “1”.
Note that derivative of i and j w.r.t time are zero.
Now, from the definition of sector of a circle,
𝑠 = 𝜌𝜃 𝑑𝑠 𝑑𝜃 𝒗 = 𝝆𝜽ሶ 𝒗
=𝜌 𝜽ሶ =
𝑑𝑡 𝑑𝑡 𝝆
𝜌 𝒗
𝜃 𝑠 ሶ 𝒏 = 𝒆ത 𝒏
𝑒ሶ𝑡ҧ = 𝜽𝒆
𝝆
Normal and Tangential Components: Acceleration
Acceleration is the time rate of change of velocity:

𝑒𝒏ҧ
𝒅𝒗 𝒅 𝑑𝑣 𝑑 𝑒𝑡ҧ
𝒂= = 𝒗𝑒𝒕ҧ = 𝑒𝑡ҧ + 𝑣 𝒂𝒏
𝒅𝒕 𝒅𝒕 𝑑𝑡 𝑑𝑡
ሶ 𝒗
𝒂 = 𝒗ሶ 𝑒𝒕ҧ + 𝒗𝑒𝒕ҧ = 𝒗ሶ 𝑒𝑡ҧ + 𝑣 𝑒𝒏ҧ 𝒂𝒕
𝝆
𝑎 = 𝑎𝑡 𝑒𝒕ҧ + 𝑎𝑛 𝑒𝒏ҧ 𝒗 𝑒𝒕ҧ
𝒗𝟐 Increasing speed:
𝒂𝒕 = 𝒗ሶ 𝒂𝒏 = 𝒗 and 𝒂𝒕 have the same direction
𝝆
𝒗ሶ represents the change in 𝑒𝒏ҧ
the magnitude of velocity.
𝒂𝒏
𝑒ሶ𝒕ҧ represents the rate of
change in the direction of et. 𝒂𝒕
𝒗 𝒗
𝒆ሶ 𝒕 = 𝑒𝒏ҧ Decreasing speed: 𝑒𝒕ҧ
𝝆
𝒗 and 𝒂𝒕 have opposite directions
46
Normal and Tangential Components: Acceleration
𝒂 = 𝒂𝒕 𝒆𝒕 + 𝒂𝒏 𝒆𝒏 𝒗 = 𝒅𝒔ൗ𝒅𝒕
𝒂𝒕 = 𝒅𝒗ൗ𝒅𝒕
• The tangential component is tangent to 𝒂𝒕 𝒅𝒔 = 𝒗𝒅𝒗
the curve and in the direction of
increasing or decreasing velocity.
at = 𝑣ሶ or at ds = v dv
• The normal or centripetal component is always directed
toward the center of curvature of the curve.
• The normal component represents the time rate of change in
the direction of the velocity.
𝒗𝟐
𝒂𝒏 = 𝒗𝒆ሶ 𝒕 =
𝝆
• The magnitude of the acceleration vector is
a = [(at)2 + (an)2]0.5
Special Cases
There are some special cases of motion to consider.
1) The particle moves along a straight line. .
r  => an = v /r = 0 => a = at = v
2
2) The particle moves along a curve at constant speed.

.
at = v = 0 => a = an = v2/r
The tangential component represents the time rate of change in
the magnitude of the velocity.
Practice Problem 11
The automobile has a speed of 80ft/s at point A and an
acceleration ‘a’ having magnitude of 10ft/s2 acting in the direction
shown. Determine the radius of curvature of the path at point A
and the tangential component of acceleration.
Given: vA=80 ft/s, a=10 ft/s2
Find: rA, at
Solution:
𝒇𝒕
𝒂𝒕 = 𝒂𝒄𝒐𝒔𝜽 = 𝟏𝟎𝒄𝒐𝒔𝟑𝟎 = 𝟖. 𝟔𝟔 ൗ 𝟐
𝒔
𝒇𝒕 at
𝒂𝒏 = 𝒂𝒔𝒊𝒏𝜽 = 𝟏𝟎𝒔𝒊𝒏𝟑𝟎 = 𝟓 ൗ 𝟐
𝒔
𝒗𝟐 𝟖𝟎𝟐
𝒂𝒏 = 𝟓= 𝑎
𝝆 𝝆
𝝆 = 𝟏𝟐𝟖𝟎 𝒇𝒕 an
Practice Problem 12
Starting from rest, the motorboat travels around the circular path,
r=50m, at a speed of 𝒗 = 𝟎. 𝟐𝒕𝟐 m/s. Determine the magnitude
of the boat’s velocity and acceleration at the instant t=3s.
Given: vi=0, 𝝆 = 𝟓𝟎𝒎, 𝒗 = 𝟎. 𝟐𝒕𝟐 𝒎/𝒔
Find: v, a @t=3s
Solution:
@ t=3s, the speed is
𝒗 = 𝟎. 𝟐𝒕𝟐 = 𝟎. 𝟐 𝟑 𝟐 = 𝟏. 𝟖 𝒎/𝒔
𝒅𝒗 𝒅
𝒂𝒕 = = 𝟎. 𝟐𝒕𝟐 = 𝟎. 𝟐 𝟐 𝒕 @t=3s 𝒂𝒕 = 𝟏. 𝟐𝒎/𝒔𝟐
𝒅𝒕 𝒅𝒕
𝒗𝟐 𝟏. 𝟖𝟐
𝒂𝒏 = = = 𝟎. 𝟎𝟔𝟒𝟖 𝒎/𝒔𝟐
𝝆 𝟓𝟎
𝒂= 𝒂𝒕 𝟐 + 𝒂𝒏 𝟐 𝒂= 𝟏. 𝟐 𝟐 + 𝟎. 𝟎𝟔𝟒𝟖 𝟐 = 𝟏. 𝟐𝒎/𝒔𝟐
Practice Problem 13
The truck travels along a circular road that has a radius of 50m at a speed
of 4m/s when t=0. Its speed is then increased by at=0.4t m/s2. Determine
the speed and the magnitude of the truck’s acceleration when t=4s.
𝑚
Given: 𝜌 = 50𝑚, 𝑣 = 4 @ 𝑡 = 0, 𝑎𝑡 = 0.4𝑡 𝑚/𝑠 2
𝑠
Find: v, a @t=4s
Solution:
𝒗 𝒕 𝒕
න 𝒅𝒗 = න 𝒂𝒕 𝒅𝒕 = න 𝟎. 𝟒𝒕𝒅𝒕
𝟒 𝒐 𝒐
@ 𝒕 = 𝟒𝒔,
𝒗 = 𝟎. 𝟐𝒕𝟐 + 𝟒 𝒎/𝒔
𝒗 = 𝟕. 𝟐𝒎/𝒔
For acceleration @t=4s
𝒂𝒕 = 𝟎. 𝟒𝒕 = 𝟎. 𝟒 𝟒 = 𝟏. 𝟔𝒎/𝒔𝟐
𝒗𝟐 𝟕. 𝟐𝟐
𝒂𝒏 = = = 𝟏. 𝟎𝟑𝒎/𝒔𝟐
𝝆 𝟓𝟎
𝒂= 𝒂𝒕 𝟐 + 𝒂𝒏 𝟐 = 𝟏. 𝟔 𝟐 + 𝟏. 𝟎𝟑 𝟐
𝟐
Chapter 12 Section 7= 𝟏. 𝟗𝟏𝒎/𝒔
51
Practice Problem 14
If a roller coaster starts from rest at A and its speed 𝒚
increases at at = (6 - 0.06s) m/s2, determine the
magnitude of its acceleration when it reaches B 𝒔
where sB=40m. 𝑩
𝑚
Given: 𝑣𝐴 = 0, 𝑎𝑡 = 6 − 0.06𝑠 2 , 𝑠𝐵 = 40𝑚 𝒙
𝑠
Find: aB
𝒙 = 𝟑𝟎𝒎
Solution: Let’s start by finding the radius of curvature
𝟐
𝟑ൗ
𝟐 𝟑ൗ 𝑦 = 0.01𝑥 2
𝟏+ 𝒅𝒚ൗ𝒅𝒙 𝟏 + 𝟎. 𝟎𝟐𝒙 𝟐 𝟐
𝝆= 𝒅𝟐 𝒚 = 𝑦′ = 0.02𝑥
ൗ
𝑑𝑥2 𝟎. 𝟎𝟐
𝑦′′ = 0.02
@x=30m
𝝆 = 𝟕𝟗. 𝟑𝒎
Practice Problem 14 . . . 𝒎
𝒂𝒕 = 𝟔 − 𝟎. 𝟎𝟔𝒔 , 𝒔𝑩 = 𝟒𝟎𝒎
𝒔𝟐
To find the velocity at B

𝒔 𝒗
𝒂𝒕 𝒅𝒔 = 𝒗𝒅𝒗 න 𝟔 − 𝟎. 𝟎𝟔𝒔 𝒅𝒔 = න 𝒗𝒅𝒗
𝟎 𝒐
𝒗= 𝟏𝟐𝒔 − 𝟎. 𝟎𝟔𝒔𝟐 𝒎/𝒔 @ 𝒔 = 𝟒𝟎𝒎 𝒗𝑩 = 𝟏𝟗. 𝟔 𝒎/𝒔

The acceleration at B (𝒔 = 𝟒𝟎𝒎) is
𝑚
Tangential 𝑎𝑡 = 6 − 0.06𝑠 2
𝑠
𝒎
𝒂𝒕)𝑩 = 𝟔 − 𝟎. 𝟎𝟔 𝟒𝟎 𝒂𝒕)𝑩 = 𝟑. 𝟔 𝟐
𝒔
𝒗𝑩 𝟐 𝟏𝟗. 𝟔𝟐 𝒎
Normal 𝒂𝒏)𝑩 = = 𝒂𝒏)𝑩 = 𝟒. 𝟖𝟒 𝟐
𝝆 𝟕𝟗. 𝟑 𝒔
The magnitude of acceleration:
𝒂= 𝟑. 𝟔 𝟐 + 𝟒. 𝟖𝟒 𝟐
𝒂= 𝒂𝒕 𝟐 + 𝒂𝒏 𝟐
𝒂 = 𝟔. 𝟎𝟑𝒎/𝒔𝟐 53
HW Problem 12-5: A skier comes down the slope which is approximated as 𝑦 = 𝑐𝑥 𝑏 . Determine the
magnitude of the skier’s acceleration when it reaches point A, where his speed is 𝑣, and it is increasing at
a rate of 𝑎𝑡 .
Given: 𝑦 = 𝑐𝑥 𝑏 , 𝑥𝐴 , v, 𝑎𝑡
Find: (a): The equation governing the magnitude of acceleration “a” [90% of the credit]
(b) The magnitude of the acceleration “a” if
c = 1.2, b = 3.2, 𝑥𝐴 = 30𝑚, 𝑣 = 25 𝑚Τ𝑠 , 𝑎𝑡 = 1.5 𝑚Τ𝑠2 [10% credit]
𝑦 = 𝑐𝑥 𝑏
𝐴
𝒚𝑨
𝑥
𝒙𝑨
HW Problem 12-6: A bicycle starts from rest as it travels around a horizontal circular path of radius of
1
curvature 𝜌 at a speed of 𝑣 = 𝑏𝑡 Τ2 .
(a): [90%] The equations governing the magnitudes of velocity and acceleration as a function of distance
traveled 𝑠.
Hint: Find position as a function of time to find the time @ s.
(b): [10%] Find the velocity and acceleration if 𝑏 = 3, 𝑠 = 25𝑚, 𝜌 = 30𝑚
Given: 𝜌, 𝑣 = 𝑓 𝑡
Find: 𝑣 = 𝑓 𝑠 , 𝑎 = 𝑓 𝑠
Sections 4: Introduction to Curvilinear Motion
Section 8: Cylindrical Coordinates

Polar Coordinate System
“Radial and Transverse Coordinate System”
Chapter 12 Sections 4,5 56

Coordinate System Cartesian Coordinate System:
The choice of a coordinate system Best for straight line motion.
𝑦, 𝑗 ҧ
is for mathematical convenience.
As a rule of thumb, it is best to 𝑥2 , 𝑦2
choose the coordinate system that
resembles the path of motion. 𝑥1 , 𝑦1
𝑥, 𝑖 ҧ
Cylindrical Coordinate System:
Best choice for cylindrical motion. 𝑧, 𝑘ത
𝑧, 𝑘ത Spherical
Coordinate
ഥ
𝒌 System: Best
𝒆ത 𝜽 choice for
𝑃 𝒆ത spherical
𝒓ത 𝑹 𝑂
motion (globe,
basketball,
𝑦, 𝑗 ҧ
𝑦, 𝑗 ҧ shape, etc.). 𝑥, 𝑖 ҧ
𝑥, 𝑖 ҧ 𝜃 R Chapter 12 Section 8 57
Applications
A roller coaster car travels down
a fixed, helical path at a constant
speed.
How can we determine its

position or acceleration at any
instant?
If you are designing the track, why is it important to be

able to predict the acceleration of the car?
General Curvilinear Motion
A particle moving along a curved path undergoes curvilinear
motion.
A particle moves along a curve
defined by the path function, s.
If s is known as a function of
time, then finding velocities and
𝑑𝑠 𝑡
accelerations is easy. 𝑣 =
𝑑𝑡
However, s is generally not known as a

function of time.
Vectors analysis can be used to estimate position as a function

of time: “s=f(t)”.

∆𝒔 ∆𝒔 𝒇
𝒇
𝒊 ∆ത𝒓 𝒇 𝒊 ∆𝒔
∆ത𝒓 𝒊 ∆ത𝒓
𝒓ത 𝟐 𝒓ത 𝟐
𝒓ത 𝟏 𝒓ത 𝟐 𝒓ത 𝟏 𝒓ത 𝟏
𝒓ത 𝟏 = 𝒓ത 𝟐 + ∆ത𝒓
∆ത𝒓 = 𝒓ത 𝟏 − 𝒓ത 𝟐
Would you agree Now, would you How about now:

that agree that Is ∆𝐫ҧ is a good
∆𝐫ҧ is a good ∆𝐫ҧ is a better approximation for
approximation for approximation for ∆𝐬?
∆𝐬? ∆𝐬?

If the particle moves a distance s along
the curve during time interval t, 𝒇
∆𝒔
the displacement can be obtained 𝒊
following the rules of vector addition: ∆ത𝒓
𝒓ത 𝟐
𝒓ത 𝟏 = 𝒓ത 𝟐 + ∆ത𝒓 ∆ത𝒓 = 𝒓ത 𝟏 − 𝒓ത 𝟐 𝒓ത 𝟏
As ∆ത𝒓 keeps getting smaller and smaller
reaching a differential length, 𝒅𝒓.
𝑟ҧ = 𝑟(𝑡)
ҧ
lim ∆𝒓 ≈ 𝒅𝒓
∆𝒓→𝟎
Using vectors, the position of the particle at any instant is

designated by the vector 𝑟ҧ = 𝑟(𝑡).
ҧ
Both the magnitude and direction of 𝑟ҧ may vary with time.

Position Vector and Velocity ∆ത𝒓
∆ത𝒓
Suppose an object takes the following path:
∆ത𝒓
Then, the position of that object is known 𝑟4ҧ 𝑡4
at various instances, w.r.t. a reference. Ref ∆ത𝒓
𝒓ത = 𝒇 𝒕
The Instantaneous Velocity represents the rate of change in the
position vector 𝒓ത representing the location of the particle at any
instant in time. 𝒅𝑟(𝒕)
ҧ
𝑣ҧ =
𝒗ഥ 𝒅𝒕
The magnitude of 𝑣 is called the speed.
The velocity vector, 𝑣,ҧ is always
𝒓ത
tangent to the path of motion.
Polar Components If an object takes the
𝜽 following path:
𝒆ത 𝜽 𝒓
𝒆ത 𝒓
𝒓ത 𝑟4ҧ 𝑡4
𝒐 𝜽 ∆𝑟 ≈ 𝑑𝑟
Extrinsic
(Fixed Reference)
Then, the position of that
Position Vector:
object is known at various
𝒓ത = 𝒓ത𝒆𝒓 .
instances, w.r.t. a reference.
Note that the radial direction, r,
extends outward from the fixed 𝒓ത = 𝑓 𝑡
origin, O.
The transverse coordinate, q, is
measured counter-clockwise
(CCW) from the horizontal. Chapter 12 Section 8 63
Polar Coordinates: Velocity
Position Vector: 𝒓ത = 𝒓ത𝒆𝒓 . 𝜽, 𝒆ത 𝜽
𝑡, 𝑒𝑡ҧ 𝒗𝒓
The instantaneous velocity is defined as: 𝒗𝜽
𝒅ത𝒓(𝒕) 𝒅 𝒗 𝒓, 𝒆ത 𝒓
ഥ=
𝒗 = 𝑟ത𝒆𝒓
𝒅𝒕 𝒅𝒕 𝒓ത
(Product rule)
𝒅𝒓 𝒅ത𝒆𝒓 𝜽
𝒐
= 𝒆ത 𝒓 + 𝒓 Ref
𝒅𝒕 𝒅𝒕
𝒅ത𝒆𝒓
ഥ = 𝒓ത
𝒗 ሶ 𝒆𝒓 + 𝒓𝜽ത ሶ 𝒆𝜽 ሶ 𝒆𝜽 (proof left for you)
= 𝜽ത
𝒅𝒕
ഥ = 𝒗𝒓 𝒆ത 𝒓 + 𝑣𝜃 𝒆ത 𝜽
𝒗 Velocity, which is always
The magnitude of the velocity is: tangent to the curve that
2 2
can be resolved into two
𝑣= 𝑣𝑟 + 𝑣𝜃
components, vr and vq.
2
𝑣= 𝒓ሶ 2 + 𝒓𝜽ሶ
Polar Coordinates: Acceleration
𝜽, 𝒆ത 𝜽 𝒅ഥ𝒗(𝒕) 𝒅
ഥ=
𝒂 = 𝒓തሶ 𝒆𝒓 + 𝑟𝜽ത ሶ 𝒆𝜽
𝒂𝜽 𝒂 𝒅𝒕 𝒅𝒕
𝒓, 𝒆ത 𝒓 𝒅𝒓ሶ 𝒅ത𝒆𝒓
𝒂𝒓 ഥ
𝒂= 𝒆ത 𝒓 + 𝒓ሶ (Product rule)
𝒓ത 𝒅𝒕 𝒅𝒕
𝒐 𝜽 𝒅𝒓 𝒅𝜽ሶ 𝒅ത𝒆𝜽
+ ሶ
𝜽𝒗𝜽 + 𝒓 𝒆ത 𝜽 + 𝑟𝜽 ሶ
𝒅𝒕 𝒅𝒕 𝒅𝒕
ሶ 𝒆𝜽 ; 𝒆തሶ 𝜽 = −𝜽ത
After algebraic simplification; with 𝒆തሶ 𝒓 = 𝜽ത ሶ 𝒆𝒓 :
ഥ = 𝒓ሷ − 𝒓𝜽ሶ 𝟐 𝒆ത 𝒓 + 𝒓𝜽ሷ + 𝟐𝒓ሶ 𝜽ሶ 𝒆ത 𝜽

𝒂
ഥ = 𝒂𝒓 𝒆ത 𝒓 + 𝒂𝜽 𝒆ത 𝜽
𝒂
The magnitude of the acceleration is:
2 2
𝑎= 𝑎𝑟 2 + 𝑎𝜃 2
= 𝒓ሷ − 𝒓𝜽ሶ 𝟐 + 𝒓𝜽ሷ + 𝟐𝒓ሶ 𝜽ሶ
Mixed Kinematical Descriptions
Example: Consider the following situations
𝒆ത 𝒓 𝒆ത 𝒓
𝑗ҧ 𝑗ҧ
𝒆ത 𝒏
𝒆ത 𝜽 𝒓ത 𝒆ത 𝜽 𝒆ത 𝒕
𝒓ത 𝑖ҧ 𝒆ത 𝒏
𝒆ത 𝒕 𝑖ҧ
𝑥, 𝑦 and 𝑟, 𝜃 are called the EXTRINSIC coordinate system.

All measurements are made from a FIXED External reference.
𝑛, 𝑡 are called the INTRINSIC coordinate system.
The coordinate system is embedded into the body and moves
along with it.
The velocity is always tangent to the curve. 66
Lecture 2: Particle Kinematics
Practice Problem 15
Given: A car travels along circular path.
𝑟𝑎𝑑
ሶ
𝑟 = 300 𝑓𝑡, 𝜃 = 0.4 , 𝜃ሷ = 0.2 𝑟𝑎𝑑ൗ 2
𝑠 𝑠
Find: Velocity and acceleration
Solution: 𝑟 = 300 𝑓𝑡, 𝑟ሶ = 0, 𝑟ሷ = 0, 𝜃ሶ = 0.4, 𝜃ሷ = 0.2 𝑟𝑎𝑑ൗ 2

𝑠
Substitute in the equation for velocity
ሶ 𝜃 𝜽, 𝒆𝜽
𝑣 = 𝑟𝑒ሶ 𝑟 + 𝑟𝜃𝑒
𝒗𝜽
𝒗 = 𝟎𝒆𝒓 + 𝟑𝟎𝟎 𝟎. 𝟒 𝒆𝜽 = 𝟎𝒆𝒓 + 𝟏𝟐𝟎𝒆𝜽
Notice: 𝒗𝜽 is in the 𝒆𝜽 direction, which coincides with
the tangential direction in a circle with the origin at the
center of the circle.
The magnitude of the velocity is
𝑣= 𝑣𝑟 2 + 𝑣𝜃 2 = 𝟎 2 + 𝟏𝟐𝟎 2 = 120 𝑓𝑡/𝑠
𝑟 = 300 𝑓𝑡, 𝑟ሶ = 0, 𝑟ሷ = 0, 𝜃ሶ = 0.4, 𝜃ሷ = 0.2 𝑟𝑎𝑑ൗ 2
𝑠
To find the acceleration

𝑎 = 𝑟ሷ − 𝑟𝜃ሶ 2 𝑒𝑟 + 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ 𝑒𝜃
2
𝑎 = 0 − 300 0.4 𝑒𝑟 + 300(0.2) + 2(0)(0.4) 𝑒𝜃
𝒂 = −𝟒𝟖𝒆𝒓 + 𝟔𝟎𝒆𝜽 𝒇𝒕/𝒔𝟐
The magnitude of the acceleration
𝑎= 𝑎𝑟 2 + 𝑎𝜃 2
𝜽, 𝒆𝜽 [𝐭]
𝑎= −48 2 + 60 2 = 76.8 𝑓𝑡/𝑠 2
𝒂𝜽
In a Circular Motion (only if the reference is 𝒓, 𝒆𝒓
set in the middle of the circle), the radial
direction is opposite to the normal direction 𝒂𝒓
and transverse direction coincides with the
tangential direction. [𝒏]
Practice Problem 16
The car travels along a circular curve of radius 𝑟 = 400𝑓𝑡 with a
constant speed of 𝑣 = 30𝑓𝑡/𝑠. Determine the angular rate of rotation
of the radial line r and the magnitude of the car’s acceleration.
Given: 𝑟 = 400 𝑓𝑡, 𝑣 = 30𝑓𝑡/𝑠

𝜃, 𝑒𝜃 𝑣𝜃
Find: 𝜽,ሶ 𝒂
Solution:
The velocity components are
𝑣 = 𝑟ሶ = 0
𝑟 𝑣𝜃 = 𝑟𝜃ሶ = 400𝜃ሶ
The magnitude of 𝒗 is (given),

𝑣= 𝑣𝑟 2 + 𝑣𝜃 2 2
30 = 02 + 400𝜃ሶ
𝜽ሶ = 𝟎. 𝟎𝟕𝟓 𝒓𝒂𝒅/𝒔
𝑟 = 400 𝑓𝑡, 𝑟ሶ = 0, 𝑟ሷ = 0
𝜃ሶ = 0.075, 𝜃ሷ = 0
The acceleration is
𝑎 = 𝑎𝑟 𝑒ഥ𝑟 + 𝑎𝜃 𝑒𝜃
𝑎 = 𝑟ሷ − 𝑟𝜃ሶ 2 𝑒ഥ𝑟 + 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ 𝑒𝜃
0 − 400(0.075)2 𝑒ഥ𝑟
𝑎= 𝑓𝑡. 𝑠 −2
+ 400 0 + 2(0)(0.075 𝑒𝜃
𝑓𝑡ൗ 𝑎𝜃
𝑎 = (−2.25𝑒ഥ𝑟 + 0𝑒𝜃 ) 𝜃, 𝑒𝜃
𝑠2
The magnitude of acceleration is 𝑎𝑟
𝑎 = −2.25 2 + 0 2
𝑟, 𝑒𝑟
𝑎 = 2.25 𝑓𝑡/𝑠 2
When velocity is constant, the tangential

component of acceleration is “0”.
What is a Function Age (years) weight (lb) Height (in) 25
Age vs Weight
A function is a relationship 0 7.3 19.4 A = 5E-07W4 - 0.0001W3 + 0.0097W2 -
20
1 20.4 29.2 0.1019W + 0.1675
between two or more 2 26.5 33.7 15
Age (Years)
variables. Suppose we have 3 31.5 37 10
the following relationship as 4
5
34
39.5
39.5
42.5 5
𝐴 = 𝑓(𝑊)
a girl is growing up.
6 44 45.5 0
Then, 7 49.5 47.7 0 20 40 60 80 100 120 140
-5
8 57 50.5 Weight (lb)
The change in weight as a 9 62 52.5
Age vs Height
𝒅𝑾 10 70.5 54.5
function of age is: 11 81.5 56.7 25
𝒅𝑨
12 91.5 59 20 A = 2E-06H5 - 0.0005H4 + 0.0393H3 -
13 101 61.7 1.4826H2 + 26.823H - 185.41
The change in height as a 15
Age (years)
function of age is:
𝒅𝑯
14
15
105
115
62.5
62.9 10 𝐴 = 𝑓(𝐻)
𝒅𝑨 16 118 64 5
17 120 64
0
The change in height as a 18 125 64.2
0 10 20 30 40 50 60 70
𝒅𝑯 19 126 64.2 -5
function of weight is: 20 128 64.3 Height (in)
𝒅𝑾
Height vs Weight
70
60
50
Height (in) 40 H= 𝑓(𝑊)
30
20
H= 2E-05W3 - 0.0073W2 + 1.0313W +
10
11.762
0
0 20 40 60 80 100 120 140
Weight (lb) 71
Practice Problem 17: The magnitude of the peg P is constrained by
the curved slot in OB and by the slotted arm OA. If OA rotates
counterclockwise with an angular velocity of 𝜃ሶ = 3𝑡 3Τ2 rad/s,
determine the magnitude of the velocity and acceleration of peg P at
q=30o. When t=0, q=0o.
Solution:
Notice that position r is given in terms of q, and q is given in terms
of time. We need position ‘r’ in terms of time ‘t’.
𝒓𝟐 = 𝟒𝒄𝒐𝒔𝟐𝜽 𝜽ሶ = 𝟑𝒕𝟑Τ𝟐
We need to evaluate
𝒓, 𝒓,ሶ 𝒓,ሷ 𝜽,ሶ 𝜽ሷ
@𝜽 = 𝟑𝟎𝒐
Then, the first thing to do is to find 𝒕 when 𝜽 = 𝟑𝟎𝒐 .
Task 1: Find time when q=30o.

𝒅𝜽 𝜽 𝒕 𝟔 𝟓 Τ𝟐
ሶ
Given: 𝜽 = = 𝟑𝒕𝟑Τ𝟐 ‫׬‬ 𝒅𝜽 = ‫𝟑𝒕𝟑 ׬‬Τ𝟐 𝒅𝒕 𝜽= 𝒕
𝒅𝒕 𝟎 𝟎 𝟓
Now, at 𝜽 = 𝟑𝟎𝒐 = 𝝅Τ𝟔 𝒓𝒂𝒅
𝟔 𝟓 Τ𝟐
From, 𝜽 = 𝒕 𝒕 = 𝟎. 𝟕𝟏𝒔
𝟓
Then, at t = 0.71s 𝜽ሶ = 𝟑𝒕𝟑Τ𝟐 = 𝟏. 𝟖𝟐 𝒓𝒂𝒅/𝒔
𝒅𝜽 ሶ 𝒅 𝟗
ሷ
Next, 𝜽 = = 𝟑𝒕𝟑Τ𝟐 𝜽ሷ = 𝒕𝟏Τ𝟐
𝒅𝒕 𝒅𝒕 𝟐
Then, at t = 0.71s
𝟗
𝜽ሷ = 𝒕𝟏Τ𝟐 = 𝟑. 𝟖𝒓𝒂𝒅/𝒔𝟐
𝟐
Practice Problem 17 . . . From previous Slide
q=30o, 𝒕 = 𝟎. 𝟕𝟏𝒔
𝜽ሶ = 𝟏. 𝟖𝟐 𝒓𝒂𝒅/𝒔
Task 2: Evaluating 𝒓, 𝒓,ሶ 𝒓ሷ at q=30o. 𝜽ሷ = 𝟑. 𝟖𝒓𝒂𝒅/𝒔𝟐
𝒓𝟐 = 𝟒𝒄𝒐𝒔𝟐𝜽 𝒓 = 𝟒𝒄𝒐𝒔𝟐(𝟑𝟎) = 𝟏. 𝟒𝟏𝟒 𝒎
Taking the first derivative w.r.t. time
𝒅 𝒅
𝒓𝟐 = 𝟒𝒄𝒐𝒔𝟐𝜽 using chain rule of differentiation,
𝒅𝒕 𝒅𝒕
𝒅 𝟐 𝒅𝒓 𝒅 𝒅𝜽
𝒓 . = 𝟒𝒄𝒐𝒔𝟐𝜽 .
𝒅𝒓 𝒅𝒕 𝒅𝜽 𝒅𝒕
𝟐𝒓𝒓ሶ = −𝟖𝒔𝒊𝒏𝟐𝜽. 𝜽ሶ
Substituting for 𝒓, 𝜽, 𝜽ሶ we get 𝒓ሶ = −𝟒. 𝟒𝟔𝒎/𝒔
Taking a second derivative w.r.t. time
𝒅 𝒅
𝟐𝒓𝒓ሶ = −𝟖𝒔𝒊𝒏𝟐𝜽. 𝜽ሶ using chain rule of differentiation
𝒅𝒕 𝒅𝒕
𝟐 𝒓𝒓ሷ + 𝒓ሶ 𝒓ሶ = −𝟖 𝒔𝒊𝒏𝟐𝜽. 𝜽ሷ + 𝟐𝒄𝒐𝒔𝟐𝜽. 𝜽.ሶ 𝜽ሶ
Substituting for r, 𝒓,ሶ 𝜽ሶ we get 𝒓ሷ = −𝟑𝟐. 𝟖𝟔 𝒎Τ𝒔𝟐
𝜽=30o, 𝒕 = 𝟎. 𝟕𝟏𝒔 𝐫 = 𝟏. 𝟒𝟏𝟒 𝐦
𝜽ሶ = 𝟏. 𝟖𝟐 𝒓𝒂𝒅/𝒔 𝒓ሶ = −𝟒. 𝟒𝟔𝒎/𝒔
𝜽ሷ = 𝟑. 𝟖𝒓𝒂𝒅/𝒔𝟐 𝒓ሷ = −𝟑𝟐. 𝟖𝟔 𝒎Τ𝒔𝟐
Finally, for the velocity
𝒗 = 𝒗𝒓 𝒆𝒓 + 𝒗𝜽 𝒆𝜽 = 𝒓𝒆 ሶ 𝜽
ሶ 𝒓 + 𝒓𝜽𝒆
After substitution and simplification
𝒗 = −𝟒. 𝟒𝟔𝒆𝒓 + 𝟐. 𝟓𝟖𝒆𝜽 𝒎/𝒔
Magnitude: −𝟒. 𝟒𝟔 𝟐 + 𝟐. 𝟓𝟖 𝟐
𝒗=
𝒗 = 𝟓. 𝟏𝟔 𝒎/𝒔
and, for the acceleration
𝒂 = 𝒂𝒓 𝒆𝒓 + 𝒂𝜽 𝒆𝜽
𝒂 = 𝒓ሷ − 𝒓𝜽ሶ 𝟐 𝒆𝒓 + 𝒓𝜽ሷ + 𝟐𝒓ሶ 𝜽ሶ 𝒆𝜽
After substitution and simplification
𝒂 = −𝟑𝟕. 𝟓𝟕𝒆𝒓 − 𝟏𝟎. 𝟗𝟏𝒆𝜽 𝒎/𝒔𝟐
Magnitude: 𝒂= −𝟑𝟕. 𝟓𝟕 𝟐 + −𝟏𝟎. 𝟗𝟏 𝟐

75
𝒂 = 𝟑𝟗. 𝟏 𝒎/𝒔𝟐
Note on Acceleration Example Hodograph
Acceleration represents the 𝑣1
rate of change in the 𝑣4
velocity of a particle. 𝒓ത 𝑣3 𝑣4
𝒅𝑣(𝒕)
ҧ 𝑣1
𝑎ത = 𝑣2
𝒅𝒕 𝑣2
A plot of the locus of points
defined by connecting the velocity 𝑣3 𝒂
arrowheads is called a hodograph. Velocity is Acceleration is
Acceleration vector is tangent to tangent to the tangent to the
POSITION VELOCITY
the hodograph. curve.
curve.
The derivative of acceleration
w.r.t. time is sometimes
referred to as the “JERK”.
Velocities along the
Many injuries/damages are path of motion
measured in terms of jerks. 𝒂
How to take the Derivatives
Example 1: Suppose y is knows as a function x as
𝑦 = 2𝑥 2 = 𝑓 𝑥
y
We would like to know how ‘y’
𝑦 = 2𝑥 2
changes w.r.t. ‘x’
𝑑𝑦 𝑑𝑓 𝑑 𝑥
= ∙ 𝑑𝑦 𝑑
𝑑𝑥 𝑑𝑥 𝑑𝑥 = 2𝑥 2
𝑑𝑥 𝑑𝑥 x
Slope of this function
𝑑𝑦 𝑑
= 4𝑥 ∙ 𝑥
𝑑𝑥 𝑑𝑥
𝑑𝑦
= 4𝑥 ∙ 1
𝑑𝑥
𝒚′ = 𝟒𝒙
Chapter 12 77
Example 2: y is known as a function of x, 𝑦 = 2𝑥 2 BUT we would
like to know how ‘y’ changes w.r.t. ‘t’ (the time)
NOTICE ‘y’ is not given as a function of time, what do we do?

Well, we change the order of differentiation using the “chain rule”
𝑑𝑦 𝒅𝒚 𝒅𝒙
= .
𝑑𝑡 𝒅𝒙 𝒅𝒕
𝒚ሶ = 𝒉𝒐𝒘 𝒚 𝒄𝒉𝒂𝒏𝒈𝒆𝒔 𝒘. 𝒓. 𝒕. 𝒙 ∙ 𝒉𝒐𝒘 𝒙 𝒄𝒉𝒂𝒏𝒈𝒆𝒔 𝒘. 𝒓. 𝒕. 𝒕
𝑑𝑦 𝒅 𝟐
𝒅𝒙
= 𝟐𝒙 ∙ = 4𝑥 ∙ 𝑥ሶ
𝒚ሶ = 𝟒𝒙 ∙ 𝒙ሶ
Notice: How ‘x’ changes w.r.t. ‘t’ [𝒙ሶ ] is an unknown, and needs to be
determined somehow.
Chapter 12 78
HW Problem 12-7: The link pinned at A drives a ball (of a
𝑘
bearing) along a horizontal elliptical path defined by 𝑟 = ,
1+𝑘𝑐𝑜𝑠𝜃
where 𝜃 is in radians and k is a constant. The link rotates at a
constant angular velocity 𝜃ሶ = 𝑘 𝑟𝑎𝑑Τ𝑠.
(a) [90%] The equations governing the the velocity and 𝜃ሶ = 𝑘 𝑟𝑎𝑑ൗ𝑠 𝑟
acceleration of the particle as a function of 𝜃 in vectorial
(component) form. 𝜃
𝐴
(b) [10%] Find the magnitude of the velocity and acceleration if
k=2 and 𝜃 = 30𝑜 . 𝑘
𝑘 𝑟=
Given: 𝑟 = , 𝜃ሶ = 𝑘 𝑟𝑎𝑑Τ𝑠 1 + 𝑘𝑐𝑜𝑠𝜃
1+𝑘𝑐𝑜𝑠𝜃
Find: 𝑣, 𝑎
HW Problem 12-8: A train follows the horizontal path defined by 𝑟 = 𝑐Τ𝜃. If
the angular rate θሶ is constant, determine the radial and transverse
𝑟 = 𝑐ൗ𝜃
components of the train’s velocity and acceleration as a function of θ. 𝑟
(a) [90%] The equation governing the velocity and acceleration of the 𝜃
particle as a function of 𝜃 in vectorial (component) form.
(b) [10%] Find the magnitude of the velocity and acceleration if c=2 and
𝜃 = 30𝑜 ; 𝜃ሶ = 3 𝑟𝑎𝑑Τ𝑠
𝑐
Given: 𝑟 = , 𝜃ሶ
𝜃
Find: Magnitude of 𝑣, 𝑎
Section 9: Absolute Dependent Motion
Applications
All machine parts are connected to each other.
• When one-part moves, it causes the movement of
all connected parts.
• It is important to establish the relationships
between the various moving parts in order to
design for power transmission.
Velocity = Distance/Time
Acceleration = Velocity/Time
Force = Mass . Acceleration
How much power is Power = Force . Velocity
required to lift a coal car
or the crate?
Absolute Dependent Motion
• In most machines, the motion of
one part will depend on the
motion of another.
• One way to connect the parts is
with a cable, rope, belt or chain.
• If the cord (cable) is inextensible
(i.e., it does not stretch).
In this simple
• Passes over a frictionless pulley. mechanism, there is an
absolute dependence
Then, between blocks A and B.
• As block A moves down the incline
• The block B will move up the other incline. And vice versa.
• The objective is to relate motion of
blocks A and B. Lines that extends out of
• Which is accomplished by using the center of the pulley
USER-DEFINED position are a suitable choice.
coordinates, e.g., sA and sB.
𝑠𝐴
• Positions are measured from one 𝑠𝐵
or more fixed datum (i.e.,
reference lines).
The strategy: the references
are set perpendicular to the
direction of motion of the The Datum [REFERENCE Line]
connected bodies in such a is 90𝑜 to the position coordinate.
way as to discount the length
of the cord that is always in The constant length C-D is a function
contact with the pulley (e.g., of the geometry of the pulley and the
from C to D). orientation of the cord.
The objective is to write the total
length of the cable in terms of Position 𝑠𝐴 𝑙𝐶𝐷
Coordinates SA and SB. 𝑠𝐵
𝑙𝑇 = 𝑠𝐴 + 𝑙𝐶𝐷 + 𝑠𝐵
Here 𝑙𝑇 is the total cord length.

𝑙𝐶𝐷 is the CONSTANT portion of the cord in contact
with the arc CD on the pulley.
𝑑 For the References:
𝑙 𝑇 = 𝑠𝐴 + 𝑙𝐶𝐷 + 𝑠𝐵 Extend a line from the center
𝑑𝑡
𝑑𝑙 𝑇 𝑑𝑠𝐴 𝑑𝑙𝐶𝐷 𝑑𝑠𝐵 of the pulley perpendicular to
= + + the direction of motion of
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 each body.
0 0
0 = 𝑣𝐴 + 𝑣𝐵
Consider a more complicated example.
• Position coordinates (sA and sB) are defined
𝑠𝐵
from fixed datum lines, measured along the
direction of motion of each block.
+ve ℎ • The strategy is to establish references for the
Downward motion of each block discounting the
portions of the cord lengths that are constant.
• The red colored segments of the cord remain
constant in length during motion of the
+ve 𝑠𝐴 blocks.
To the Right
The Total length of the cord is
𝑙 𝑇 = 2𝑆𝐵 + ℎ + 𝑆𝐴 Taking the first derivative
Where 𝑙 𝑇 is the total cord length 0 = 2𝑣𝐵 + 𝑣𝐴
minus the lengths of the red segments.
Practice Problem 18:
Given: In the figure on the left, the cord at A is
pulled down with a speed of 2 m/s.
Find: The speed of block B.
Solution:
• Determine the number of cords.
• Identify all of the moving parts of the
Ref assembly.
SA SC • Establish reference lines to account for
each of the moving part.
SB • Establish a fixed reference to measure the
changing positions of the moving parts.
All
coordinates • Label the Position Coordinates.
+ve • The motion of all cords/pulleys is parallel
Downward to each other – the same reference will
work for all of the moving part in this case.87
Total length equation for each cord in

terms of position coordinates.
SA SC Cord 1: 𝒍𝟏 = 𝑺𝑨 + 𝟐𝑺𝑪
SB Cord 2: 𝒍𝟐 = 𝑺𝑩 + (𝑺𝑩 − 𝑺𝑪 )
𝑺𝑩 − 𝑺𝑪
Solve the two equations
𝑺𝑨 + 𝟒𝑺𝑩 = 𝒍𝟏 + 𝟐𝒍𝟐
Take the derivative to relate velocities. Note that
the total lengths are constant.
+↓ 𝒗𝑨 + 𝟒𝒗𝑩 = 𝟎
With 𝒗𝑨 = 𝟐 𝒎/𝒔 ↓.
Notice: Vector And assuming 𝒗𝑩 to be downward.
coordinate is assumed
positive downward. +↓ 𝟐 + 𝟒𝒗𝑩 = 𝟎 𝒗𝑩 = −𝟎. 𝟓 𝒎/𝒔
That means that all
downward The velocity of block B is 0.5 m/s up
movements are (negative sB direction).
assumed Positive. Chapter 12 Section 9 88
Example 2: y is known as a function of x, 𝑦 = 2𝑥 2 BUT we would
like to know how ‘y’ changes w.r.t. ‘t’ (the time)
NOTICE ‘y’ is not given as a function of time, what do we do?

Well, we change the order of differentiation using the “chain rule”
𝑑𝑦 𝒅𝒚 𝒅𝒙
= .
𝒚ሶ = 𝒉𝒐𝒘 𝒚 𝒄𝒉𝒂𝒏𝒈𝒆𝒔 𝒘. 𝒓. 𝒕. 𝒙 ∙ 𝒉𝒐𝒘 𝒙 𝒄𝒉𝒂𝒏𝒈𝒆𝒔 𝒘. 𝒓. 𝒕. 𝒕
𝑑𝑦 𝒅 𝟐
𝒅𝒙
= 𝟐𝒙 ∙ = 4𝑥 ∙ 𝑥ሶ
𝒚ሶ = 𝟒𝒙 ∙ 𝒙ሶ
Notice: How ‘x’ changes w.r.t. ‘t’ [𝒙ሶ ] is an unknown, and needs to be
determined somehow.
Chapter 12 89
Practice Problem 19: The girl at C stands near the edge of the
pier and pulls in the rope horizontally at a constant speed of 6ft/s.
Determine how fast the boat approaches the pier at the instant the
rope length from A to B is 50ft. 𝒙𝑪 Notice the
directions of 𝑥𝐵
Given: Various dimensions and 𝑥ሶ 𝑐 = 6𝑓𝑡/𝑠. and 𝑥𝐶 .
Find: vB when sAB=50ft. 𝑠𝐴𝐵
Solution:
When the distance A to B is 50ft 𝑥𝐵
𝑥𝐵 2 + 82 = 502 xC
𝑥𝐵 = 49.35𝑓𝑡
𝐶 𝑠𝐴𝐵 = 50′
The total cord length (in terms of 𝑥𝐵 , 𝑥𝐶 ) 8′
8 2 + 𝑥𝐵 2 + 𝑥𝑐 = 𝑙 𝐵
𝑥𝐵
Take the derivative w.r.t. time to find the velocity of the boat 𝑥ሶ 𝐵 .
1 2 2 −(1Τ2)
8 + 𝑥𝐵 2𝑥𝐵 𝑥ሶ 𝐵 + 𝑥ሶ 𝑐 = 0
2
1
1
8 2 + 49.35 2 −( Τ2) 2 49.35 𝑥ሶ 𝐵 + 6 = 0
2
𝑥ሶ 𝐵 = −6.08𝑓𝑡/𝑠 -ve because opposite to the +ve coordinate direction
Practice Problem 20: The man pulls Ref
the boy up to the tree limb C by
walking backwards. If he starts from 𝒚𝑩
rest when xA = 0 and moves backward 𝒍𝑨𝑪 𝟖𝒎
with a constant acceleration aA =
0.2m/s2, determine the speed of the
boy (𝑣𝐵 ) at the instant yB=4m. At
xA=0, yB=8m, so that A and B are
coincident, i.e. the rope is 16m long. 𝒙𝑨 Ref
Solution:
The length of the rope at any instant is (Relate A and B).
𝑙 = 𝑙𝐴𝐶 + 𝑦𝐵 16 = 𝑥 2 + 8 2 + 𝑦 [1]
𝐴 𝐵
Take a derivative w.r.t. time of both sides
𝑑𝑦𝐵 𝑑 1ൗ 𝑑 1ൗ 𝑑𝑥𝐴
=− 𝑥𝐴 2 + 8 2 2 𝑦ሶ 𝐵 = − 𝑥𝐴 2 + 8 2 2 .
𝑑𝑡 𝑑𝑡 𝑑𝑥𝐴 𝑑𝑡
1 2
1
2 − ൗ2
𝑥𝐴
𝑦ሶ 𝐵 = − 𝑥𝐴 + 8 . 2𝑥𝐴 . 𝑥ሶ𝐴 𝑣𝐵 = − 𝑣𝐴 [2]
2 2
𝑥𝐴 + 8 2
From Eq. 1 @ 𝑦𝐵 = 4𝑚 4 = 16 − 𝑥𝐴 2 + 8 2
𝑥𝐴 = 8.94𝑚
The velocity of the man “A” at 𝑥𝐴 = 8.94𝑚
𝑎𝐴 = 0.2𝑚/𝑠2,𝑣𝐴𝑖 = 0
𝑣𝐴 2 − 𝑣𝐴𝑖 2 = 2𝑎𝐴 𝑥𝐴
𝑣𝐴 = 2 0.2 8.94 = 1.9𝑚/𝑠
To find the velocity of Boy “B”, substituting 𝑥𝐴 = 8.94𝑚 and

𝑣𝐴 = 1.9𝑚/𝑠 in Eq. 2
𝑥𝐴 8.94
𝑣𝐵 = − 𝑣𝐴 =− ∙ 1.9
𝑥𝐴 2 + 8 2 8.942 + 82
𝑣𝐵 = −1.416 𝑚/𝑠 (negative implies upward motion –

opposite of yB coordinate direction)
HW Problem 12-9: A car moves at the speed 𝑣𝐴 to raise a crate B up the
frictionless inclined plane. The total length of the rope is 𝑙. Determine the speed of
the crate in terms of the variables of the problem.
(a) [90%] The equations governing the relationship between the velocities of the car
and the crate. Given: 𝑥𝐴 , 𝑥ሶ𝐴 , ℎ Find: 𝑦ሶ 𝐵
(b) [10%] If the velocity of the car is 10 ft/s, h=12ft, find the velocity of the crate at
the instant 𝑥𝐴 = 22 𝑓𝑡.
𝑦𝐵
ℎ
𝐵 𝑣𝐵 = 𝑦ሶ 𝐵
𝑣𝐴 = 𝑥ሶ𝐴
𝑥𝐴
HW Problem 12-10: The crate B is being raised by moving the roller at A downward
with a constant speed of vA along the guide. Determine the velocity and acceleration
of the crate B as a function of s. When the roller is at C, the crate rests on the
ground. ℎ and ℎ1 are constants.
(a) [90%] The equations governing the relationship between the velocities and
accelerations of roller A and the crate B. Given: 𝑠𝐴 , 𝑠𝐴ሶ , 𝑠𝐴ሷ , ℎ Find: 𝑠ሶ𝐵 , 𝑠ሷ𝐵
(b) [10%] Find the velocity and acceleration of crate B if:
𝑓𝑡
𝑠𝐴 = 6𝑓𝑡, ℎ = 7𝑓𝑡, 𝑠𝐴ሶ = 2 𝑠 .
𝑠𝐴
𝑠𝐵
𝐵 𝑣𝐴 ℎ1
𝐴
𝑠
ℎ
Section 10: Relative Motion Analysis
Relative Motion Analysis • When the movements of the two bodies
are independent of each other.
• The interest is in finding the relative
velocity and acceleration of one body
w.r.t the other.
Relative Motion Analysis
• The objective here is to find the relative position of two
bodies A and B that are moving independently of each other.
• If the position vectors 𝒓ത 𝑨 and 𝒓ത 𝑩
are known as a function of time
w.r.t. a fixed reference.
• Then position of B relative to A is
(following rules of vector addition):
𝑟ҧ𝐵ൗ
𝑟𝐵ҧ = 𝑟𝐴ҧ + 𝑟ҧ𝐵ൗ 𝑟𝐴ҧ 𝐴
𝐴
𝑟ҧ𝐵ൗ = 𝑟𝐵ҧ − 𝑟𝐴ҧ 𝑟𝐵ҧ
𝐴
For example,
If 𝑟ҧ 𝐵 = (10𝑖 ҧ + 2𝑗)ҧ 𝑚 To draw 𝑟ҧ𝐵ൗ𝐴 [Position of B with
𝑟ҧ 𝐴 = (4𝑖 ҧ + 5𝑗)ҧ 𝑚, respect to A].
𝑟ҧ𝐵ൗ = (6𝑖–ҧ 3𝑗)ҧ 𝑚 the head of arrow at B and the tail of
𝐴 the arrow at A.
Relative Motion Analysis
To determine the relative velocity
of B with respect to A, the time
derivative of the relative position
equation is taken.
𝒓ത 𝑩ൗ
𝑨 𝒅
𝒓ത 𝑨
𝒓ത 𝑩 = 𝒓ത 𝑨 + 𝒓ത 𝑩ൗ
𝒓ത 𝑩 𝒅𝒕 𝑨
ഥ𝑩 = 𝒗
𝒗 ഥ𝑨 + 𝒗 ഥ𝑩ൗ𝑨
In these equations, 𝒗 ഥ𝑩 and 𝒗ഥ𝑨 are called absolute velocities

and 𝒗ഥ𝑩ൗ𝑨 is the relative velocity of B with respect to A.
For acceleration, take the derivative of velocity w.r.t. time,
𝒅
ഥ𝑩 = 𝒗
𝒗 ഥ𝑨 + 𝒗 ഥ𝑩ൗ 𝒂𝑩 = 𝒂𝑨 + 𝒂𝑩/𝑨
𝒅𝒕 𝑨
Very Important Reminder
During motion along the curve:
• Velocity is always tangent to the curve.
Acceleration has two components 𝑣
𝑣 2ൗ
𝑡
• Normal component 𝑎𝑛 = - always points
𝜌
towards the center of curvature.
• The tangential component 𝑎𝑡 = 𝑑𝑣Τ𝑑𝑡
• 𝑎𝑡 coincides with the direction of 𝒂𝒕 (𝐝𝐞𝐜𝐞𝐥𝐞𝐫𝐚𝐭𝐢𝐨𝐧)
velocity when the velocity is 𝒂𝒕 (𝐚𝐜𝐜𝐞𝐥𝐞𝐫𝐚𝐭𝐢𝐨𝐧)
increasing (acceleration). 𝑎𝑛
• 𝑎𝑡 acts opposite to the direction of 𝑡
velocity when the velocity is 𝑛
decreasing (deceleration).
C Laws of sines and cosines
a b
Since vector addition or subtraction forms
a triangle, sine and cosine laws can be
A applied to solve for relative or absolute
B c velocities and accelerations.
As a review, their formulations are provided below.
Law of Sines: a b c
= =
sin A sin B sin C
Law of Cosines: a 2 = b 2 + c 2 - 2 bc cos A

b = a + c - 2 ac cos B
2 2 2
c = a + b - 2 ab cos C
2 2 2

Practice Problem 21: Cars A and B travel at
the speeds shown. If A is increasing its speed
at 400mi/h2 whereas the speed of B is
decreasing at 800mi/h2, determine the velocity
and acceleration of B with respect to A. vB
aB)n
Solution:
Writing velocities and
accelerations in vectorial form
𝑣𝐴 = −30𝑖 𝑚𝑖/ℎ aB)t
𝑎𝐴 = −400𝑖 𝑚𝑖/ℎ2
𝒗𝑩 = [−𝟐𝟎𝒔𝒊𝒏𝟑𝟎𝒊 + 𝟐𝟎𝒄𝒐𝒔𝟑𝟎𝒋] 𝒎𝒊/𝒉 aA=400
𝑦, 𝑗 ҧ 𝟐𝟎𝟐
𝒂𝑩)𝒕 = [𝟖𝟎𝟎 𝐬𝐢𝐧 𝟑𝟎 𝒊 − 𝟖𝟎𝟎𝒄𝒐𝒔𝟑𝟎𝒋] 𝒎𝒊/𝒉𝟐 𝒂𝑩)𝒏 =
𝟎. 𝟑
30
𝟐𝟎𝟐 𝟐 vB=20
𝒂𝑩)𝒏 = [𝒄𝒐𝒔𝟑𝟎𝒊 + 𝒔𝒊𝒏𝟑𝟎𝒋] 𝒎𝒊/𝒉 30
𝟎.𝟑
𝑥, 𝑖 ҧ
30 𝒂𝑩)𝒕 = 𝟖𝟎𝟎
𝑣𝐴 = −30𝑖 𝑚𝑖/ℎ 𝑎𝐴 = −400𝑖 𝑚𝑖/ℎ2
vB
𝑣𝐵 = [−10𝑖 + 17.32𝑗] 𝑚𝑖/ℎ aB)n
𝑎𝐵)𝑡 = [400 − 692.8𝑗] 𝑚𝑖/ℎ2

202 aB)t
𝑎𝐵)𝑛 = [1154.7𝑖 + 666.67𝑗] 𝑚𝑖/ℎ2
0.3
aA=400
Now, for the relative velocity
𝑣𝐵/𝐴 = 𝑣𝐵 − 𝑣𝐴 = −10𝑖 + 17.32𝑗 − −30𝑖
𝒗𝑩/𝑨
𝒗𝑩/𝑨 = 𝟐𝟎𝒊 + 𝟏𝟕. 𝟑𝟐𝒋 𝒎𝒊/𝒉 17.32 j
q
For relative acceleration, 𝟐𝟎𝒊
𝒂𝑩/𝑨 = 𝒂𝑩 − 𝒂𝑨 = [𝒂𝑩)𝒕 + 𝒂𝑩)𝒏 ] − 𝒂𝑨
𝟖𝟎𝟎 𝒔𝒊𝒏 𝟑𝟎 𝒊 − 𝟖𝟎𝟎𝒄𝒐𝒔𝟑𝟎𝒋
26.15 j
𝑎𝐵/𝐴 = − (−𝟒𝟎𝟎𝒊) 1954 i
𝟐𝟎𝟐
+ [𝒄𝒐𝒔𝟑𝟎𝒊 + 𝒔𝒊𝒏𝟑𝟎𝒋]
𝟎.𝟑 𝒂𝑩/𝑨
𝒎𝒊
𝒂𝑩/𝑨 = 𝟏𝟗𝟓𝟒. 𝟕𝒊 − 𝟐𝟔. 𝟏𝟓𝒋 𝟐
𝒉
Practice Problem 22: At the instant
the player at A throws a football C
with a velocity of 20m/s in the
direction shown; the player B is 15m
away from A.
Find (a): Calculate the relative

velocity and relative acceleration
of the football C with respect to
B at the instant the catch is made.
Find (b): Determine the constant speed at which the player at B
must run so that he can catch the football at the same elevation
at which it was thrown.
Solution:
If the BALL “C” was caught at the same height that it was thrown,
then the (initial and final velocities will be the same) and the range
and time of flight can be determined from the Projectile Motion
analysis.
The velocity of the BALL at the time the
catch is made = Initial Velocity 𝑣𝑐 = 20 𝑚Τ𝑠
𝑣𝑐)𝑥 = 20𝑐𝑜𝑠60 = 10 𝑚Τ𝑠 →
𝑚 60𝑜
𝑣𝑐)𝑦 = 20𝑠𝑖𝑛60 = 17.32 ↓
𝑠 vB
y-Direction ↑ :
𝑣𝑐)𝑦 = 𝑣𝐴)𝑦 − 𝑔𝑡 𝑆𝐵
−20𝑠𝑖𝑛60 = 20𝑠𝑖𝑛60 − 9.8𝑡 R
𝑡 = 3.53𝑠
x-direction (→):
𝑅 = 𝑣𝑥 𝑡 = 20𝑐𝑜𝑠60 ∙ 𝑡 𝑅 = 35.3𝑚
To find the velocity of the player B at the instant the ball is caught
1
x-direction (→): 𝑆𝐵 − 𝑆𝐵)𝑖 = 𝑣𝐵 𝑡 + 𝑎𝐵 𝑡 2
2
Given: 𝑆𝐵)𝑖 = 0 The player runs at a
𝑆𝐵 = 35.3 − 15 𝑚 35.3 − 15 = 𝑣𝐵 (3.53)
constant speed.
𝑡 = 3.53𝑠 𝑣𝐵 = 5.75 𝑚/𝑠
Find: 𝑣𝐵
The relative velocity of the Ball “C” w.r.t. Player “B” is, 𝑣𝐶ൗ
𝐵)𝑥
𝑣𝑐ҧ = 𝑣ҧ𝐵 + 𝑣ҧ 𝑐ൗ
𝐵 𝑣𝐶ൗ )𝑦
10𝑖 ҧ − 17.32𝑗 ҧ = 5.75𝑖 ҧ + 𝑣ҧ 𝐶ൗ 𝐵
𝐵 𝑣𝐶ൗ
𝑣ҧ 𝐶ൗ = 4.25𝑖 ҧ − 17.32𝑗 ҧ 𝑚Τ𝑠 𝐵
𝐵
The magnitude and direction of the relative velocity
𝑣𝐶ൗ = 4.252 + 17.322 = 17.8𝑚/𝑠
𝐵 𝑣𝑐 = 10 𝑚Τ𝑠
60o
𝜃 = 𝑡𝑎𝑛−1 17.32ൗ4.25 = 76.2𝑜
𝑣𝐵 = 5.75 𝑚/𝑠 →
Finally, the relative acceleration is
VB
𝑎𝑐 = 𝑎𝐵 + 𝑎𝑐ൗ
𝐵
−9.8𝑗 ҧ = 0 + 𝑎𝑐ൗ VC/B
𝐵
VC
𝑎𝑐Τ𝐵 = 9.8 𝑚/𝑠 2 ↓
HW Problem 12-11: The rain comes down at an angle of 𝜃𝑅 𝑣𝑅
w.r.t. the vertical. However, the driver in the car moving at a 𝑣𝐶
speed of 𝑣𝐶 observes that raindrops strike the windshield
𝜃𝑅
making an angle of 𝜃𝑅ൗ𝐶 with the horizontal. Compute the
terminal velocity of the rain 𝑣𝑅 if it falls at an angle 𝜃𝑅 .
Given: 𝑣𝐶 , 𝜃𝑅ൗ𝐶 , 𝜃𝑅 Find: 𝑣𝑅 , 𝑣𝑅ൗ𝐶
(a) [90%] The equations governing the velocities
𝑣𝑅 𝑎𝑛𝑑 𝑣𝑅ൗ𝐶 .
𝐶 𝑣𝐶
(b) [10%] Find the velocity 𝑣𝑅 if: 𝑣𝑐 = 42 𝑓𝑡Τ𝑠 ; 𝜃𝑅 =
12𝑜 ; 𝜃𝑅ൗ𝐶 = 25𝑜 . 𝜃𝑅ൗ
𝐶
𝑦, 𝑗 ҧ 𝑣𝑅
𝑣𝑅ൗ 𝑐𝑜𝑠𝜃𝑅ൗ 𝑣𝑅ൗ 𝜃𝑅
𝐶 𝐶 𝐶
𝑥, 𝑖 ҧ
𝜽𝑹ൗ
𝑪 Notice that in this diagram
𝑣𝑅ൗ 𝑠𝑖𝑛𝜃𝑅ൗ 𝑣𝑅 is the resultant vector.
𝑣𝑅ൗ 𝐶 𝐶
𝐶
HW Problem 12-12: Cars A and B are traveling around a racetrack. At the instant shown, A
has a speed of 𝑣𝐴 and is increasing its speed at the rate of 𝑎𝐴 whereas B has a speed of 𝑣𝐵
and is decreasing its speed at 𝑎𝐵 . Determine the magnitude and direction of the relative
velocity and relative acceleration of car A with respect to car B at this instant.
(a) [90%] The equations governing the velocity 𝑣𝐴ൗ𝐵 and acceleration 𝑎𝐴ൗ𝐵 .
Given: 𝑣𝐴 , 𝑣𝐵 , 𝛼, 𝛽, 𝑎𝐴)𝑡 , 𝑎𝐵)𝑡 Find: 𝑣𝐴ൗ𝐵 , 𝑎𝐴ൗ𝐵
(b) [10%] Find 𝑣𝐴ൗ and 𝑎𝐴ൗ if: 𝑣𝐴 = 89 𝑓𝑡Τ𝑠 ; 𝑣𝐵 = 101 𝑓𝑡Τ𝑠 ; 𝛼 = 50𝑜 ; 𝛽 = 25𝑜 , 𝑟 = 60𝑓𝑡; 𝑎𝐴)𝑡 =
𝐵 𝐵
𝑓𝑡 𝑓𝑡
32 ൗ𝑠2 , 𝑎𝐵)𝑡 = −20 ൗ𝑠2 .
𝐶 𝑣𝐶
𝐵
𝑟
𝛽 𝑣𝐵
𝑟
𝑣𝐴 𝛼
𝐴
𝑣𝐷
𝐷
Rigid Body: can not deform
It has finite dimensions
Can translate and rotate

Chapter 16: Rigid Body Dynamics
Sections 1-3: Planar Rigid Body Motion
Particle
𝐹 Professor: Basir Shafiq
Summer Semester 2020-21
𝑀 = 𝐹. 𝑑
𝐹
Rigid
𝑑 Body
Chapter 16 Rigid Body Kinematics 108
RIGID BODY MOTION
• When an object cannot be treated as a particle, the size or
shape of the body must be considered.
• Rotations can not be ignored for bodies with finite size.
• A body is said to undergo RIGID planar motion when all parts
of the body move along paths equidistant within a fixed plane.
• For example, gears, pulleys and

cams, which rotate about fixed
axes, are often used in
machinery to generate motion
and transmit forces.
• We need to relate the angular
motions of contacting bodies that
rotate about different fixed axes.
RIGID-BODY MOTION: ROTATION ABOUT A FIXED AXIS
• When a body rotates about a fixed axis, the path
is circular.
𝝎, 𝜶 • Angular Position: is defined by the angle q .
• Angular Displacement: dq represents the
𝒓 𝜽𝒓 change in angular position.
𝒔 𝒅𝜽 • Angular velocity: 𝜔, is obtained by taking the

time derivative of angular displacement:
𝒔 = 𝒓𝜽
𝒅𝒔ൗ = 𝒓 𝒅𝜽ൗ 𝜔 = 𝑑𝜃ൗ𝑑𝑡
𝒅𝒕 𝒅𝒕
𝒗 = 𝒓𝝎 • Angular acceleration is
Relation between
𝛼 = 𝑑𝜔ൗ𝑑𝑡
𝒗 and 𝝎
• Combine a= d/dt and  = dq/dt to get
𝛼 d𝜃 = 𝜔𝑑𝜔
• 1 revolution = (2) radians = 360 degrees

RIGID-BODY MOTION: ROTATION ABOUT A FIXED AXIS
Recall Translation: Rotations:

𝒗 = 𝒅𝒔ൗ𝒅𝒕 𝝎 = 𝒅𝜽ൗ𝒅𝒕
𝒂 = 𝒅𝒗ൗ𝒅𝒕 𝜶 = 𝒅𝝎ൗ𝒅𝒕
𝒂𝒅𝒔 = 𝒗𝒅𝒗 𝜶𝒅𝜽 = 𝝎𝒅𝝎
Mathematically, these two sets of equations are identical.
When a=constant When a = constant

𝒗 = 𝒗𝒊 + 𝒂𝒕 𝝎 = 𝝎𝒊 + 𝜶𝒕
𝟏 𝟐 𝟏 𝟐
𝐬 − 𝒔𝒊 = 𝒗𝒊 𝒕 + 𝒂𝒕 𝜽 − 𝜽𝒊 = 𝝎𝒊 𝒕 + 𝜶𝒕
𝟐 𝟐
𝒗𝟐 − 𝒗𝟐𝒊 = 𝟐𝒂 𝒔 − 𝒔𝒊 𝝎𝟐 − 𝝎𝟐𝒊 = 𝟐𝜶 𝜽 − 𝜽𝒊

RIGID-BODY ROTATION: Velocities 𝒗 and 𝝎
Fixed Axis of Rotation
• The translational and rotational velocities
𝝎, 𝜶 are related by 𝒔 = 𝒓𝜽
𝒗=𝟎 𝒅𝒔ൗ = 𝒓 𝒅𝜽ൗ 𝒗 = 𝒓𝝎
𝒓 𝒗 𝒅𝒕 𝒅𝒕
The velocity 𝒗 = 𝒅𝒔Τ
𝑷 𝒅𝒕 is always tangent to
the circular path (i.e., perpendicular to the
ഥ
𝒗⊥𝒓 ത
position vector r).
• In the vector formulation, with 𝒓ത a vector from any point on
the axis of rotation to, say, point P where velocity 𝒗 is desired.
ഥ=𝝎
𝒗 ഥ × 𝒓ത
Use the Right-Hand Rule to establish direction of 𝛚
CW or CCW
But always perpendicular to the plane of motion:
ഥ or −𝐤ҧ
𝒌
RIGID-BODY ROTATION: Accelerations 𝒂 and 𝜶
ഥ
𝒗 = 𝒗ത
𝒆 𝒅ഥ
𝒗 𝒅𝒗 𝒅ത𝒆𝒕
𝝎, 𝜶 𝒕 ഥ=
𝒂 = 𝒆ത 𝒕 + 𝒗
𝒅𝒕 𝒅𝒕 𝒅𝒕
𝒓 𝒂 𝒗 Chapter 12: derivative
𝒏 𝒂𝒕 , 𝒗 ഥ = 𝒗ത
𝒂 ሶ 𝒆𝒕 + 𝒗 𝒆ത 𝒏 of a unit vector
𝒓
In vectorial form, with 𝒗 ഥ=𝝎 ഥ × 𝒓ത
ഥ𝒕 = 𝒅ഥ𝒗Τ𝒅𝒕 = 𝜶
𝒂 ഥ × 𝒓ത time rate of change in the velocity's magnitude
directed tangent to the path of motion.
ഥ𝒏 = Τ𝒓 = 𝝎𝟐 𝒓ത time rate of change in the velocity’s direction and
𝒗 𝟐
𝒂
directed towards the center of the circular path.
ഥ= 𝜶
𝒂 ഥ × 𝒓ത 𝒆ത 𝒕 + 𝝎 ഥ ×𝝎 ഥ × 𝒓ത 𝒆ത 𝒏 If in a planar motion:
𝟐 ഥ = 𝝎𝑘ത
𝝎
ഥ= 𝜶
𝒂 ഥ × 𝒓ത 𝒆ത 𝒕 − 𝝎 𝒓ത 𝒆ത 𝒏 Notice no bar on 𝝎
Let 𝑟ҧ = 𝑎𝑖 ҧ + 𝑏𝑗 ҧ
ഥ = 𝒂𝒕 𝒆ത 𝒕 + 𝒂𝒏 𝒆ത 𝒏
𝒂 (a scalar)
HW: Show that
The magnitude of acceleration: 𝝎ഥ ×𝝎 ഥ × 𝒓ത = −𝝎𝟐 𝒓ത
𝒂 = 𝒂𝒕 𝟐 + 𝒂𝒏 𝟐
ഥ ⊥ 𝒓ത
𝒗
𝝎, 𝜶
𝒗=𝟎
𝒓 𝒗 = 𝒓𝝎
𝑷
Sections 6: Instantaneous Center of Zero Velocity
Scalar conceptual technique to relate the velocities

of any two points on a rigid body

INSTANTANEOUS CENTER OF ZERO VELOCITY
• As a rigid body moves (translates and rotates), it is
important for us to be able to relate velocities at various points
on the rigid body.
• Instantaneous Center of Zero Velocity (IC) is one of the
many technique that allows us to do so
– this scalar technique works only for velocities.
• The technique is based on finding a point which acts as if it
was the center of the circle for a given instant in time while
the rigid body moves (rotates and translates).
• The motivation comes from the fact that:
𝝎, 𝜶
• Rotation about a fixed point makes a
perfect circle.
𝒓 𝒗
• In a circular motion; 𝒗 = 𝒓𝝎
• 𝒗 is always perpendicular to 𝒓 ഥ ⊥ 𝒓ത
𝒗
INSTANTANEOUS CENTER OF ZERO VELOCITY
• For any rigid body undergoing planar motion, one can always
find a point that acts as the center of the circle, thus that point
acts as if its velocity is instantaneously zero.
• This point is called the instantaneous center (IC) of zero
velocity. It may or may not lie on the body!
• This point has zero velocity only in the mathematical sense.
• If the location of this point can be determined, the velocity
analysis can be simplified because the body appears to rotate
about this point at that instant – making a perfect circle.
Instantaneous means at a given instant in time.
Consider the Examples:
• If you are in a car moving at 50mph, at what speed is your body moving.
• If you hold a pen and move it to write it, is the velocity of your fingers
holding the pen any different from the pen.
• While walking, as your foot makes contact with the floor, is the velocity of
the foot any different than the floor during the period of contact.
116
Chapter 16 Rigid Body Kinematics
INSTANTANEOUS CENTER OF ZERO VELOCITY (IC)
When the two bodies are in contact, the velocities at the point of
contact must be the same;
– e.g., the tire in contact with the For Example:
ground would have the same
velocity as the ground, i.e., zero;
then this contact point becomes 𝒗
𝒗
the IC. 𝒓
IC acts as if it was the center of 𝒓 𝒗 𝒗
the CIRCLE (because it has 𝒗 𝒓 𝒓
ZERO velocity).
𝒓
The velocity at any point on the
rim can be related to IC as
𝒗 = 𝒓𝝎
The velocity direction at any point on the rim is perpendicular
to the line connecting that point to the IC, because 𝒗ഥ ⊥ 𝒓ത
LOCATION OF THE INSTANTANEOUS CENTER
To locate the IC: The velocity of a point on a body is always
perpendicular to the relative position vector from the IC to the point.
𝝎, 𝜶 1. Suppose velocity vA of a point A on

the body and the angular velocity  of
𝒗𝑨 the body are known.
𝑨
ഥ ⊥ 𝒓ത
𝒗 In this case, the IC is located along the
line drawn perpendicular to vA at A, a
distance rA/IC = vA/ from A.
Note that the IC lies up and to the right
of A since vA must cause a clockwise
angular velocity  about the IC.

2. When the lines of action of

two non-parallel velocities, vA
and vB are known.
First, construct line segments
from A and B perpendicular to
vA and vB.
The point of intersection of

these two-line segments
locates the IC of the body.

Example
As the plank of wood AB slides down
rB/IC the wall and to the left on the floor, it
is subjected to general plane motion
90o (both translation and rotation)
rA/IC Since the directions of the velocities
𝑟𝑐/𝐼𝐶
 of points A and B are known, the IC
𝑣𝑐 is located as shown.
𝐶 The basic principle at work is that:
90o
1. Rotation about a fixed point
always produces circular motion.
2. In a circular motion v=r,
velocity ‘v’ is perpendicular to
Draw lines perpendicular to the position vector ‘r’.
velocities.
Where they intersect, that is the IC.
𝐼𝐶 = ∞
𝑣𝐴
𝑣𝐴 = 𝑣𝐵
𝑣𝐵
3. When the magnitude and direction of two parallel velocities

at A and B are known.
Here the location of the IC is determined by proportional triangles.
As a special case, note that if the body is translating only
(vA = vB), then the IC would be located at infinity. Then 
equals zero, as expected.
VELOCITY ANALYSIS
The velocity of any point on a body undergoing general plane
motion can be determined easily once the instantaneous center
of zero velocity of the body is located.
Since the body seems to rotate about the

IC at any instant, as shown in this
kinematic diagram, the magnitude of
velocity of any arbitrary point is
v=r
where r is the radial distance from the IC
to the point.
The velocity’s line of action is
perpendicular to its associated radial line.

PP1
Given:Point A on rod AB has an acceleration
of 5 m/s2 and a velocity of 6 m/s at the
instant shown.
Find: The angular velocity of AB and
acceleration of the rod and the acceleration
of B at this instant (a, aB).
Solution: To find the angular velocity,
using Instantaneous center of zero velocity
𝒗𝑨 = 𝒓𝑨/𝑰𝑪 𝝎𝑨𝑩 𝑟𝐴ൗ = 3𝑚 IC

𝐼𝐶
𝟔 = 𝟑𝝎𝑨𝑩
𝝎𝑨𝑩 = 𝟐 𝒓𝒂𝒅/𝒔
𝒗𝑩 = 𝒓𝑩/𝑰𝑪 𝝎𝑨𝑩 𝑟𝐵ൗ = 4𝑚
𝐼𝐶
𝒗𝑩 = 𝟒 𝟐 = 𝟖𝒎/𝒔 𝜔𝐴𝐵
𝑣𝐵

PP2
Given: The member AB is rotating with AB=3 rad/s.
Find: The velocity of the slider block C (vC) using Instantaneous
Center of Zero Velocity.
Link AB
𝑣𝐵 = 𝜔𝐴𝐵 𝑟𝐴𝐵 𝑣𝐵
= 3 7 = 21 𝑖𝑛ൗ𝑠
𝒓𝑨𝑩 = 𝟕"
𝝎𝑨𝑩 = 𝟑 𝒓𝒂𝒅ൗ𝒔
𝑨
𝒗𝑨 = 𝟎
B makes a perfect
circle w.r.t. A
PP2- Solution
Given: The member AB is rotating with AB=3 rad/s. 𝑣𝐵 = 21 𝑖𝑛ൗ𝑠
Find: The velocity of the slider block C (vC).
Solution: Instantaneous Center of Zero Velocity 𝒓𝑨𝑩 = 𝟕"
𝝎𝑨𝑩
LINK BC 𝑨
𝒓𝑩𝑪 = 𝟏𝟐𝟐 + 𝟓𝟐 = 𝟏𝟑 𝒊𝒏 𝒗𝑨 = 𝟎
𝟓
𝒕𝒂𝒏𝜽 = 𝜽 = 𝟐𝟐. 𝟔𝒐 𝜷 = 𝟗𝟎 − 𝟐𝟐. 𝟔𝒐
𝟏𝟐
Construct IC in order to find vC and BC
Using the sine law on triangle BC(IC) 𝑩
13 𝑟𝐶/𝐼𝐶 𝑣𝐵
= 𝒓𝑪/𝑰𝑪 = 𝟖. 𝟎𝟗𝒊𝒏
𝑠𝑖𝑛37 𝑠𝑖𝑛22.6
13 𝑟𝐵/𝐼𝐶 𝟏𝟑 𝒊𝒏 7"
= 𝒓𝑩/𝑰𝑪 = 𝟏𝟖. 𝟔𝟑𝒊𝒏 q
𝑠𝑖𝑛37 𝑠𝑖𝑛120.4
Finally, BC
𝑣𝐵 = 𝑟𝐵/𝐼𝐶 𝜔𝐵𝐶
5"
21 = 18.63𝜔𝐵𝐶 𝝎𝑩𝑪 = 𝟏. 𝟏𝟐𝟕 𝒓𝒂𝒅/𝒔 𝑪 𝛽 = 67.3𝑜
𝒗𝒄 = 𝒓𝒄/𝑰𝑪 𝝎𝑩𝑪 = 𝟖. 𝟎𝟗 𝟏. 𝟏𝟐𝟕 = 𝟗. 𝟐 𝒊𝒏/𝒔 53.1o rB/IC
36.86o
5"
𝑣𝐶
rC/IC
𝟑𝟕𝒐
IC
Sections 5,7: Relative Motion Analysis

RELATIVE MOTION ANALYSIS
• Relative Motion Analysis is a vetorial technique that allows

us to relate Velocities and Accelerations at various points in
a rigid body.
• Translation: Refers to the displacement of the body.
• When all points move along
straight lines, the motion is
called rectilinear translation.
• Notice: no change of
orientation.
• When the paths of motion are
curved lines, the motion is
called curvilinear translation.
• Notice: no change of
orientation.
RELATIVE MOTION ANALYSIS
Rotation about a fixed axis: All particles of the
body, except those on the axis of rotation, move
along circular paths in planes perpendicular to
the axis of rotation.
Axis of Rotation has zero translational velocity.
General plane motion: The body
undergoes both translation and rotation.
Translation occurs within a plane
Rotation occurs about an axis perpendicular to this plane.
Axis of
Rotation
PLANAR RIGID BODY MOTION (example)
General Plane Curvilinear
Motion Motion
piston wheel crank
Rotation
Translation Rotation
• The piston undergoes rectilinear translation since it is
constrained to slide in a straight line.
• The wheel and crank undergo rotation about a fixed axis.
• The connecting rod (wheel and the crank) undergoes
curvilinear translation, since it will remain horizontal as it
moves along a circular path.
• The rod connecting the piston and the wheel undergoes
general plane motion, as it will both translate and rotate.
RIGID-BODY MOTION: Pure TRANSLATION
The positions of two points A and B on a

translating body can be related by
𝒓ത 𝐵 𝒓ത 𝑩/𝑨 𝒓ത 𝑩 = 𝒓ത 𝑨 + 𝒓ത 𝑩ൗ𝑨
But: 𝒓ത 𝑩/𝑨 = 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕
𝒓ത 𝑨
(neither the magnitude nor the
A direction changes)
A ഥ𝑩 = 𝒗
𝒗 ഥ𝑨 → 𝒂ഥ𝑩 = 𝒂ഥ𝑨
𝒓ത 𝑨
𝒓ത 𝑩/𝑨
B 𝒓ത 𝑩
PURE Translation.
Translation B Note: all points in a rigid body
𝒓ത 𝑩 = 𝒓ത 𝑨 + 𝒓ത 𝑩ൗ subjected to translation move with
𝑨
the same velocity and acceleration.
𝒓ത 𝑩 , 𝒓ത 𝑨 , 𝒓ത 𝑩ൗ𝑨 are vectors, i.e., they have magnitude and direction.
RELATIVE MOTION ANALYSIS: Displacement
When a body is subjected to general plane motion, it undergoes
a combination of translation and rotation.
The solution methodology is to decouple the translation from
the rotation part, i.e., first analyze pure translation and then
pure rotation, and finally add the effects from the two.
For example, as a body translates a distance r and simultaneously
rotates by 90o:
Decouple the problem by translating first and then rotating w.r.t. A
or B (i.e., hold A or B fixed). Holding A fixed in this example, then
A
A A B
𝑟𝐴ҧ 𝒓ത 𝑩/𝑨 Notice point B travels
+ 𝒓ത 𝑩/𝑨 a distance rB/A more
B 𝑟𝐵ҧ
B
than point A.
B
Translation Rotation about A 𝒓ത 𝑩 = 𝒓ത 𝑨 + 𝒓ത 𝑩ൗ
𝒓ത 𝑩ൗ 𝑨
𝒓ത 𝑩 = 𝒓ത 𝑨 𝑨
RELATIVE MOTION ANALYSIS: Velocity
A ഥ𝑩/𝑨
𝒗
A ഥ 𝑨𝑩
𝝎
ഥ𝑨
𝒗 B make a
+ A B
𝒓ത 𝑩/𝑨 circle w.r.t A.
ഥ𝑩
𝒗
B
B
Translation: 𝑣ҧ𝐵 = 𝑣𝐴ҧ B
ഥ𝑩ൗ𝑨
Rotation of B w.r.t A: 𝒗
𝑣ҧ𝐵 > 𝑣𝐴ҧ , because point B travels
more distance as compared with A.
ഥ𝑩 = 𝒗
𝒗 ഥ𝑨 + 𝒗
ഥ𝑩ൗ
𝑨
ഥ𝑩 = 𝒗
𝒗 ഥ𝑨 + 𝝎
ഥ 𝑨𝑩 × 𝒓ത 𝑩/𝑨
ഥ will only have a 𝑘ത component since the axis of rotation is

𝝎
perpendicular to the plane of motion.
RELATIVE MOTION ANALYSIS: Acceleration
A aB/A)t
A 𝜔
ഥ𝐴𝐵 , 𝛼ത𝐴𝐵
𝑎ത𝐴
+ A B
𝑎ത𝐵 aB/A)n
B
B B
ഥ𝑩 = 𝒂
Translation: 𝒂 ഥ𝑨 ഥ𝑩ൗ𝑨
Rotation: 𝒂
ഥ𝑩 = 𝒂
𝒂 ഥ𝑨 + 𝒂
ഥ𝑩ൗ = 𝒂
ഥ𝑨 + 𝒂
ഥ𝑩ൗ ഥ𝑩ൗ
+ 𝒂
𝑨 𝑨 𝑡 𝑨 𝑛
ഥ𝑩 = 𝒂
𝒂 ഥ 𝑨𝑩 × 𝒓ത 𝑩/𝑨 − 𝝎𝟐𝑨𝑩 . 𝒓ത 𝑩/𝑨
ഥ𝑨 + 𝜶
ഥ 𝛼ത will only have a 𝑘ത components since the axis of rotation is
𝝎,
perpendicular to the plane of translation.
APPLICATION
In analysis, the starting point should generally involve points
which have a known motion, such as fixed pin connections with
vB
other bodies.
vB
𝐵
𝜔, 𝛼 aB)t 𝐵
aB)n
𝐴 𝐶 vc, ac
aB)n a
B)t
• In this mechanism, point B travels along a circular path, so vB

is tangent to the path and aB can be expressed in terms of its
normal and tangential components.
• Note that point B on link BC will have the same velocity and
acceleration as point B on link AB.
• Point C, connecting link BC and the piston, moves along a
straight-line path. Hence, vc and aC is directed horizontally.
BODIES IN CONTACT
Consider two bodies in contact with one another without slipping,
where the points in contact move along different paths.
𝑣𝐴 𝑣𝐴′
When in contact, velocities and the tangential components of

acceleration will be the same, i. e.,
𝒗𝑨 = 𝒗𝑨′ 𝑎𝐴)𝑡 = 𝑎𝐴′)𝑡 →→ 𝛼𝐴 𝑟𝐴 = 𝛼𝐵 𝑟𝐵
The normal components of acceleration will not be the same, they
depend on the relative radii of contacting bodies 𝑎𝑛 = 𝜔2 𝒓.
𝑎𝐴)𝑛 ≠ 𝑎𝐴′)𝑛 𝑎𝐴 ≠ 𝑎𝐴′
ROLLING Contact MOTION
If no slip occurs, point A has the same velocity as the ground, i.e.,
“zero”, however it is not a point of zero acceleration (since an≠0).
Apply the Relative Motion Analysis to Points A and G:
vG = vA +   rG/A
Velocity:
vG i = 0 + (-k)  (r j) 𝒗𝑮 𝒊ҧ = 𝝎𝒓𝒊ҧ
𝑣𝐺 = 𝜔𝑟
𝒗𝑮 = 𝝎𝒓 Memorize this!
𝑎𝐺 = 𝛼𝑟
Similar analysis for acceleration yields:
𝒂𝑮 = 𝜶𝒓 Memorize this! vA=0
vG and aG move parallel to the surface. Velocity
Just before A touches ground, its velocity is directed downward,

and just after contact, its velocity is directed upward.
Velocity is zero at the point of contact with the ground, the IC.

vA=-6 j PP3 Solution: To find the angular velocity,
aA=-5 j using RELATIVE MOTION ANALYSIS
Assumed vB = vA+vB/A = vA + AB x rB/A
rB/A
Directions vBi=-6j + k x [3i-4j]
4m vBi=-6j + 3j + 4i
aB=aB i
vB=vB i j-terms: 0=-6 + 3→  = 2 rad/s
i-terms: vB=4 → vB=8m/s
3m
For Accelerations aA = -5 j m/s2 aB = aB i m/s2 yj
Applying the relative acceleration equation
aB = aA + a × rB/A – 2rB/A
aB i = - 5 j + a k × (3 i – 4 j) – 22 (3 i – 4 j) xi
zk
aB i = - 5 j + 3 a j + 4 a i – (12 i – 16 j)
j-comp: 0 = -5 + 3a + 16 -ve implies
a = - 3.67 rad/s2
deceleration
i-comp: aB = 4 a – 12 aB = - 26.7 m/s2
Answers: a = 3.67 rad/s2 (cw); aB = 26.7 m/s2←Chapter 16 Rigid Body Kinematics
137
PP4
Given: The member AB is rotating with AB=3 rad/s, aAB=2 rad/s2.
Find: The velocity and acceleration of the slider block C (vC, aC).
Solution: METHOD 1: Scalar Analysis (done earlier)

B makes a perfect circle w.r.t. A
vB aB)t vB = (AB) rAB = (3) 7 = 21 in/s
aB)n aB)t = (aAB) rAB = (2) 7 = 14 in/s2
aB)n = (AB)2 rAB= (3)2 7 = 63 in/s2
In vectorial form
yj
(by observation):
vB = (-21 i ) in/s
xi aB = (-14 i −63 j ) in/s2
zk
PP4 Solution: METHOD 2: Vectorial Analysis
vB, aB)t
Relative Motion Analysis Solution
𝒓𝑩/𝑨 = 7𝑗
Important Step: Assume the directions aB)n
of velocities and accelerations.
From Link AB:

Velocity:
𝒗𝑩 = 𝒗𝑨 + 𝒗𝑩/𝑨 = 𝒗𝑨 + 𝝎𝑨𝑩 × 𝒓𝑩/𝑨
𝒗𝑩 = 𝟎 + 𝟑𝒌 × 𝟕𝒋 𝒗𝑩 = −𝟐𝟏𝒊 𝑖𝑛ൗ𝑠 yj
Acceleration:
𝒂𝑩 = 𝒂𝑨 + 𝒂𝑩/𝑨)𝒕 + 𝒂𝑩/𝑨)𝒏 xi
𝒂𝑩 = 𝒂𝑨 + 𝜶𝑨𝑩 × 𝒓𝑩/𝑨 − 𝝎𝑨𝑩 𝟐 𝒓𝑩/𝑨 zk
𝒂𝑩 = 𝟎 + 𝟐𝒌 × 𝟕𝒋 − 𝟑𝟐 𝟕𝒋
𝒂𝑩 = (−𝟏𝟒𝒊 − 𝟔𝟑𝒋) 𝑖𝑛ൗ 2
𝑠
PP4
vB = (-21 i ) in/s vB,aB)t
All
aB = (-14 i −63 j ) in/s2
Directions
are aB)n
Link BC
considered
Velocity:
Assumed
vC = vB + BC× rC/B BC
(-0.8 vC i −0.6 vC j) = 𝟒
𝒗𝒄
(-21 i ) + BC k × (-5 i −12 j) 𝟓
(-0.8 vC i −0.6 vC j) vC 𝟑
𝒗𝒄
= (-21i + 12 BC) i −5 BC j 𝟓
By comparing the i, j components; yj
i-terms: -0.8 vC = - 21 + 12 BC
j-terms: -0.6 vC = - 5 BC
xi
BC = 1.125 rad/s; vC = 9.375 in/s
zk
Link BC 𝐫𝑪/𝑩 = −𝟓𝒊 − 𝟏𝟐𝒋 PP4
BC = 1.125 rad/s aB)t

Acceleration:
aB = (-14 i −63 j ) in/s2
aC = aB + aC/B)t+ aC/B)n aB)n
aC = aB + aBC × rC/B – 2BC rC/B Assumed 
BC
(-4/5 aC i − 3/5 aC j) = (-14 i − 63 j) direction
aBC
+ aBC k × (-5 i −12 j) – (1.125)2 (-5 i −12 j)
𝟒
(- 4/5 aC i − 3/5 aC j) = 𝒂𝒄
(-14+12 a + 6.328 ) i 𝟓
BC
+ (- 63 – 5 aBC + 15.19) j 𝟑
aC 𝒂𝒄
𝟓
By comparing the i, j components;
i-terms: - 4/5 aC = -7.672 + 12 aBC yj
j-terms: - 3/5 aC = - 47.81 –5 aBC
aBC = -3.0 rad/s2
xi
aC = 54.7 in/s2
zk
PP5: A tied crank AC (fixed at A) and gear mechanism gives rocking
motion to the crank, necessary for the operation of a printing press. If
link DE has the angular motion shown, determine the angular velocity
and acceleration of crank AC at this instant.
Some simplified schematics to help you visualize the links.
75mm 100mm 𝒗𝑫 , 𝒂𝑫)𝒕 𝒗𝑫 , 𝒂𝑫)𝒕 Given:
vB, aB)t75mm
100mm 𝝎𝑫𝑬 = 𝟒 𝒓𝒂𝒅/𝒔
B E D 𝜶𝑫𝑬 = 𝟐𝟎 𝒓𝒂𝒅/𝒔𝟐
D B D E
DE, aDE 𝒂𝑫)𝒏
𝒂𝑫)𝒏
30o aB)n 𝝎 , 𝜶 DE, aDE
𝑩𝑫 𝐵𝑫
150mm Gear 𝑮 is a
A rigid body.
vB, aB)t
B
aB)n AB, aAB
It is not always
necessary to 30o
150mm
assume A 𝑨𝑩𝑪 is a
directions at B. rigid body.
B 𝒓𝑩/𝑨 𝒗𝑫 , 𝒂𝑫)𝒕 𝒗𝑫 , 𝒂𝑫)𝒕
AB, aAB
75mm
100mm
30o
D
150mm B D E
𝒓𝑩/𝑫 𝒂𝑫)𝒏 𝒂𝑫)𝒏
A
𝝎𝑩𝑫 , 𝜶𝐵𝑫 DE, aDE
VELOCITY (Link AB) VELOCITY (Link DE)

VELOCITY (Link BD) 75mm 100mm
𝒗𝑩 = 𝒗𝑨 + 𝝎𝑨𝑩 × 𝒓𝑩/𝑨 𝒗𝑫 = 𝒓𝑫𝑬 𝝎𝑫𝑬 = 𝟏𝟎𝟎 𝟒
𝒗𝑩 = 𝒗𝑫 + 𝝎𝑩𝑫 × 𝒓𝑩/𝑫
𝒗𝑩 = 𝟎 = 𝟒𝟎𝟎𝒎𝒎/𝒔 ↑ B
𝒗𝑩 = 𝟒𝟎𝟎𝒋 + 𝝎𝑩𝑫 𝒌 × −𝟕𝟓𝒊
−𝝎𝑨𝑩 𝒌 × −𝟏𝟓𝟎𝒔𝒊𝒏𝟑𝟎𝒊 + 𝟏𝟓𝟎𝒄𝒐𝒔𝟑𝟎𝒋 𝒗𝑫 = 𝟒𝟎𝟎𝒋 ҧ E
EQ. 1: 𝒗𝑩 = 𝟒𝟎𝟎 − 𝟕𝟓𝝎𝑩𝑫 𝒋
EQ. 2: 𝒗𝑩 = 𝟕𝟓𝝎𝑨𝑩 𝒋 + 𝟏𝟐𝟗. 𝟗𝝎𝑨𝑩 𝒊 𝒂𝑫)𝒕 = 𝒓𝑫𝑬 𝜶𝑫𝑬 = 𝟏𝟎𝟎 𝟐𝟎 D
𝒂𝑫)𝒕 = 𝟐𝟎𝟎𝟎𝒎𝒎/𝒔𝟐 ↑ DE, aDE
VELOCITY (From Links AB and BD) 𝒂𝑫)𝒏 = 𝒓𝑫𝑬 𝝎𝑫𝑬 𝟐 30o
Equate Equations (1) and (2) 𝒂𝑫)𝒏 = 𝟏𝟎𝟎 𝟒𝟐 150mm
𝟒𝟎𝟎 − 𝟕𝟓𝝎𝑩𝑫 𝒋 = 𝟕𝟓𝝎𝑨𝑩 𝒋 + 𝟏𝟐𝟗. 𝟗𝝎𝑨𝑩 𝒊 𝒎𝒎 A
= 𝟏𝟔𝟎𝟎 𝟐 →
i-terms: 0 = 𝟏𝟐𝟗. 𝟗𝝎𝑨𝑩 𝝎𝑨𝑩 = 𝟎 𝒔
j-terms: 𝟒𝟎𝟎 − 𝟕𝟓𝝎𝑩𝑫 = 𝟕𝟓𝝎𝑨𝑩 𝝎𝑩𝑫 = 𝟓. 𝟑𝟑 𝐫𝐚𝐝/𝐬 𝒂𝑫 = 𝟏𝟔𝟎𝟎𝒊ҧ + 𝟐𝟎𝟎𝟎𝒋 ҧ
PP5: A tied crank AC

ACCELERATION (Link AB) ACCELERATION (Link BD) (fixed at A) and gear
𝒂𝑩 = 𝒂𝑨 + 𝜶𝑨𝑩 × 𝒓𝑩/𝑨 − 𝝎𝑨𝑩 𝟐 𝒓𝑩/𝑨 𝒂𝑩 = 𝒂𝑫 + 𝜶𝑩𝑫 × 𝒓𝑩/𝑫 − 𝝎𝑩𝑫 𝟐 𝒓𝑩/𝑫 mechanism gives rocking
𝒂𝑩 = 𝟎 + 𝜶𝑨𝑩 (−𝒌) × (−𝟏𝟓𝟎𝒔𝒊𝒏𝟑𝟎𝒊 + 𝟏𝟓𝟎𝒄𝒐𝒔𝟑𝟎𝒋) 𝒂𝑩 = 𝟏𝟔𝟎𝟎𝒊 + 𝟐𝟎𝟎𝟎𝒋 + 𝜶𝑩𝑫 𝒌 × −𝟕𝟓𝐢 − motion to the crank,
EQ. 4: 𝒂𝑩 = 𝟏𝟓𝟎𝒔𝒊𝒏𝟑𝟎𝜶𝑨𝑩 𝒋 + 𝟏𝟓𝟎𝒄𝒐𝒔𝟑𝟎𝜶𝑨𝑩 𝒊 𝟓. 𝟑𝟑𝟐 (−𝟕𝟓𝒊) necessary for the
𝒂𝑩 = 𝟏𝟔𝟎𝟎𝒊 + 𝟐𝟎𝟎𝟎𝒋 − 𝟕𝟓𝜶𝑩𝑫 𝒋 + 𝟐𝟏𝟑𝟑. 𝟑𝒊 operation of a printing
EQ. 3: 𝒂𝑩 = 𝟑𝟕𝟑𝟑. 𝟑𝒊 + 𝟐𝟎𝟎𝟎 − 𝟕𝟓𝜶𝑩𝑫 𝒋 press. If link DE has the
angular motion shown,
ACCELERATION (From Links AB and BD) determine the angular
Equate Equations (3) and (4) acceleration of the crank
𝟑𝟕𝟑𝟑. 𝟑𝒊 + 𝟐𝟎𝟎𝟎 − 𝟕𝟓𝜶𝑩𝑫 𝒋 = 𝟏𝟓𝟎𝒔𝒊𝒏𝟑𝟎𝜶𝑨𝑩 𝒋 + 𝟏𝟓𝟎𝒄𝒐𝒔𝟑𝟎𝜶𝑨𝑩 𝒊 ABC.
𝑖-terms:
ҧ 𝟑𝟕𝟑𝟑. 𝟑 = 𝟏𝟓𝟎𝒄𝒐𝒔𝟑𝟎𝜶𝑨𝑩 𝜶𝑨𝑩 = 𝟐𝟖. 𝟕𝟑 𝒓𝒂𝒅ൗ𝒔𝟐
𝑗-terms:
ҧ 𝟐𝟎𝟎𝟎 − 𝟕𝟓𝜶𝑩𝑫 = 𝟏𝟓𝟎𝒔𝒊𝒏𝟑𝟎𝜶𝑨𝑩 𝜶𝑩𝑫 = 𝟐. 𝟎𝟔 𝒓𝒂𝒅ൗ𝒔𝟐
Solution: 𝒗𝑫 , 𝒂𝑫)𝒕
Link DE: 100mm 𝝎𝑫𝑬 = 𝟒 𝒓𝒂𝒅/𝒔
𝜶𝑫𝑬 = 𝟐𝟎 𝒓𝒂𝒅/𝒔𝟐
𝒗𝑫 = 𝒓𝑫𝑬 𝝎𝑫𝑬 = 𝟏𝟎𝟎 𝟒 D E
= 𝟒𝟎𝟎𝒎𝒎/𝒔 ↑ 𝒂𝑫)𝒏
DE, aDE
𝒗𝑫 = 𝟒𝟎𝟎𝒋 ҧ 𝒎𝒎/𝒔
𝒂𝑫)𝒕 = 𝒓𝑫𝑬 𝜶𝑫𝑬 = 𝟏𝟎𝟎 𝟐𝟎 𝒗𝑫 , 𝒂𝑫)𝒕
𝒂𝑫)𝒕 = 𝟐𝟎𝟎𝟎𝒎𝒎/𝒔𝟐 ↑
𝒂𝑫)𝒏 = 𝒓𝑫𝑬 𝝎𝑫𝑬 𝟐
𝒎𝒎 aD)n
𝒂𝑫)𝒏 = 𝟏𝟎𝟎 𝟒𝟐 = 𝟏𝟔𝟎𝟎 𝟐 →
𝒔
𝒂𝑫 = 𝟏𝟔𝟎𝟎𝒊ҧ + 𝟐𝟎𝟎𝟎𝒋 ҧ 𝒎𝒎/𝒔𝟐

yj
xi
Chapter 16 zk
Link BD (Gear G): Velocity Analysis [𝝎𝑩𝑫 = 𝝎𝑮 ] yj
Notice: B rotates w.r.t A.
𝒗𝑫 , 𝒂𝑫)𝒕 𝒗𝑫 , 𝒂𝑫)𝒕
𝝎𝑩𝑫 = 𝝎𝑮 75mm xi
v a 100mm zk
𝜶𝐵𝑫 = 𝜶𝐺 B, B)t
D 𝒂𝑫)𝒏
B D E
aB)n 𝝎𝑩𝑫 , 𝜶𝐵𝑫 𝒂 𝑫)𝒏
vB
DE, aDE
𝒗𝑩 = 𝒗𝑫 + 𝝎𝑩𝑫 × 𝒓𝑩/𝑫 30𝑜
𝒗𝑩 𝒄𝒐𝒔𝟑𝟎𝒊 + 𝒗𝑩 𝒔𝒊𝒏𝟑𝟎𝒋
= 𝟒𝟎𝟎𝒋 + 𝝎𝑩𝑫 𝒌 × −𝟕𝟓𝒊
F
vD, aD)t
𝒗𝑩 𝒄𝒐𝒔𝟑𝟎𝒊 + 𝒗𝑩 𝒔𝒊𝒏𝟑𝟎𝒋
vB, aB)t
= 𝟒𝟎𝟎𝒋 − 𝟕𝟓𝝎𝑩𝑫 j
𝝎𝑮 , 𝜶𝑮
i-terms: 𝒗𝑩 𝒄𝒐𝒔𝟑𝟎 = 𝟎 Ga aD)n
B)n
𝒗𝑩 = 𝟎
AB, aAB
j-terms: 𝒗𝑩 𝒔𝒊𝒏𝟑𝟎 = 𝟒𝟎𝟎 − 𝟕𝟓𝝎𝑩𝑫
𝝎𝑩𝑫 = 𝟓. 𝟑𝟑𝒓𝒂𝒅/𝒔 = 𝝎𝐺
Chapter 16 145
𝝎𝑩𝑫 = 𝟓. 𝟑𝟑𝒓𝒂𝒅/𝒔, 𝒂𝑫 = 𝟏𝟔𝟎𝟎𝒊 + 𝟐𝟎𝟎𝟎𝒋
Link BD: Acceleration Analysis F vD, aD)t
vB, aB)t
𝒂𝑩 = 𝒂𝑫 + 𝜶𝑩𝑫 × 𝒓𝑩/𝑫 − 𝝎𝑩𝑫 𝟐 𝒓𝑩/𝑫 G, aG
Ga aD)n
𝒂𝑩 = 𝟏𝟔𝟎𝟎𝒊 + 𝟐𝟎𝟎𝟎𝒋 +𝜶𝑩𝑫 𝒌 × −𝟕𝟓𝐢 B)n
AB, aAB
−𝟓. 𝟑𝟑𝟐 (−𝟕𝟓𝒊)
𝒂𝑩 = 𝟏𝟔𝟎𝟎𝒊 + 𝟐𝟎𝟎𝟎𝒋 − 𝟕𝟓𝜶𝑩𝑫 𝒋 + 𝟐𝟏𝟑𝟑. 𝟑𝒊

yj
𝒂𝑩 = 𝟑𝟕𝟑𝟑. 𝟑𝒊 + 𝟐𝟎𝟎𝟎 − 𝟕𝟓𝜶𝑩𝑫 𝒋 (1)
𝒗𝑫 , 𝒂𝑫)𝒕 xi
75mm
vB, aB)t zk
D 𝒂𝑫)𝒏
B
aB)n 𝝎𝑩𝑫 , 𝜶𝐵𝑫
146
𝒂𝑩 = 𝟑𝟕𝟑𝟑. 𝟑𝒊 + 𝟐𝟎𝟎𝟎 − 𝟕𝟓𝜶𝑩𝑫 𝒋 (1)
B
Link AB: 𝒗𝑩 = 𝟎, (𝒗𝑩 =𝒓𝑨𝑩 𝝎𝑨𝑩 ), AB, aAB yj
therefore, AB=0. Also, 𝒂𝑨 = 𝟎.
30o
Acceleration between points A and B. 150mm
A xi
𝒂𝑩 = 𝒂𝑨 + 𝜶𝑨𝑩 × 𝒓𝑩/𝑨 − 𝝎𝑨𝑩 𝟐 𝒓𝑩/𝑨 zk
𝒂𝑩 = 𝜶𝑨𝑩 (−𝒌) × (−𝟏𝟓𝟎𝒔𝒊𝒏𝟑𝟎𝒊 + 𝟏𝟓𝟎𝒄𝒐𝒔𝟑𝟎𝒋)
𝒂𝑩 = 𝟏𝟓𝟎𝒔𝒊𝒏𝟑𝟎𝜶𝑨𝑩 𝒋 + 𝟏𝟓𝟎𝒄𝒐𝒔𝟑𝟎𝜶𝑨𝑩 𝒊 (2)
Substitute 𝒂𝑩 from Eq. 1 into eq. 2 F

vD, aD)t
𝟑𝟕𝟑𝟑. 𝟑𝒊 + 𝟐𝟎𝟎𝟎 − 𝟕𝟓𝜶𝑩𝑫 𝒋 = vB, aB)t
𝟏𝟓𝟎𝒔𝒊𝒏𝟑𝟎𝜶𝑨𝑩 𝒋 + 𝟏𝟓𝟎𝒄𝒐𝒔𝟑𝟎𝜶𝑨𝑩 𝒊 G, aG
Ga aD)n
𝑖-terms:
ҧ 𝟑𝟕𝟑𝟑. 𝟑 = 𝟏𝟓𝟎𝒄𝒐𝒔𝟑𝟎𝜶𝑨𝑩 B)n
𝜶𝑨𝑩 = 𝟐𝟖. 𝟕𝟑 𝒓𝒂𝒅ൗ 𝟐 AB, aAB

𝒔
𝑗-terms:
ҧ 𝟐𝟎𝟎𝟎 − 𝟕𝟓𝜶𝑩𝑫 = 𝟏𝟓𝟎𝒔𝒊𝒏𝟑𝟎𝜶𝑨𝑩
𝜶𝑩𝑫 = 𝟐. 𝟎𝟔 𝒓𝒂𝒅ൗ 𝟐 147
𝒔 Chapter 16
Gear G and F: F F
If 𝒗𝑩 = 𝟎, then 𝒗𝑪 = 𝟎 𝒗
G vB
G
𝒗𝑮 = 𝒗𝑭 = 𝒗
𝝎𝑮 𝒓𝑮 = 𝝎𝑭 𝒓𝑭
𝟓. 𝟑𝟑 𝟏𝟎𝟎 = 𝝎𝑭 (50)
𝝎𝑭 = 𝟏𝟎. 𝟕 𝒓𝒂𝒅/𝒔
Chapter 16 148
PP 6: At the given instant, the gear has an angular motion shown.
Determine the accelerations of points A and B on the link and the
link’s angular acceleration at this instant. aAB=18 rad/s2, 𝑣𝐵 =
𝑖𝑛 𝑖𝑛
6 , 𝑎𝐵 = 112.7 2 .
𝑠 𝑠
HINT:
Point C is in contact with the surface that
is stationary, thus point C has zero
velocity. Then, 𝒗𝑨
𝒗𝑨 = 𝒓𝑶𝑨 𝝎 = 𝟏 𝟔 = 𝟔 𝒊𝒏ൗ𝒔 ← c
𝑟𝐴𝐶
𝒗𝑶 = 𝒓𝑶𝑪 𝝎 = 𝟑 𝟔 = 𝟏𝟖 𝒊𝒏ൗ𝒔 ← 𝒗𝒄 = 𝟎
𝒂𝑶 = 𝒓𝑶𝑪 𝜶 = 𝟑 𝟏𝟐 = 𝟑𝟔 𝒊𝒏ൗ𝒔 ←
Using Relative Motion Analysis
Relate acceleration of A to O, to get 𝒗𝑶 , 𝒂𝑶
𝑎ത𝐴 = −12𝑖 ҧ + 72𝑗 ҧ
Then, using link AB, relate velocity and 𝑟𝑂𝐶
acceleration of A to B to get the answers. c
Chapter 16 149
HW 16-1: A motor attached at C causes the wheel to rotate. The link AB is HW 16-2: A leg squat machine and an idealized kinematic
attached to point B on the wheel and to collar at A. As the wheel rotates, it diagram is shown below. If the angular velocity and angular
makes link AB to move (rotate and translate) and collar A to slide on the rod acceleration of link AB are as indicated, find the velocity and
ED as shown. Determine the angular velocity and angular acceleration of acceleration (𝑣𝐶 , 𝑎𝐶 ) of the foot at point C at the instant
the wheel (imaginary link BC) at the instant shown. shown. The foot is idealized as block C.
Given: 𝑣𝐴 = 2 𝑟𝑎𝑑ൗ𝑠2 , 𝑎𝐴 = 12 𝑚Τ𝑠2 , 𝛼𝐴𝐵 = 40 𝑟𝑎𝑑ൗ𝑠2 , 𝑟𝐴𝐵 = 0.5𝑚, 𝑟𝐵𝐶 = Given: 𝜔𝐴𝐵 = 5 𝑟𝑎𝑑Τ𝑠 , 𝛼𝐴𝐵 = 2 𝑟𝑎𝑑ൗ𝑠2 , 𝑟𝐴𝐵 = 20𝑖𝑛, 𝑟𝐵𝐶 =
0.2𝑚, 𝜃𝐶 = 35𝑜 , 𝜃𝐵 = 70𝑜 19𝑖𝑛, 𝜃𝐶 = 40𝑜
Find: 𝜔𝐴𝐵 , 𝛼𝐵𝐶 (𝑤ℎ𝑒𝑒𝑙) Find: 𝑣𝐶 , 𝑎𝐶
[70%]: Write the relative velocity and relative acceleration
[70%]: Write the relative velocity and relative acceleration equations for equations for links AB and BC.
links AB and the wheel (imaginary link BC). [30%]: Put in the numbers and complete the numerical
[30%]: Put in the numbers and complete the numerical solution of the solution of the problem.
problem.
𝒗𝑪 , 𝒂𝑪
𝑟𝐵𝐶
E 𝑎𝐴 𝑪
90𝑜 𝑩
A 𝑣𝐴 𝑟𝐴𝐵
90o 𝝎𝑨𝑩 , 𝜶𝑨𝑩
𝜔𝐴𝐵 𝑟𝐴𝐵
𝛼𝐴𝐵 𝜃𝐶 𝑨
D
𝜃𝐵
B 𝒗𝑪 , 𝒂𝑪
𝑟𝐵𝐶
𝜃𝐶 Wheel/gear 𝑪 𝑟𝐵𝐶
C 𝑩
Motor 90𝑜
𝜃𝐶 𝑟𝐴𝐵
attached to C
idealized
𝝎𝑨𝑩
𝜶𝑨𝑩 kinematic
𝑨 diagram
Sections 8: Relative Motion Analysis
Using
Rotating Axis Imply the

Accelerating Frame of Reference same thing
Non-Inertial Frame of Reference

Introductory Example 𝝎𝒛
The description of motion depends
ഥ
ഥ = 𝒖𝒌
𝒖
primarily on the frame of reference.
ഥ
𝒛, 𝒌
To describe the motion of an
elevator E in a ship while the ഥ𝑮
𝒗 𝑮 𝑬
𝒚, 𝒋 ҧ
ship is moving. 𝒙, 𝒊ҧ 𝝎𝒚
𝝎𝒙
Position of the elevator E w.r.t. an
𝒙𝒚𝒛
observer at point G in the Ship
(Moving Frame of
(moving 𝒙𝒚𝒛 frame of reference) can
Reference attached
be written as
ഥ to the boat)
𝒓ത 𝑬ൗ = 𝒙𝒊ҧ + 𝒚𝒋 ҧ + 𝒛𝒌
𝑮
The velocity of the elevator in the moving 𝒙𝒚𝒛 frame of reference
ഥ𝑬)𝒙𝒚𝒛 = 𝒖
𝒗 ഥ
ഥ = 𝒖𝒌
𝑣ҧ𝐸)𝑥𝑦𝑧 - velocity of the elevator w.r.t. the moving (boat) frame of
reference 𝒙𝒚𝒛. Lecture 3: Rotation Transformations 152
Introductory Example
𝝎𝒛
The same motion of the elevator w.r.t. to
ഥ
ഥ = 𝒖𝒌
𝒖
the Fixed Frame of Reference 𝑿𝒀𝒁 can
be described as 𝒁 ഥ
𝒛, 𝒌
𝒓ത 𝑬ൗ = 𝒓ത 𝑮ൗ + 𝒓ത 𝑬ൗ ഥ𝑮
𝒗 𝑮 𝑬
𝑶 𝑶 𝑮 𝒚, 𝒋 ҧ
𝒙, 𝒊ҧ 𝝎𝒚
ഥ𝑬 = 𝒗
𝒗 ഥ𝑮ൗ ഥ𝑬ൗ
+𝒗 𝝎𝒙
𝑶 𝑮
ഥ𝑬 = 𝒗
𝒗 ഥ𝑮 + 𝝎
ഥ × 𝒓ത 𝑮ൗ ഥ𝑬)𝒙𝒚𝒛
+𝒗
𝑶 𝑶
The angular velocity of the boat Outside 𝒀
ഥ = 𝜔𝑥 𝑖 ҧ + 𝜔𝑦 𝑗 ҧ + 𝜔𝑧 𝑘ത
𝜔 𝑿
Observer
𝑣ҧ𝐺 - velocity of the boat w.r.t. the fixed reference 𝑿𝒀𝒁

𝜔
ഥ × 𝑟ҧ𝐺ൗ𝑂 - rotation of boat w.r.t the fixed frame of reference 𝑿𝒀𝒁.
𝑣ҧ𝐸)𝑥𝑦𝑧 - velocity of the elevator w.r.t. the moving (boat) frame of
reference 𝒙𝒚𝒛.
Lecture 3: Rotation Transformations 153
NON-ACCELERATING Frame of Reference
Non-accelerating coordinate system 𝐶
is used when one point on a rigid
body is not moving w.r.t. another, i.e., 𝐵
for motion of two points on the 30𝑜
Distances
same rigid body (fixed distance
between A and B,
between the two points). 𝝎𝑨𝑩 , 𝜶𝐀𝑩
as well as,
50𝑜
Link AB: 𝐴 𝐵 between B and C
remain constant.
ഥ𝑩 = 𝒗
𝒗 ഥ𝑨 + 𝝎
ഥ 𝐀𝑩 × 𝒓ത 𝑩/𝑨
ഥ𝑩 = 𝒂
𝒂 ഥ 𝑨𝑩 × 𝒓ത 𝑩/𝑨 − 𝝎𝐀𝑩 𝟐 𝒓ത 𝑩/𝑨
ഥ𝑨 + 𝜶 𝝎𝑨𝑩 , 𝜶𝐀𝑩
50𝑜
Link BC: 𝐴
𝐶
ഥ𝑪 = 𝒗
𝒗 ഥ𝑩 + 𝝎
ഥ 𝑩𝑪 × 𝒓ത 𝑪/𝑩
ഥ𝑪 = 𝒂
𝒂 ഥ 𝑩𝑪 × 𝒓ത 𝑪/𝑩 − 𝝎𝑩𝑪 𝟐 𝒓ത 𝑪/𝑩
ഥ𝑩 + 𝜶 𝐵
30𝑜
ACCELERATING Frame of Reference
Accelerating reference frame is used when sliding 𝐶
occurs, i.e., the distance between the two points 𝐵 30𝑜
varies causing one point to accelerate w.r.t. another.
𝝎𝑨𝑩 , 𝜶𝐀𝐁
Link AB (B is attached to Link AB):
50𝑜 𝐵
ഥ𝑩 = 𝒗
𝒗 ഥ𝑨 + 𝝎
ഥ 𝐀𝑩 × 𝒓ത 𝑩/𝑨
ഥ𝑩 = 𝒂
𝒂 ഥ 𝑨𝑩 × 𝒓ത 𝑩/𝑨 − 𝝎𝐀𝑩 𝟐 𝒓ത 𝑩/𝑨
ഥ𝑨 + 𝜶
𝐴
Link BC (distance between B and C is 50𝑜
not constant):
𝐴
ഥ𝑪 = 𝒗
𝒗 ഥ𝑩 + 𝝎
ഥ × 𝒓ത 𝑪ൗ + 𝒗
ഥ𝑪ൗ
𝑩 𝑩
𝐶
ഥ𝑪 = 𝒂
𝒂 ഥ × 𝒓ത 𝑪ൗ − 𝝎𝟐 𝒓ത 𝑪ൗ + 𝟐𝝎
ഥ𝑩 + 𝜶 ഥ ×𝒗
ഥ𝑪ൗ + 𝒂
ഥ𝑪ൗ 𝐵 30𝑜
𝑩 𝑩 𝑩 𝑩
ഥ𝑪ൗ𝑩 Measures how fast B moves away from C

𝒗
ഥ𝑪ൗ𝑩 Measures how the acceleration of B w.r.t. C
𝒂
𝟐𝝎ഥ ×𝒗ഥ𝑪ൗ𝑩 is the Coriolis effect since B accelerates
155
The Final Equations
To relate any two points (B and C) on the same RIGID Body,
use NON-Accelerating Reference Frame
ഥ𝑪 = 𝒗
𝒗 ഥ𝑩 + 𝝎
ഥ × 𝒓ത 𝑪ൗ ഥ𝑪 = 𝒂
𝒂 ഥ × 𝒓ത 𝑪ൗ − 𝝎𝟐 × 𝒓ത 𝑪ൗ
ഥ𝑩 + 𝜶
𝑩 𝑩 𝑩
• When sliding occurs at contact point between two rigid bodies

OR
• the distance between the two bodies varies,
use Accelerating Frame of Reference Equations,
ഥ𝑪 = 𝒗
𝒗 ഥ𝑩 + 𝝎 ഥ × 𝒓ത 𝑪ൗ + 𝒗
ഥ𝑪ൗ
𝑩 𝑩
ഥ𝑪 = 𝒂
𝒂 ഥ × 𝒓ത 𝑪ൗ − 𝝎𝟐 × 𝒓ത 𝑪ൗ + 𝟐𝝎
ഥ𝑩 + 𝜶 ഥ ×𝒗
ഥ𝑪ൗ + 𝒂
ഥ𝑪ൗ
𝑩 𝑩 𝑩 𝑩
ഥ𝑪ൗ𝑩 Measures how fast B moves away from C

𝒗
ഥ𝑪ൗ𝑩 Measures how the acceleration of B w.r.t. C
𝒂
𝟐𝝎ഥ ×𝒗ഥ𝑪ൗ𝑩 is the Coriolis effect since B accelerates
ACCELERATION
ഥ𝑪 = 𝒂
𝒂 ഥ𝑩 + 𝜶
ഥ × 𝒓ത 𝑪ൗ + 𝝎
ഥ ×𝝎
ഥ × 𝒓ത 𝑪ൗ + 𝟐𝝎
ഥ× 𝒗
ഥ𝑪ൗ ഥ𝑪ൗ
+ 𝒂
𝑩 𝑩 𝑩 𝒙𝒚𝒛 𝑩 𝒙𝒚𝒛
ഥ× 𝒗
𝟐𝝎 ഥ𝑪ൗ𝑩 is the CORIOLIS acceleration which is an important
𝒙𝒚𝒛
component to consider when one body accelerates w.r.t. another moving body.
For example, on a rotating, i.e., accelerating earth, the motion is significantly
affected by the CORIOLIS Effects.
When a rocket is launched where does it land?

Why don’t the planes fly in a straight line to arrive at their destination?
When the hurricane is formed near the African coast, where does it land and
how does it gain its translational and rotational speed?
Why don’t the hurricanes ever travel along the equator?
How can you place and maintain a satellite in its orbit?

PP7: At the instant shown, rod AB has an angular velocity 𝜔𝐴𝐵 = 3 𝑟𝑎𝑑Τ𝑠 and an
angular acceleration 𝛼𝐴𝐵 = 5 𝑟𝑎𝑑ൗ𝑠2. Determine the angular velocity and angular
acceleration of the rod CD at this instant. The collar is pin connected to CD and
slides over AB.
Solution:
Link CD (Rigid Body rotation about a fixed point).
Relative Velocity Analysis
yj
ഥ𝑪 = 𝒗
𝒗 ഥ𝑫 + 𝝎ഥ 𝑪𝑫 × 𝒓ത 𝑪ൗ𝑫
ഥ𝑪 = 𝟎 + 𝝎𝑪𝑫 𝒌
𝒗 ഥ × 𝟎. 𝟓𝒋ҧ
ഥ𝑪 = −𝟎. 𝟓𝝎𝑪𝑫 𝒊ҧ 𝒎/𝒔 (1)
𝒗 𝒓𝑪ൗ
𝑫
2 unknowns. 𝒗ഥ𝑪 , 𝝎𝑪𝑫 xi
zk 𝐫ҧ 𝑪ൗ = 𝟎. 𝟓𝒋 𝝎𝑪𝑫 , 𝜶𝑪𝑫
𝑫
Relative Acceleration Analysis Assumed
ഥ𝑪 = 𝒂
𝒂 ഥ𝑫 + 𝜶ഥ 𝑪𝑫 × 𝒓ത 𝑪ൗ𝑫 − 𝝎𝑪𝑫 𝟐 𝒓ത 𝑪ൗ𝑫 Directions
ഥ𝑪 = 𝟎 + 𝜶𝑪𝑫 𝒌
𝒂 ഥ × 0.5𝒋 ҧ − 𝝎𝑪𝑫 𝟐 (0.5𝑗)
𝒎
ഥ𝑪 = −𝟎. 𝟓𝜶𝑪𝑫 𝒊ҧ − 𝟎. 𝟓𝝎𝑪𝑫 𝟐 𝒋 ҧ 𝟐
𝒂 (2)
𝒔
Analysis of Link CD (equations 1 and 2) contain 4 unknowns.
ഥ𝑪 , 𝝎𝑪𝑫 , 𝒂
𝒗 ഥ𝑪 , 𝜶𝑪𝑫

LINK AC y
Relative Velocity Equation between A and C Moving
C is moving away from A (i.e. accelerating xy
Y
relative to A). Fixed
XY x
ഥ𝑪 = 𝒗
𝒗 ഥ𝑨 + 𝝎
ഥ × 𝒓ത 𝑪ൗ + 𝒗
ഥ𝑪ൗ
𝑨 𝑨 X
−𝟎. 𝟓𝝎𝑪𝑫 𝒊ҧ = ഥ × 0.65𝑖 − 0.375𝑗
𝟎 +𝟑𝒌
𝒓𝑪ൗ
+ 𝒗𝑪ൗ 𝒔𝒊𝒏𝟔𝟎𝒊ҧ − 𝒗𝑪ൗ 𝒄𝒐𝒔𝟔𝟎𝒋 ҧ 𝑨
𝑨 𝑨
𝒊 − 𝒕𝒆𝒓𝒎𝒔:
−𝟎. 𝟓𝝎𝑪𝑫 = 𝟑 𝟎. 𝟑𝟕𝟓 + 𝒗𝑪ൗ𝑨 𝒔𝒊𝒏𝟔𝟎
𝒋 − 𝒕𝒆𝒓𝒎𝒔: 𝟎 = 𝟑 𝟎. 𝟔𝟓 − 𝒗𝑪ൗ𝑨 𝒄𝒐𝒔𝟔𝟎
Solve to get 𝒓ത 𝑪ൗ = 0.75sin60i − 0.75cos60j

yj 𝑨
𝒗𝑪ൗ = 𝟑. 𝟗 𝒎/𝒔 = 0.65𝑖 − 0.375𝑗
𝑨
ഥ𝑪 = −𝟎. 𝟓𝝎𝑪𝑫 𝒊ҧ 𝒎/𝒔
𝒗 (1)
𝝎𝑪𝑫 = −𝟗 𝒓𝒂𝒅/𝒔
xi
zk 159
𝒎
𝒓𝑪ൗ = 𝟎. 𝟔𝟓𝒊 − 𝟎. 𝟑𝟕𝟓𝒋 ഥ𝑪 = −𝟎. 𝟓𝜶𝑪𝑫 𝒊ҧ − 𝟎. 𝟓 𝟗 𝟐 𝒋ҧ
𝒂 Eq. 2
𝑨 𝒔𝟐
𝒗𝑪ൗ = 𝟑. 𝟗 𝒎/𝒔 ഥ
ഥ = 𝟑𝒌
𝝎 ഥ
ഥ = 𝟓𝒌
𝜶
𝑨
Apply the Relative Acceleration between A and C
𝒂 ഥ𝑨 + 𝛼ത × 𝒓ത 𝑪ൗ − 𝜔2 𝒓ത 𝑪ൗ + 𝟐𝝎
ഥ𝑪 = 𝒂 ഥ ×𝒗
ഥ𝑪ൗ + 𝒂
ഥ𝑪ൗ
𝑨 𝑨 𝑨 𝑨
ഥ × 𝟎. 𝟔𝟓𝒊 − 𝟎. 𝟑𝟕𝟓𝒋 −32 𝟎. 𝟔𝟓𝒊 − 𝟎. 𝟑𝟕𝟓𝒋
−𝟎. 𝟓𝜶𝑪𝑫 𝒊ҧ − 𝟎. 𝟓 𝟗 𝟐 𝒋 ҧ = 𝟎 + 𝟓𝒌
ഥ × 𝟑. 𝟗𝒔𝒊𝒏𝟔𝟎𝒊ҧ − 𝟑. 𝟗𝒄𝒐𝒔𝟔𝟎𝒋 ҧ + 𝒂𝑪ൗ 𝒔𝒊𝒏𝟔𝟎𝒊ҧ − 𝒂𝑪ൗ 𝒄𝒐𝒔𝟔𝟎𝒋 ҧ
+𝟐 𝟑𝒌 𝑨 𝑨
𝒊 − 𝒕𝒆𝒓𝒎𝒔: −𝟎. 𝟓𝜶𝑪𝑫 = 𝟕. 𝟕𝟐 + 𝟎. 𝟖𝟔𝟔𝒂𝑪ൗ𝑨

𝒋 − 𝒕𝒆𝒓𝒎𝒔: −𝟒𝟎. 𝟓 = 𝟐𝟔. 𝟖𝟕 − 𝟎. 𝟓𝒂𝑪ൗ𝑨
Solve to get 𝒓𝑪ൗ
𝑨
𝜶𝑪𝑫 = 𝟐𝟒𝟗 𝒓𝒂𝒅/𝒔𝟐
𝒂𝑪ൗ = 𝟏𝟑𝟒. 𝟕 𝒎/𝒔𝟐

𝑨 160

HW 16-2: A leg squat machine and an idealized kinematic diagram is shown
below. If the angular velocity and angular acceleration of link AB are as
indicated, find the velocity and acceleration (𝑣𝐶 , 𝑎𝐶 ) of the foot at point C at 𝒗𝑪 , 𝒂𝑪
the instant shown. The foot is idealized as block C.
Given: 𝜔𝐴𝐵 = 5 𝑟𝑎𝑑Τ𝑠 , 𝛼𝐴𝐵 = 2 𝑟𝑎𝑑ൗ𝑠2 , 𝑟𝐴𝐵 = 20𝑖𝑛, 𝑟𝐵𝐶 = 19𝑖𝑛, 𝜃𝐶 = 40𝑜 𝑪 𝑟𝐵𝐶
Find: 𝑣𝐶 , 𝑎𝐶 90𝑜 𝑩
𝑟𝐴𝐵
𝝎𝑨𝑩 , 𝜶𝑨𝑩
Solution:
Link AB 𝜃𝐶 𝑨
𝒓𝑩/𝑨 = 20𝑗 ҧ 𝒗𝑪 , 𝒂𝑪
Velocity 𝝎𝑩𝑪 , 𝜶𝑩𝑪
𝒗𝑩 = 𝒗𝑨 + 𝒗𝑩/𝑨 = 𝒗𝑨 + 𝝎𝑨𝑩 × 𝒓𝑩/𝑨 = 𝟎 + 5𝑘 × 20𝑗 = −100𝑖 sin𝜃𝐶 𝑪 𝑩
𝒓C/𝐵 𝑩
Acceleration
𝒂𝑩 = 𝒂𝑨 + 𝒂𝑩/𝑨)𝒕 + 𝒂𝑩/𝑨)𝒏 cos𝜃𝐶 𝒓𝑩/𝑨
2 𝜃𝐶 𝝎𝑨𝑩 , 𝜶𝑨𝑩
𝒂𝑩 = 𝒂𝑨 + 𝜶𝑨𝑩 × 𝒓𝑩/𝑨 − 𝜔𝐴𝐵 𝒓𝑩/𝑨 = 𝟎 + 2𝒌 × 20𝒋 − 5𝟐 20𝒋
= −40𝑖 − 500𝑗
Link BC 𝒗𝑪 , 𝒂𝑪 𝑨
𝒓C/𝐵 = −19𝑖 ҧ
𝑪 𝑟𝐵𝐶
Velocity 𝑩
𝒗C = 𝒗𝐵 + 𝒗C/𝐵 = 𝒗𝐵 + 𝝎𝑩C × 𝒓C/𝐵 90 𝑜
𝒗C −𝑐𝑜𝑠40𝑖 + 𝑠𝑖𝑛40𝑗 = −100𝑖 + 𝝎𝑩C 𝑘 × −19𝑖 𝜃𝐶 𝑟𝐴𝐵

𝒗C −𝑐𝑜𝑠40𝑖 + 𝑠𝑖𝑛40𝑗 = −100𝑖 − 19𝝎𝑩C 𝑗
𝑖 ҧ − 𝑡𝑒𝑟𝑚𝑠: 𝝎𝑨𝑩 , 𝜶𝑨𝑩
𝑗 ҧ − 𝑡𝑒𝑟𝑚𝑠: 𝑨
yj
Acceleration idealized
2
𝒂𝐶 = 𝒂𝐵 + 𝒂C/B)𝒕 + 𝒂C/B)𝒏 = 𝒂𝐵 + 𝜶𝑩C × 𝒓C/𝐵 − 𝜔𝐵𝐶 𝒓C/𝐵 kinematic
xi diagram
𝑖 ҧ − 𝑡𝑒𝑟𝑚𝑠: zk
𝑗 ҧ − 𝑡𝑒𝑟𝑚𝑠:
PP8: At the instant shown, rod AB has an
angular velocity 𝝎𝑨𝑩 = 𝟒 𝒓𝒂𝒅Τ𝒔 and an
angular acceleration 𝜶𝐀𝐁 = 𝟐 𝒓𝒂𝒅ൗ𝒔𝟐.
𝒚
Determine the velocity and acceleration of
block C. The collar is pin connected to rod
AB and slides over BC. 𝐶 𝑣𝑐 , 𝑎𝑐
Take 𝑣𝑪ൗ𝑩 = 𝟎. 𝟐 𝒎Τ𝒔 and 𝑎𝑪ൗ𝑩 = −𝟔 𝒎Τ𝒔𝟐. 𝒀 𝐵
30𝑜
𝒙
𝐴 50𝑜
𝑿
Link AB Link BC:
ഥ𝑩 = 𝒗
𝒗 ഥ𝑨 + 𝝎
ഥ 𝑨𝑩 × 𝒓ത 𝑩ൗ ഥ𝑪 = 𝒗
𝒗 ഥ𝑩 + 𝝎
ഥ 𝑩𝑪 × 𝒓ത 𝑪ൗ + 𝒗
ഥ𝑪ൗ
𝑨 𝑩 𝑩 𝒙𝒚𝒛
ഥ𝑩 = 𝒂
𝒂 ഥ𝑨 + 𝜶
ഥ 𝑨𝑩 × 𝒓ത 𝑩ൗ − 𝝎𝑨𝑩 𝟐𝒓
ത 2 ത
𝑨
𝑩ൗ
𝑨
ഥ𝑪 = 𝒂
𝒂 ഥ𝑩 + 𝜶
ഥ 𝑩𝑪 × 𝒓ത 𝑪ൗ − 𝜔𝐵𝐶 ഥ 𝑩𝑪
𝒓𝑪ൗ + 𝟐𝝎
𝑩 𝑩
ഥ𝑪ൗ
× 𝒗 ഥ𝑪ൗ
+ 𝒂
𝑩 𝒙𝒚𝒛 𝑩 𝒙𝒚𝒛
My Answers (check for accuracy):

𝜔𝐵𝐶 = 2.14 𝑟𝑎𝑑ൗ𝑠 𝐶𝐶𝑊 , 𝛼𝐵𝐶 = 20.36 𝑟𝑎𝑑ൗ 2 (𝐶𝐶𝑊)
𝑠
𝑚 𝑚
𝑣𝑐 = 0.858 Τ𝑠 , 𝑎𝑐 = −16.17 ൗ 2
𝑠
16-3: Bar AB rotates at the constant rate 𝜔
ഥ𝐴𝐵 , causing collar B to slide over curved bar CD.
Determine the angular velocity and angular acceleration of bar CD in the position shown. 𝒚
ഥ𝑩ൗ𝑪 = 𝒖𝒊.ҧ
Let 𝒗
[90%]: Detailed step by step procedure.
[10%]: Final Answer in terms of 𝒖 and 𝑹. 𝒚𝒐 𝑩
𝑫 𝒙
Hint:
𝑩 𝑥𝑜 𝑦𝑜 Fixed Reference @ C
𝝎𝑨𝑩 , 𝜶𝑨𝑩
𝑫 𝑥𝑦 Moving Reference 𝑹
𝝎𝑪𝑫
𝜶𝑪𝑫
𝑹 𝑪 𝑨
𝝎𝑨𝑩 𝒙𝒐
𝑪 𝑨 𝟏. 𝟕𝟓𝑹
𝟏. 𝟕𝟓𝑹
𝐵
HW 16-4: Collar C slides over bar AB. When the system is in the
position shown, slider A is moving downward at 600 mm/s and its speed 30𝑜
is decreasing at 15 m/s2. Determine the corresponding angular velocity
and angular acceleration of each bar. 𝐶
[90%]: Detailed step by step procedure.
[10%]: Final Answer
Hint:
500𝑚𝑚
1. Attach fixed coordinate system XYZ along the bar supporting collar B. 𝐴
2. Attach the moving reference 𝑥𝑦𝑧 to bar AB.
3. Perform Relative Motion Analysis between points A and B of the bar AB and points
C and D of the bar CD (Non-Accelerating Reference Frame).
4. Perform Relative Motion Analysis between Collars C and A (collar C slides over
the bar – Accelerating reference frame).
𝐷

INGE 3032 Particle Kinematics

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INGE 3032: Dynamics

Chapter 12: PARTICLE KINEMATIC

Lecture Notes and Problems

Professor: Basir Shafiq

Zoom Meeting ID: 787 832 4040

• As the distance “d”

• Rigid Body Analysis:

No rotations are involved

Can we treat the car as a

t Acceleration can be:

These two equations for velocity and acceleration can be

Given: 𝑣𝑖 = 15 𝑚Τ𝑠 , 𝑠 = 50𝑚 Find: “a” to stop the car

Find: t when𝒗 = 𝟑𝟎 𝒇𝒕Τ𝒔

To find acceleration as a function of time

Acceleration as a function of time could have also been

1. To find velocity, acceleration-velocity-position relationship

Analysis of Curvilinear Motion

𝒗𝟐 𝒇)𝒚 − 𝒗𝟐 𝒊)𝒚 = −𝟐𝒈(𝒚𝒇 − 𝒚𝒊 ) R is called the Range

Substitute Eq. 3 into Eq. 4 to obtain

Time between throws

How can you find the Position, s

How about: While moving in a car, the body

Cars traveling along an A roller coaster travels down a hill for

The center of curvature, O’, always

If the path function is given, then the magnitude is 𝒗 = 𝒅𝒔Τ𝒅𝒕

Acceleration is the time rate of change of velocity:

2) The particle moves along a curve at constant speed.

To find the velocity at B

𝒗= 𝟏𝟐𝒔 − 𝟎. 𝟎𝟔𝒔𝟐 𝒎/𝒔 @ 𝒔 = 𝟒𝟎𝒎 𝒗𝑩 = 𝟏𝟗. 𝟔 𝒎/𝒔

Sections 4: Introduction to Curvilinear Motion

Section 8: Cylindrical Coordinates

Chapter 12 Sections 4,5 56

How can we determine its

If you are designing the track, why is it important to be

However, s is generally not known as a

Vectors analysis can be used to estimate position as a function

Chapter 12 Sections 4,5 59

Would you agree Now, would you How about now:

Chapter 12 Sections 4,5 60

Using vectors, the position of the particle at any instant is

Both the magnitude and direction of 𝑟ҧ may vary with time.

Chapter 12 Sections 4,5 61

ഥ = 𝒓ሷ − 𝒓𝜽ሶ 𝟐 𝒆ത 𝒓 + 𝒓𝜽ሷ + 𝟐𝒓ሶ 𝜽ሶ 𝒆ത 𝜽

𝑥, 𝑦 and 𝑟, 𝜃 are called the EXTRINSIC coordinate system.

Solution: 𝑟 = 300 𝑓𝑡, 𝑟ሶ = 0, 𝑟ሷ = 0, 𝜃ሶ = 0.4, 𝜃ሷ = 0.2 𝑟𝑎𝑑ൗ 2

To find the acceleration

Given: 𝑟 = 400 𝑓𝑡, 𝑣 = 30𝑓𝑡/𝑠

The magnitude of 𝒗 is (given),

When velocity is constant, the tangential

Then, the first thing to do is to find 𝒕 when 𝜽 = 𝟑𝟎𝒐 .

Task 1: Find time when q=30o.

Then, at t = 0.71s 𝜽ሶ = 𝟑𝒕𝟑Τ𝟐 = 𝟏. 𝟖𝟐 𝒓𝒂𝒅/𝒔

Magnitude: 𝒂= −𝟑𝟕. 𝟓𝟕 𝟐 + −𝟏𝟎. 𝟗𝟏 𝟐

NOTICE ‘y’ is not given as a function of time, what do we do?

Section 9: Absolute Dependent Motion

Here 𝑙𝑇 is the total cord length.

Total length equation for each cord in

NOTICE ‘y’ is not given as a function of time, what do we do?

𝑣𝐴 = 2 0.2 8.94 = 1.9𝑚/𝑠

To find the velocity of Boy “B”, substituting 𝑥𝐴 = 8.94𝑚 and

𝑣𝐵 = −1.416 𝑚/𝑠 (negative implies upward motion –

Section 10: Relative Motion Analysis

In these equations, 𝒗 ഥ𝑩 and 𝒗ഥ𝑨 are called absolute velocities