MEC420 Mybook Ch1 KinematicsParticles STDV

Chapter 1
Kinematics of Particles
1-1 INTRODUCTION
Kinematics is that part of mechanics which deals with the motion without considering its causes.
The motion is characterized by position, velocity, and acceleration with respect to time.
The motion of a particle can be divided into two types.

(a) Rectilinear motion: a motion along a straight path.
(b) Curvilinear motion: a motion along a curved path.
1-2 RECTILINEAR MOTION
1-2.1 Position, Velocity, and Acceleration of a Particle

Position. In rectilinear motion, the position of a particle is determined with respect to a chosen
reference point or axis which is fixed. Consider a particle P moving in a straight path as shown in
Figure 1.1. The position coordinate of the particle, and hence its displacement can be determined
by choosing a certain fixed point O and measure in the positive (or negative) direction as shown.
Since the motion is unidirectional, the sense of the position and its derivatives may just be denoted
by a plus or minus sign.
Reference O P
–s +s
s
0 t
Figure 1.1 Position coordinate of a particle in rectilinear

motion
When the position coordinate s of the particle is known at any time t, i.e. a function relating s and t
is known, the motion of that particle is said to be completely specified. For example
s = 5t3 – t + 2
where s is in meter (m) and t is in second (s).
1-1 MEC420_MyBook_Ch1
Kinematics of Particles Dynamics For Engineers
Velocity. Velocity is the time rate of change of the displacement. Referring to Figure 1.2, the
average velocity of the particle over the time interval t is defined as
s (1.1)
average velocity =
t
which has a unit of m/s.
Reference O P P’
–s +s
s s
0 t t + t
Figure 1.2 Average velocity of a particle motion in rectilinear

motion
The instantaneous velocity v of the particle at the instant t is obtained by choosing shorter and
shorter time intervals t and displacements s, that is
s (1.2)
v = lim
t → 0 t
and this becomes

ds (1.3)
v= or v = s
dt
From calculus, the limit of the quotient is the derivative of s with respect to t. The magnitude of v
is known as the speed of a particle.
Acceleration. Acceleration is the time rate of change of the velocity. Denoting the velocity of
particle at time t as v and at time t + t as v + v, the average acceleration can be defined as
v (1.4)
average acceleration =
t
Reference O P P’
–s +s
v v + v
0 t t + t
Figure 1.3 Average acceleration of a particle motion in

rectilinear motion
Planar Dynamics Kinematics of Particles
The instantaneous acceleration a of the particle at the instant t is obtained by choosing smaller and
smaller values for t and v, that is
v (1.5)
a = lim
t → 0 t
which becomes
dv d 2s (1.6)
a= or a = v = = s
dt dt 2
Using chain rule, we can write eq.(1.6) as
dv ds dv dv (1.7)
a= = =v
dt dt ds ds
Note: The acceleration is positive when (1) the particle moves faster in the positive direction, and
(2) the particle moves slower in the negative direction. Conversely, it is negative when (1) the
particle moves slower in the positive direction, and (2) the particle moves faster in the negative
direction. The particle is undergoing a deceleration when the speed of the particle decreases.
1-2.2 Describing Motion of a Particle

Early we have said that the motion of a particle is completely specified if its position is known at
each value of time. In practice, however, it is more often to define the motion by the type of
acceleration that the particle is subjected to. The acceleration of the particle may, in general, be
expressed as a function of one or more of the variables s, v, and t. Three common classes of motion
are
(1) The acceleration as a function of time, a = f(t).

(2) The acceleration as a function of position, a = f(s).
(3) The acceleration as a function of velocity, a = f(v)
We may analyze these types of problems using eqs.(1.6) to (1.7) with their appropriate initial
conditions as demonstrated in the following examples.
Rectilinear motion
Example E1.1 Data & Diagram:
During an on-road dynamics testing, a car is
traveling in a straight path with a known position
described by x(t) = 3t2 + 1.5t m where t is in s. x
+x
Find: 0 t
a) The position of the car after 4 s.
b) What is the speed and acceleration of the car
at the same instant? Figure E1.1
Theory: Assumption(s):
Solution: The motion of the car can be illustrated as shown above.

From the given position,
x(t) = 3t2 + 1.5t m (1)
we can differentiate it with respect to time to obtain the velocity and acceleration.
dx
v= = 6t + 1.5 m/s (2)
dt
dv
a= = 6 m/s2 (3)
dt
(a) Substitute t = 4 s into eq.(1), we have
x(4) = 3(4)2 + 1.5(4) = 54
 x = 54 m [ans.]
(b) Similarly, substitute t = 4 s into eq.(2) and (3) to obtain
v = 6(4) + 1.5 = 25.5
a = 6 m/s2
 v = 25.5 m/s and a = 6 m/s2 [ans.]
Comment: Note that the acceleration of the car is constant and this is known as uniformly
accelerated motion. The motion of the car can also be described graphically by plotting the
graphs of position, velocity, and acceleration versus time. Can you plot them?
Rectilinear motion
A racing boat is moving at a speed of 25 m/s
when suddenly its engine is shut down. The boat s
takes 5 s to reduce its speed to 4 m/s and its
deceleration is given by a = – kv2 m/s2. +s
t=0s t=5s
Find: v = 25 m/s v = 4 m/s
a) Determine the distance traveled by the boat
during this period. Figure E1.2
b) Determine its velocity as a function of time Assumption(s):
in this period.
Theory:
Solution: The motion of the boat can be illustrated as shown above. From the expression of
deceleration, we can integrate to obtain the velocity as follows.
dv
a= = – kv2 (1)
dt
v 1 t

25 v 2
dv = – k
0
dt
25
v= (2)
1 + 25kt
Substituting t = 5 s and v = 4 m/s into eq.(2) to obtain the constant k = 0.042, and thus
25
v= m/s [ans] (2)
1 + 1.05t
To get the distance traveled s, we can further integrate using v = ds/dt,

ds 25
v= = (4)
dt 1 + 1.05t
s t 25
0 ds =
0 
1 + 1.05t
dt
s = 23.81 ln(1+1.05t) m [ans] (5)

Comment:
(4) The acceleration is zero, a = 0 (v = constant): Uniform Rectilinear Motion.
When v = constant, we obtain from eq.(1.3),
s = so + vt (1.8)
(5) The acceleration is constant, a = constant: Uniformly Accelerated Rectilinear Motion.
When a = constant, we obtain from eq(1-1) through (1-3),
1 2 (1.9)
s = s o + v ot + at
2
v = vo + at (1.10)
v2 = v o2 + 2a(s – so) (1.11)
Uniformly accelerated rectilinear motion

Starting from rest a school bus is
accelerating uniformly at 1.2 m/s2. x
Find: O
a) What is the time taken for the bus to
attain a speed of 80 km/h?
b) What is the corresponding distance
Figure E1.3
traveled by the bus?
Assumption(s):
Theory:
Solution: The bus is having a uniformly accelerated motion with xo = vo = 0 and a = 1.2
m/s2
km 1000 m 1h
a) Given v = 80 ( )( ) = 22.2 m/s
h 1 km 3600 s
[v = vo + at] v = 0 + 1.2t
22.2 = 1.2t
=> t = 18.5 s [ans]
b)
[v2 = v o2 + 2a(s – so)] 22.22 = 02 + 2(1.2)(x – 0)
 x = 205 m [ans]
Comment:
1-2.3 Relative Motion of Particles

Relative Motion of Two Particles. Consider the motion of two particles A and B as shown.
A B
Reference O
+s
sA sB/A
sB
Figure 1.4 Relative motion of two particles in rectilinear

motion
Let sA : position of A (absolute)

sB : position of B (absolute)
sB/A : position of B relative to A
From Figure 1.4, we may write
sB = sA + sB/A or sB/A = sB – sA (1.12)
Its time derivatives give

vB = vA + vB/A or vB/A = vB – vA (1.13)
aB = aA + aB/A or aB/A = aB – aA (1.14)
Note that if vB/A is positive then B is observed from A to move in the positive sense of the reference
direction. It is advisable that a simple schematic representation of each of vector quantities
involved is drawn and shown.
Relative motion
A motorbike at A is traveling to the right at a
constant speed of 90 km/h, while at the
same instant the car at B which is 200 m 200 m A
behind the motorbike is also travelling to
the right at 72 km/h and is accelerating at a
constant rate of 3 m/s2. B
Task: Determine
a) the position and velocity of the Figure E1.4
motorbike relative to the car after 2 s. Theory:
b) the time taken when the car is overtaking Kinematics relations with relative motion
the motorbike and the relative velocity of Assumption(s):
the motorbike with respect to the car
when this happened.
Solution: We can analyze this problem by considering the motion of each vehicle
independently and then use the relative motion equation to relate them.
Given
200 m A 1
vA = vA,o = 90( ) = 25 m/s
O 3.6
1
and vB,o = 72( ) = 20 m/s
3.6
B
xA/B
Let the origin O be at car B, so that
xB
xA,o = 200 m
xA
and xB,o = 0 m
Motion of motorbike A. With the motorbike A moving at 25 m/s = constant, we write
[s = so + vot] xA = xA,o + vA,o t
= 200 + 25t (1)
Motion of car B. For car B having a constant acceleration of 3 m/s2, we write

[s = so + vot + 12 at t2] xB = xB,o + vB,o t + 12 aB t2
= 0 + 20t + 12 (3)t2
= 20t + 1.5 t2 (2)
v = vo + at] vB = vB,o + aB t
= 20 + 3t (3)
a) when t = 4 s, we obtain from eqs.(1) and (2), respectively

xA = 200 + 25(4) = 300 m
xB = 20(4) + 3(4)2 = 128 m
and eq.(3), vB = 20 + 3(4) = 32 m/s
The position of the motorbike A relative to the car B at this instant is

xA/B = xA – xB = 300 – 128 = 172 m
 xA/B = 172 m → = 172 i m [ans]
The velocity of the motorbike relative to the car at this instant is

vA/B = vA – vB = 25 – 32 = – 7 m/s
 vA/B = 7 m/s  = – 7 i m/s [ans]
b) The time taken when the car is overtaking the motorbike is obtained by equating eqs.(1)
and (2) and obtain
200 + 25t = 20t + 1.5t2

=> 1.5t2 – 5t – 200 = 0
40
 t= s = 13.33 s [ans]
3
and the corresponding relative velocity of the motorbike with respect to the car is given by
vB = vA + vB/A
vB => vB/A = vB – vA (4)
o vA a vA/B b
where vA = vA,o = 25 m/s →
40
and vB = 20 + 3( ) = 60 m/s => vB = 60 m/s →
3
vA/B = [25 m/s →] – [60 m/s →] = 35 m/s 
 vA/B = 35 m/s  = – 35i m/s [ans]
Comment: vA/B = 60 m/s = 126 km/h is a measure of how fast the driver in car B would have ‘felt’
the speed of the motorbike as the motorbike is overtaken i.e. the driver in the car would feel as if
the rider is moving to the left as he overtakes the motorbike.
1-2.4 Dependent Motion of Particles

(a) One degree of freedom system. Consider the motions of pulleys and blocks as shown. This
system has one degree of freedom since at any time instant only one coordinate can be chosen
arbitrarily i.e. the motion of one block will depend on the motion of the other block.
We observe that the total length of the cable is

constant. Thus, we can write for the total
length in terms of the position coordinate of
Datum the blocks as
sB sA + 3sB = constant (1.15)
sA
If the initial positions of the blocks (which are

B
constant) are considered, eq.(1.15) can then be
A
written as
Figure 1.5 Dependent motion
(sA – sA,o ) + 3(sB – sB,o ) = 0 (1.16)
1
We observe that if A is increased to sA + sA, then sB = – sA i.e. if block A is lowered by an
3
amount sA, block B will rise by one-third of that amount. Taking the time derivative of eq.(1.15)
(or 1.16) yields the velocity equation
vA + 3vB = 0 (1.17)
Taking the time derivative of eq.(1.17) yields the acceleration
aA + 3aB = 0 (1.18)
Given the motion of one of the blocks, eqs.(1.15) through (1.18) allow us to analyze the motion of
the other block.
(b) Two degrees of freedom system. Consider the motion of pulleys and blocks as shown. This
system has two degrees of freedom since two coordinates or motions can be chosen arbitrarily.
For this system, we can write the expression for the

total length of the cable in terms of the position
Datum coordinate of the blocks as
sB
sA sA + 2sB + sC = constant (1.19)
sC
B Similarly, if the initial positions of the blocks
A (which are constant) are considered, eq.(1.19) can
C then be written as
Figure 1.6 Dependent motion
(sA – sA,o) + 2(sB – sB,o ) + (sC – sC,o) = 0 (1.20)
From eq.(1.19) or (1.20), we obtain after taking the time derivatives
vA + 2vB + vC = 0 (1.21)
and aA + 2aB + aC = 0 (1.22)
Eqs.(1.19) through (1.22) allow us to analyze the motion of any one block knowing the motion of
the other two blocks.
Dependent motion
A system of mass and pulley is connected as
shown. It is given that block B which is initially
Datum
at rest is moving downward with a constant
sA
acceleration of 4 m/s2.
Find: sB
A
a) Determine (i) the acceleration of block A,
(ii) the velocity of block A, and (iii) the time B
it takes to displace 200 mm from its initial
position.
b) What is the distance traveled by block B Figure E1.5
after 3 s? Assumption(s):
Theory:
Solution: Considering the positive direction downward, the total length of the cable in terms
of the position coordinate of the two blocks are
2sA + sB = constant (1)
Differentiating eq.(1) once and twice, yield respectively
2vA + vB = 0 (2)
2aA + aB = 0 (3)
(a) Substitute aB = 4 m/s2 into eq.(3) gives
aA = - 2 m/s2 [Ans] (3)
(b) Since the acceleration is constant, both block A and B undergo a uniformly accelerated
motion. We may then write for block A, for example, the following equations
1 2
sA = sA,o + vA,ot + aAt (4)
2
vA = vA,o + aAt (5)
v A2 = v A2 ,o + 2aA(sA – sA,o) (6)
Since block A starts from rest, vA,o = 0 and from eq.(4), we have
1 2
sA – sA,o = aAt (7)
2
Substituting sA – sA,o = – 0.2 m (200 mm) and aA = – 2 m/s2 into eq(6) and (7), yields
vA = – 0.894 m/s and t = 0.447 s [Ans]
(c) Since B also has a uniformly accelerated motion, we have for B
1 2
sB = sB,o + vB,ot + aBt (8)
2
Substituting vB,o = 0 and t = 3 s into eq.(8), we have
sB – sB,o = 18 m [Ans]
Comment: Within the same period of 3 s, how far has the block A moved and in which
direction?
Dependent motion
Motion of block A is controlled by
slider B on a horizontal guide using a B
cable as shown.
A
Find: If at a certain instant the slider
is moving to the right at 0.6 m/s and is
slowing down at 1.5 m/s2, determine at
this instant Figure E1.6
a) the velocity and acceleration of
Theory:
Relative motion analysis
block A, and
Cable length = constant
b) the velocity and acceleration of
slider B relative to block A. Assumption(s):
Solution: To facilitate the solution process, we choose point O as the origin and
introduce a distance b in order define the length of the cable as follows.
xB Cable length. Defining the position

O xA B coordinates for each block as shown, we
write for the cable length
A
(xB – xA) + 2(b – xA) = L
b => xB – 3xA = L – 2b = constant (1)
Differentiating eq.(1) once and twice, yield respectively

vB – 3vA = 0 (2)
aB – 3aA = 0 (3)
a) Given vB = 0.6 m/s → and aB = 1.5 m/s  (note that aB is to the left since slider B
is decelerating), we write from eq.(2)
1 1
=> vA = vB = (0.6) = 0.2 m/s
3 3
 vA = 0.2 m/s → [ans]
1 1
From eq.(3) => aA = aB = (1.5) = 0.5 m/s
3 3
 aA = 0.5 m/s  [ans]
b) The velocity and acceleration of slider B relative to block A can be obtained by

writing
vB/A = vB – vA = 0.6 – 0.2 = 0.4 m/s
 vB/A = 0.4 m/s → = 0.4 i m/s [ans]
and aB/A = aB – aA = – 1.2 – (– 0.5) = – 0.7 m/s
 aB/A = 0.7 m/s  = – 0.7 i m/s [ans]
Comment:
Dependent motion
The mass-pulley system connects log A and
block B through collar D via inextensible
cable as shown.
+x xB
Find: Given that both log A and collar D move
with a constant acceleration of 0.2g xA
downward (g = 9.81 m/s2) and that the system xD
B
starts from rest, determine
a) the acceleration of block B at this instant,
b) the corresponding acceleration of collar D
relative to block B, and A D
c) the velocity of log A after it has displaced
10 cm, the corresponding time, and
displacement of block B.
Figure E1.7
Kinematics relation;
1. Cable or rope remains taut.
Length of cable = constant
2. Cable or rope is inextensible.
Solution: Kinematics relationship,
xA + 2xD + xB = l (1)
Differentiating with respect to time yields:

x A + 2 x D + x B = 0 or vA + 2vD + vB = 0 (2)
x A + 2 x D + x B = 0 or aA + 2aD + aB = 0 (3)
a) Given aA = 0.2g = 1.962 m/s2  and aD = 0.2g  (= constant), from eq.(3) we have
0.2g + 2(0.2g) + aB = 0
=> aB = – 0.2g – 2(0.2g) = – 0.6g or 0.6g = 5.89 m/s2  [ans]
b) aD/B = aD – aB = 0.2g – (– 0.6g) = 0.8g = 7.85 m/s2  [ans]
c) vA2 = vA,o2 + 2aA(xA – xA,o) = 02 + 2(0.2g)(0.1)

 vA = 0.626 m/s [ans]
vA = vA,o + aAt
0.626 = 0 + (0.2g)t => t = 0.319 s [ans]
1
(xB – xB,o) = vB,ot + 2 aBt2
(xB – xB,0) = 0 + 0.5(– 0.6g)(0.319)2 = – 0.3 m or 0.3 m  [ans]
Comments: Note that since aA = aD = constant, eq.(3) implies that aB must also be constant.
Dependent motion
Consider a mass-pulley system as shown in
the figure.
Find: Determine at the instant when block B

has displaced 1.2 m for two given cases (i)
knowing that block A moves downward at a
constant speed of 2 m/s, and (ii) block C is C
accelerating upward at a constant rate of 4.5 A
m/s2 from rest.
a) the velocity and acceleration at which
B
blocks B and C (or A) are raised or
lowered, Figure E1.8
b) the displacement of blocks A and C (or B), Theory: Kinematics relation;
and Length of cable = constant
c) the velocity and acceleration of block B
relative to block A Assumption(s):
1. Cable or rope remains taut.
2. Cable or rope is inextensible.
Solution: Kinematics relationship: Since the system has two cables, we write
Cable 1,
3yA + 2yB = l1 (1a)
Cable 2,
yB + 2yC = l2 (2a)
Differentiating eqs.(1a) and (2a) with respect to time yields

3
3 y A + 2 y B = 0 => 3vA + 2vB = 0 or vB = – vA (1b)
2
1
y B + 2 y C = 0 => vB + 2vC = 0 or vC = – vB (2b)
2
Differentiating eqs.(1b) and (2b) with respect to time yields
3
3 y A + 2 y B = 0 => 3aA + 2aB = 0 or
aA aB = – (1c)
2
1
y B + 2 y C = 0 => aB + 2aC = 0 or aC = – aB (2c)
2
Case (i): Given vA = 2 m/s  = constant => aA = 0 m/s , we have
2
a)
Velocity,
3
From eq.(1b) vB = – (2) = – 3 m/s => vB = 3 m/s  or – 3 j m/s [ans]
2
1
From eq.(2b) vC = – (– 3) = 1.5 m/s => vC = 3 m/s  or 1.5 j m/s [ans]
2
Acceleration,
3
From eq.(1c) aB = – (0) = 0 m/s2 => aB = 0 m/s2 [ans]
2
1
From eq.(2c) aC = – (0) = 0 m/s2 => aC = 0 m/s2 [ans]
2
Hence,
aB = 0 m/s2 [ans]
b) The displacement of blocks A and C: displacement for motion of block B with a

constant velocity vB= vB,o = –3 m/s, we have yB = yB – yB,o = – 1.2 m. Computing the time
at this instant
[(s – so) = vot] (yB – yB,o) = vB,ot
–1.2 = (–3)t
 t = 0.4 s [ans]
Block A, yA – yA,o = vA,ot => yA – yA,o = 2(0.4) = 0.8 m

 yA = 0.8 m  or 0.8 j m [ans]
Block C, yC – yC,o = vC,ot => yC – yC,o = 1.5(0.4) = 0.6 m

 yC = 0.6 m  or 0.6 j m [ans]
The above solutions can also be obtained using eqs.(1a) and (2a) as follows.
[eq.(1a)]: 3(yA – yA,o) + 2(yB – yB,o) = 0
2 2
=> yA – yA,o = – (yB – yB,o) = – (– 1.2) = 0.8 m (same as above)
3 3
[eq.(2a)]: (yB – yB,o) + 2(yC – yC,o) = 0
1 1
=> yC – yC,o = – (yB – yB,o) = – (– 1.2) = 0.6 m (same as above)
2 2
c) The velocity and acceleration of block A relative to block B at this instant:
vB/A = vB – vA = – 3 j – 1.5 j m/s

= – 4.5 j m/s or 4.5 m/s  [ans]
aB/A = aB – aA = 0 – 0 = 0 m/s2 [ans]
Case (ii): Given motion of block C, aC = 4.5 m/s2  = constant, and vC,o = 0 m/s
a) The velocity and acceleration at which blocks A and B are raised or lowered: since
block C is moving at the constant acceleration upward, hence, block B is also moving
at the constant acceleration. For aC = – 4.5 m/s2 = constant, we have
Acceleration,
From eq.(2c) aB = – 2 aC = – 2 (– 4.5) = 9 m/s2
 aB = 9 m/s2  = 9 j m/s2 = constant [ans]
2 2
From eq.(1c) aA = – aB = – (9) = – 6 m/s2
3 3
 aA = 6 m/s2  = – 6 j m/s2 = constant [ans]
Velocity,
When block B has displaced 1.2 m under a constant acceleration downward, we have yB
= yB – yB,o = 1.2 m, and also since vC,o = 0 m/s, we have vB,o = 0 m/s, hence
[v2 = vo2 + 2a(s – so)]

vB2 = vB,o2 + 2aB(yB – yB,o)
=> vB2 = 0 + 2(9)(1.2) = 21.6
=> vB = 4.65 m/s
 vB = 4.65 m/s  or 4.65 j m/s [ans]
2
From eq.(1b) vA = – (4.65) = – 3.1 m/s
3
 vA = 3.1 m/s  = – 3.1 j m/s [ans]
1
From eq.(2b) vC = – (4.65) = – 2.325 m/s
2
 vC = 2.325 m/s  = – 2.325 j m/s [ans]
b) The displacement of blocks A and C: since block C has a constant acceleration, blocks
A and B also have constant acceleration. Computing the time at this instant when yB =
yB – yB,o = 1.2 m
[v = vo + at] vB = vB,o + aBt
=> 4.65 = 0 + (9)t
 t = 0.5167 s [ans]
[We may also use the displacement equation for a constant acceleration, where yB = yB –
yB,o = 1.2 m aB= 9 m/s2 and vB,o = 0 m/s,
(yB – yB,o) = vB,ot + 12 aB t2
=> 1.2 = 0 + 12 (9)t2
 t = 0.5164 s (same as before)
Velocity [v = vo + at or v2 = vo2 + 2a(s – so)],

vB = vB,o + aB t or vB2 = vB,o2 + 2aB(s – so)
= 0 + (9)(0.5164) = 0 + 2(9)(1.2)
= 4.65 m/s = 4.65 m/s (same as before) ]
[eq.(1a)]: 3(yA – yA,o) + 2(yB – yB,o) = 0

2 2
=> yA – yA,o = – (yB – yB,o) = – (– 1.2) = 0.8 m
3 3
 yA = 0.8 m  or 0.8 j m [ans]
[eq.(2a)]: (yB – yB,o) + 2(yC – yC,o) = 0

1 1
=> yC – yC,o = – (yB – yB,o) = – (– 1.2) = 0.6 m [ans]
2 2
 yC = 0.6 m  or 0.6 j m [ans]
c) The velocity and acceleration of block A relative to block B at this instant:
vB/A = vB – vA = 4.65 j – 3.1 j m/s

= 1.550 j m/s or 1.550 m/s  [ans]
aB/A = aB – aA = 9 j – 6 j m/s
= 3 j m/s2 or 3 m/s2  [ans]
1-3 CURVILINEAR MOTION
1-3.1 Position, Velocity, and Acceleration

Position and Displacement. Consider a particle P moving along a curved path s as shown in
Figure 1.7. Denoting r as the position of the particle at time t, measured from some fixed point O
and r’ as the position at time t + t, the displacement r can be expressed as r = r’ – r which
represents the change in the position vector. Note that the particle moves s along the curve during
the time interval t.
path
P’
r' r' s
r P
O s
Figure 1.7 Position and displacement in curvilinear motion
Velocity. The average velocity during the time t is defined as
r (1.23)
average velocity =
t
Choosing the limit of r/t as t → 0 to obtain the instantaneous velocity v of the particle at the
instant t and consequently the direction of r approaches the tangent to the curve at P, yields
dr (1.24)
v= = r
dt
which will be tangent to the curve at P as shown in Figure 1.8. The magnitude of v or the speed of
the particle is given by
ds (1.25)
v= = s
dt
v’
path +t Path
Hodograph
+n a
v P’
v
r' v v’
P
P v
O r s r O’
O s
Figure 1.8 Velocity and acceleration in curvilinear motion
Acceleration. Denoting the velocity of particle at time t as v and at time t + t as v’ = v + v, the
average acceleration can be defined as
v (1.26)
Average acceleration =
t
The instantaneous acceleration a of the particle at the instant t is obtained by choosing t → 0 i.e.
v
lim which gives
t → 0 t
dv d2r (1.27)
a= = v = 2
= r
dt dt
The direction of a is tangent to the locus of points for the arrowhead of the velocity vectors called
hodograph and, in general, is pointing inwardly to the path.
1-3.2 Curvilinear Motion: Cartesian Coordinate System (x-y)
Position, Velocity, and Acceleration. Using Cartesian coordinate system as shown in Figure 1.9,
the position r of the particle E on the curved path s at any given time t can be written as
Path, s
y
x E
y
j r = xi + yj

O i x
Figure 1.9 Position of a particle in curvilinear motion using

Cartesian coordinates
r=x i +y j (1.28)
where the rectangular x and y components are generally function of time, x = x(t) and y = y(t). The
time derivatives of this equation yield the velocity and acceleration as follows.
v = r = x i + y j = vx i + vy j (1.29)
a = r = x i + y j = ax i + ay j (1.30)
where
dx dy (1.31)
vx = = x and vy = = y
dt dt
dv dv y (1.32)
ax = x = x and ay = = y
dt dt
The magnitude of r, v, and a are always positive and can be obtained by writing
r= x2 + y2 v= v x2 + v 2y a= a x2 + a 2y (1.33)
Note that while the direction of v is always tangent to the path, the direction of a is generally not
tangent to the path but is pointing toward the “inside” of the curved path. We also observe that the
x and y components of the motion can be treated independently which allows us to analyze the
motion along each axis as a rectilinear motion as discussed early.
Illustration of Velocity and Acceleration. The velocity v and the acceleration a of the particle E
on the curved path s at any time instant t using Cartesian coordinate system can be shown as in
Figure 1.10.
Path Tangent Path
y y Tangent
v a
 
E E
s s
j r = xi + yj j r = xi + yj
 
O i x O i x
Figure 1.10 Velocity and acceleration of a particle undergoing

a curvilinear motion using Cartesian coordinates
If the curved path is given as y = f(x), then the slope of the tangent line at x is given by
dy
tan =
dx
and we can write vx = vcos and vy = vsin
Curvilinear motion
The motion of pin P in one of the machine y
components as shown is designed to move along A
the curved path y = x2/125 through a vertical
arm AB which moves horizontally on a rail guide. y = f(x)
P
Find: If arm AB moves to the right at a
constant speed of 20 mm/s and is initially at x
rest in the middle of the section where x = 0 m,
answer the following questions. B
a) Determine the velocity of pin P at the Figure E1.9
instant when x = 50 mm. Theory:
b) Determine its corresponding acceleration. dx dy
c) What is the position of the pin P after 1 s? vx = = x vy = = y
dt dt
dv dv y
ax = x = x ay = = y
dt dt
Assumption(s):
Solution: Two different approaches can be used to solve this problem.
Approach I: Using equations (1.31) to (1.32).

Since the motion in the x direction is given where vx = 20 m/s = constant (i.e. uniform motion),
we can write
dx dv x
vx = = x = 20 => ax = =0 (1)
dt dt
Integrating eq.(1) to get x, we have
x t

0
dx = 
0
20dt
x = 20t (2)
For motion in the y direction, we write

dy dy dx
vy = =  (3)
dt dx dt
dy
where dy/dx is from the equation of the path y = x2/125, => = 0.016x.
dx
dy dx
Substituting the expression for x, and into eq.(3), we obtain
dx dt
dy dv y
vy = = 0.016(20t)(20) = 6.4t => ay = = 6.4 (4)
dt dt
From eq.(2) at x = 50 mm, we have t = 50/20 = 2.5 s, and thus vy = 6.4(2.5) = 16 mm/s. The
components of the velocity finally become
vx = 20 mm/s and vy = 16 mm/s [ans]
(b) The acceleration of the pin P can be obtained using eqs.(1) and (4) to give
ax = 0 mm/s2 and ay = 6.4 mm/s2 [ans]
To determine the position of the pin at t = 1 s, we can use eq(2) together with equation of the
path or we may integrate eq(4) to get the y position. From eq(2), we have
x = 20(1) = 20 mm
1
and y= (20)2 = 3.2 mm
125
 x = 20 mm and y = 3.2 mm [ans]
Approach II: Using a direct mathematical approach.
The analysis in part (a) and (b) can also be performed using the equation of the path directly
as follows.
1
y= x2
125
2
y = x x (5)
125
2
y = ( x 2 + x x ) (6)
125
Eq(5) and (6) can be used to determine any two unknown variables if the other variables are
provided. Given x = 50 mm, x = 20 mm/s, and x = 0 mm/s2, we compute
2
From eq.(5), y = (50)(20) = 16 mm/s
125
2
From eq.(6), y = [202 + (50)(0)] = 6.4 mm/s
125
Comment: What is the absolute velocity and acceleration of the pin P? Note that the slope
dy
at any instant of time for the pin P is given by the tangent line at that point.
dx
Curvilinear motion
Horizontal slotted arm CD is designed to
control the rotation of link AB as shown. At
the instant represented, arm CD has an B
C D
upward velocity of 1.5 m/s and is increasing
120 mm
at 10 m/s2 when y = 40 mm. y

Find: A x
Determine at this instant the velocity and
acceleration of pin B. Figure E1.10
dx dy
vx = = x vy = = y
dt dt
dv dv y
ax = x = x ay = = y
dt dt
Solution:
Since the motion in the y direction is given, we can write when y = 40 mm = 0.04 m
ay = y = 10 m/s2
vy = y = 1.5 m/s
We observe that pin B has a circular motion about A. Therefore, using the equation of the
circular path centered at A, we write
x2 + y2 = r2 (1)
and differentiating it to obtain
 2x x + 2y y = 0 (2)
 x x + x x + y y + y y = 0 (3)
From eq.(1) we have x = 0.122 − 0.042 = 0.1131 m, and since it is located to the left of
the reference axis, we write x = – 0.1131 m. From eq.(2), we obtain
1 1
vx = x = – y y = – (0.04)(1.5) = 0.531 m/s
x - 0.1131
From eq.(3), we obtain
1
ax = x = – ( x x + y y + y y )
x
1
=– [(0.531)2 + (1.5)2 + 0.04(10)]
- 0.1131
= 25.9 m/s
The velocity and acceleration of the pin finally becomes
v = 0.531 i + 1.5 j m/s or v = 1.591 m/s 70.52o [ans]
a = 25.9 i + 10 j m/s2 or a = 27.8 m/s2 21.1o [ans]
Comment: The analysis can also be performed using the t-n coordinate system as we
shall see in the later section.
Projectile Motion. Projectile motion is a special type of motion where the acceleration in the x is
zero (ax = 0) while the acceleration in the y direction is equal to the negative of the gravitational
acceleration (ay = – g). Note that in this case, however, the air resistance is neglected. The
following equations can be derived for the projectile motion in the x and y components.
y
A Path, s
x v
P vx,o
vo vx,o B vx,o
y ymax
vy,o

O vx,o x
Figure 1.11 A projectile motion
x motion: uniform motion y motion: uniformly accelerated motion

ax = x = 0 ay = y = – g
vx = x = vx,o vy = y = vy,o – gt
x = xo + vx,ot
v 2y = v 2y ,o – 2g(y – yo)
where
vx,o = vocos y = yo + vy,ot – 1
2
gt2
vo = initial velocity where vy,o = vosin
(1.34)
We observe that vx = vx,o = constant i.e. the x component of the velocity is constant
throughout the projectile motion. We also note that at the maximum elevation of the
trajectory, i.e. point A, we have v = vx,o.
Problems involving a projectile motion can be generally categorized into

1) finding the range of trajectory such as maximum elevation, maximum horizontal
distance, and etc. from the given initial velocity vo and its trajectory angle 
2) determining the required initial velocity vo and its trajectory angle  in order to meet a
specific design criteria such as the required height, horizontal distance, and etc.
Curvilinear motion
To meet design criteria, small ball bearings must
bounce through an opening of limited size at the B
top of their trajectory when rebounding from a
hard plate as shown in Figure E1.11.
Find: 500 mm
a) Determine the angle  made by the rebound
velocity with the horizontal. 
b) the required initial velocity of the ball as it A
bounces from the hard plate. 400 mm
Figure E1.11
Assumption(s):
Theory:
Solution: Since the motion in the x direction has a constant velocity (i.e. uniform motion),
we can write vx = vx,o where
vx = vocos and x = xo + vocos t (1)
and for the motion in the y direction we have

vy,o = vosin
1
y = yo + (vosin)t – 2
gt2 (2)
vy = vosin – gt (3)
At position B (peak of the projectile), we have x = 0.4 m, y = 0.5 m, and vy = 0 m/s. Choosing
the origin of the Cartesian coordinate at A (xo = yo = 0), and substituting all values at B into
eq(1) through (3), we obtain after rearranging terms
From (1) vocos = 0.4/t + (4)

From (2) (vosin)t – 21 gt2 = 0.5 (5)
From (3) vosin = gt (6)
Solving eq(5) and (6) gives t = 0.319 s. Dividing eq(6) by (4) with t = 0.319 s yields
 = 68.2o and vo = 3.37 m/s [Ans]
Comment: What is the velocity of the ball as it passes through the opening at B?
Curvilinear motion
In a mechanized production process
of ball bearings, the bearings move
on the horizontal track with the A a B u
acceleration given by a = kx m/s2
where x is in m. The ball bearings x
would then reach end B and fall 180 mm
through the 100-mm-diameter hole
as shown in Figure. Knowing that a = d
100
1 m/s2 when x = 0.25 m, determine 300 mm C mm D
Find:
a) the range value of u if the ball Figure E1.12
bearings were to enter the hole Assumption(s):
CD,
b) the corresponding time of flight
from B to the hole CD, and
c) the corresponding range of
distance d required.
Theory:
Solution:
Maximum u is when the bearings hit end D (x = 0.4 m, y = – 0.180 m) and minimum u is
when they hit end C (x = 0.3 m, y = – 0.180 m). For uniform motion in the x direction, we
have (vo = u and  = 0)
vx = vocos = u
x = xo + vocost = 0 + ut (for origin at B) (1)
and for the uniformly accelerated motion in the y direction, we have
vy,o = vosin = 0
y = yo + (vosin)t – 21 gt2 = 0 + 0t – 21 gt2 (2)
Choosing the origin of the Cartesian coordinate at B (xo = yo = 0), and substituting values
into eq(1) and (2), we obtain at C: x = 0.3 m, y = – 0.180 m:
from (1) u = 0.3/t (3)
1 2
from (2) – 2 gt = – 0.180 (4)
Solving eqs.(3) and (4) gives t = 0.1916 s and u = 1.566 m/s.
At D: x = 0.4 m, y = – 0.180 m:
from (1) u = 0.4/t + (5)
1 2
from (2) – 2 gt = – 0.180 (6)
Solving eqs.(5) and (6) gives t = 0.1916 s and u = 2.09 m/s.
(i) and (ii) 1.566 m/s < u < 2.09 m/s and t = 0.1916 s [Ans]
a 1
When a = 1 m/s2 when x = 0.25 m, we have k = = = 4 s-2
x 0.25
v x
dv
a=v = kx =>  vdv =  kxdx
dx o 0.25
1 k
=> v 2 = ( x 2 − 0.25 2 ) or v 2 = k ( x 2 − 0.25 2 ) (7)
2 2
At B, for v = u = 1.566, from eq.(7) d = 0.822 m
for v = u = 2.09, from eq.(7) d = 1.075 m
The range of d is 0.822 m < d < 1.075 m [Ans]
Comment:
1-3.3 Curvilinear Motion: Normal and Tangential Components (n-t)
Velocity and Acceleration. It is convenient to describe the motion of a particle E using n and t
coordinates when the path s along which the particle is moving is known. These n and t coordinates
will move with the particle along this path. The positive direction of the t axis is taken to be in the
direction of increasing s and the positive direction of the n axis is always taken toward the center
of curvature of the path as shown in Figure 1.12.
Path, s Path, s
y C
y C  u't
+t 
d +t
+n +n
ut ds ut
un un
E E
O x O x
(a) (b)
Figure 1.12 Curvilinear motion of a Particle using t-n coordinate
We can write
ds = d
ds d
v= = s =  =  
dt dt
Using the unit vector ut along the tangential coordinate, the velocity v can be written as
v = v ut =   ut (1.35)
which is always tangent to the path s. Differentiating this equation with respect to time and noting
that  =  k and u t =  kut =  un (from Omega theorem), we obtain for the acceleration
dv
a= = v ut + v u t
dt
= v ut + v  un
which can be expressed as
a = at ut + an un (1.36)
where
at = v = s (1.37)
v 2 (1.38)
an = v  =   2 =

The magnitude of a is always positive and can be obtained as follows.
a= a t2 + a n2 (1.39)
tangent to the path as illustrated in Figure 1.13.
y Path y Path
C C
+t  a +t

+n v +n
at
an
E E
s s
O x O x
(a) (b)
Figure 1.13 Velocity and acceleration of a particle using n-t

coordinate
d ut
Alternatively (note that dut = d un => = un), we may write
d
dv d ut d u d
v = v ut => a = = v ut + v u t where u t = = t = un 
dt dt d dt
= v ut + v  un (recalled that v =   )
which yields the same results as before.
When a particle is moving along a curved path describe by the function y = f(x), the radius of
curvature at any point E(x, y) on the curve is given by
3
y [1 + ( dy 2 2
dx ) ]
+n y = f(x)
+t
=| 2 |
d y dx 2
ut
 This is very useful in order to determine the
dy angle and to establish the relations between the
 dx n-t and x-y coordinates. See Example E1-16.
E(x, y) dy
Also note that tan = for the given x.
x dx
O
Curvilinear motion
A car travels along a horizontal circular road
that has a radius of curvature of 100 m. At
the instant of point A when  = 40o the car has
A
the speed of 72 km/h and is uniformly
increased at 3 m/s2.

Find:
a) Determine the acceleration of the car at 
this instant. O
b) Determine the velocity, its acceleration, Figure E1.13
and the distance travelled 2 s later.
Solution: First we convert the speed 72 km/h into m/s, we obtain v = 20 m/s.
a) At location A, the components of acceleration are given by
v2 20 2
at = v = 3 m/s2 an = = = 4 m/s2
 100
The magnitude of acceleration can be obtained as follows.
a= a t2 + a n2 = 3 2 + 4 2 = 5 m/s2 [ans]
b) For uniformly accelerated motion along the curved path, we have at 2 s,
[v = v0 + at]: v = 20 + 3(2) = 26 m/s [ans]

2 2
v 26
Thus, an = = = 6.76 m/s2 while at remains the same at 3 m/s2
 100
a= a t2 + a n2 = 3 2 + 6.76 2 = 7.40 m/s2 [ans]
[s = s0 + v0t + 1
2
at2]: s – s0 = 20(2) + 1
2
(3)(2)2 = 46 m [ans]
s 46 180o
[s = r]:  = = rad ( ) = 26.4o
r 100 
Comment: In this example, we see that the use of n-t coordinate makes the
analysis easier and straight forward. What is the direction of the velocity and
acceleration at A?
Curvilinear motion
Starting from rest the motorboat travels
around a circular path as shown in the figure
at a speed v = 0.75t m/s, where t is in
seconds.
P
Find: Determine when the motorboat has  = 60 m v
traveled 20 m and passes though point P
a) the magnitude of the speed of the
motorboat,
b) the magnitude of the corresponding
acceleration, and
Figure E1.14
c) the acceleration vector of the motorboat
at location P.
Assumption(s):
Theory:
Solution: The speed of the motorboat is given along its curved path s which can be
expressed as
ds
v= = 0.75t
dt
 ds = 0.75t dt
s – 0 =  0t 0.75t dt = 0.375t2 (1)
For s = 20 m, from eq.(1) we obtain
20 = 0.375t2  t = 7.30 s
Hence,
v = 0.75(7.30) = 5.48 m/s [ans]
dv v2 (5.48) 2
at = = 0.75 m/s2 and an = = = 0.5 m/s2 [ans]
dt  60
aA = at + an = 0.75  + 0.5  m/s2 [ans] or aA = 0.9014 m/s2 56o [ans]
Comment: Note that the normal component of the acceleration is always pointing
toward the center of curvature and it is also known as the centripetal acceleration.
Curvilinear motion
For the instant represented in Figure E1.15,
the racing car A is rounding the circular curve
at the speed of 162 km/h and is steadily
accelerating at 3 m/s2 after coming off a pit B
stop, while car B is moving at 243 km/h but is
slowing down at the constant rate of 4.8 150 m
m/s2.
Find: Determine at this instant

A
a) the velocity of car B relative to car A, and
b) the acceleration of car B relative to car A.
Figure E1.15
Theory: n-t coordinates and relative motion analysis
Assumption(s):
Solution:
( 45 ) 2
v 2A
Given vA = 162
= 45 m/s → and naA = == 13.5 m/s2 
3 .6
 150
taA = 3 m/s →
2
vB = 243
3 .6
= 67.5 m/s  and aB = 4.8 m/s2 → (since it is slowing down)
a) Velocity. For the given instant of motion, we have

vB = vA + vB/A
vB/A => vB/A = vB – vA
b vB o vA a vB/A = [67.5 m/s ] – [45 m/s →] = 112.5 m/s 
= – 112.5i m/s [ans]
b) Acceleration. At this same instant, we have

a aB = aA + aB/A
naA => a B/A = aB – aA
aB/A
aA
aB/A = [4.8 m/s2 →] – [13.5 m/s2  + 3 m/s2 →]
o taA aB b = [1.8 m/s2 →] + [13.5 m/s2 ]
= 1.8i – 13.5j m/s2 m/s2 [ans]
Comment: Note that when the negative sign is multiplied with the arrow, the direction of
the arrow becomes reversed.
Curvilinear motion
A motorcycle is traveling down a curved path
y
given by y = x2/100 at 108 km/h and is +n
2 s A
speeding up at the rate of 4.8 m/s as it
reaches point P where x = 50 m.  y = x2/100
α
Find: Determine the velocity and the
B
acceleration of the motorcycle at point B.
Theory: Using the n-t coordinates with radius of x

O
curvature
3 Figure E1.16
[1 + ( dy ) 2 ] 2 Assumption(s):
 = | 2 dx 2 |
d y dx
Solution: When x = 50 m, y = 401 (50)2 = 62.5 m.

dy 1 1
y = x2/100  = x x=50 = (50 ) = 1  tan = 1 or  = 45o
dx 50 50
2
d y 1
 = = 0.02
dx 2
50 x =50
3 3
[1 + ( dy 2 2
dx ) ] [1 + (1) 2 ] 2
=| 2 | = | | = 141.4 m
d y dx 2 0.02
v P2
(30 ) 2
Given vP = 108
= 30 m/s and naB = = = 6.36 m/s2
3 .6
 141 .4
2
taB = 4.8 m/s
aB = at2 + an2 y
+n
y = x2/100
+t
= (4.8) 2 + (6.36 ) 2 
an
= 7.97 m/s2 dy
aB   dx
tan  =
4 .8
=>  = 37.0o  B
6.36 at
 = 90 – ( + ) = 8
o o
O
x
Comment: If the rider starts from rest at A and is accelerating at at = 0.05s m/s2
along the curve, what is his acceleration at B where sB = 60 m? Hint: at = vdv/ds.
1-3.4 Curvilinear Motion: Polar Coordinates (r-)
Position, Velocity, and Acceleration. Using polar coordinate system as shown in Figure 1.14, the
position r of the particle E on the curved path s at any given time t can be written in terms of the
radius r and the angle . The cylindrical components, r and  are generally functions of time, r =
r(t) and  = (t), and are called, respectively, the radial and the transverse component.
+
Path, s
y +r
u
ur
E
r = rur

O x
Figure 1.14 Position of a particle using Polar coordinates
Introducing the unit vectors ur and u along the radial coordinate r and the transverse direction,
respectively, the position vector r of particle E can then be written as.
r = r ur (1.40)
Let the rate of change of  be  =  , hence  =  =  k. The time derivative of eq.(1.40) is
v = r = r ur + r u r where u r =  k  ur =  u (from Omega theorem)

= r ur + r (  u)
v = r = r ur + r  u (1.41)
The time derivative of eq.(1.41) with chain rule gives
a = v = r = r ur + r u r + r u + r  u + r  u
where u =  ku = –  ur (from Omega theorem). Substituting u r and u into the above
equation and rearranging terms to yield
a = v = r = r ur + r u + r u + r  u + r  (–  ur)
= r ur + 2 r u + r  u – r 2 ur
a = v = r = ( r – r 2 )ur + (r  + 2 r )u (1.42)
Rewriting eqs.(1.41) and (1.42) in the form
v = r = vr ur + v u
a = r = ar ur + a u
Then,
vr = r and v = r  (1.43)
ar = r – r  2 and a = r  + 2 r (1.44)
The magnitude of v and a are always positive and can be obtained as follows.
v= v r2 + v2 a= a r2 + a2 (1.45)
tangent to the path.
Path, s Path, s
y + y +
v a
+r a
v = r  u  +r
 vr = r ur 2 r u r ur
 ar
E – r  2ur E
r = rur
  r  u
O x O x
(a) (b)
Figure 1.15 (a) velocity and (b) acceleration of a particle in polar coordinates
Note that the relationships between the velocity (and acceleration) in one coordinate system and
the other coordinate systems can be obtained using the trigonometric functions of the angles , ,
and . See worked examples E1.16 and E1.35.
Curvilinear motion
A parcel moves outward along the slotted track
grooved in the circular disk as shown with the
P
speed of 0.04t m/s relative to the disk, where t is r
in seconds. Knowing that the disk also rotates

counterclockwise at the constant rate of 0.5 O
rad/s when  = 0 rad and that the parcel starts
from rest at the center O, determine at the
instant when t = 1.5 s
Find:
a) the magnitude of the velocity, and Figure E1.17
b) the magnitude of acceleration.
Solution:
Given r = 0.04t m/s and  = 0.5 rad/s (= constant)
t t
r=  0
0.04t dt = 0.02t2 m =  0
0.5 dt = 0.5t rad
r = 0.04 m/s2  = 0 rad/s2

v v
At t = 1.5 s, we have
vr
P
2
r = 0.02(1.5) = 0.02 m;  = 0.5(1.5) = 0.75 rad r
r = 0.04(1.5) = 0.06 m/s; = 43o

O
[vr = r ] vr = 0.06 m/s
[v = r  ] v = 0.02(0.5) = 0.01 m/s
[ar = r – r  2 ]
ar = 0.04 – 0.02(0.5)2 = – 0.035 m/s2
[a = r  + 2 r ]
a = 0.02(0) + 2(0.06)(0.5) = 0.06 m/s2 ar a
P
a
 vr = 0.06 m/s and v = 0.01 m/s [ans]
 ar = – 0.035 m/s2 and a = 0.06 m/s2 [ans] 
O
Comment: In this example, we see that the use

of polar coordinate makes the analysis easy and
straight forward. What is the direction of the
velocity and acceleration?
Curvilinear motion
A smooth roller P moves along a grooved horizontal
A
slot as shown. The slot is in a spiral form defined by
the equation r = 0.15 m, where  is in radians. r = f()
Find: Knowing that arm OA is rotating at a constant 
P
rate  = 3 rad/s, determine at the instant when  =
A O
180o r
a) the velocity of roller P,
b) the acceleration of roller P, and
c) the time taken by arm OA from  = 0o to 180o.
Figure E1.18
Assumption(s): r
Theory: r = f(); tan  =
The size of a roller is negligible i.e. it is dr / d
treated as a particle. Kinematics relation using polar
coordinates
Solution:
Given  = 180o =  rad i.e. arm OA is straight to the left
r 0.15
tan  = = =
dr / d 0.15
+r    = tan–1() = 72.3o
+n
 Hence,  = 90o –  = 90o – 72.3o = 17.7o
+t + Computing the time derivatives of r and , we have
r = 0.15 = 0.15(3.14) = 0.471 m  =  rad
r = 0.15  = 0.15(3) = 0.45 m/s  = 3 rad/s
r = 0.15  = 0 m/s2  = 0 rad/s2

a)
=> vr = r = 0.45 m/s
=> v = r  = 0.471(3) = 1.413 m/s
 v = 0.452 + 1.4132 = 1.483 m/s [ans]
b)
=> ar = r – r  2 = 0 – 0.471(3)2 = – 4.24 m/s2
=> a = r  + 2 r  = 0.471(0) + 2(0.45)(3) = 2.7 m/s2
 a= 4.24 2 + 2.7 2 = 5.03 m/s2 [ans]
c) For constant angular motion of the arm OA, we write
 = o +  t = 0 + 3t = 3t rad
Hence, when  =  => t = /3 = 1.047 s
Comments: We may obtain the expression of r as a function of time as follows.
dr dr d
= = 0.15(3) = 0.45 note that when  = 0 rad, t = 0 s and r = 0 m
dt d dt
r t
=>  0
dr = 0.45 
0
dt
r = 0.45t m
and for r = 0.471 m, we obtain t = 0.471/0.45 = 1.047 s (same as before)
Curvilinear motion
A slider-crank mechanism is designed to have
A
motion as shown where crank OA is rotating at
a constant angular speed  = .
C
Find:
d) Determine the magnitude of the velocity b
of the slider C in terms of the length b and O  B
the angle .
e) Determine the acceleration of the slider C b
in terms of the length b and the angle .
Figure E1.19
Assumption(s):
Theory:
Solution:
Obviously, the position of the slider from O can be described using the radial position r as
arm OA rotates about O, hence, its motion is best analyzed using the polar coordinates. For
the given configuration, we may derive the relationship for r as follows.
+r b2 = r2 + b2 – 2rbcos
+
A
C or r = 2bcos (1)
r
b Differentiating eq.(1) with respect to time
O  B yields
r = – 2bsin  (2)
b
and
r = – 2bsin  – 2bcos  2 Note that  = constant
0
r =– 2bcos  2 (3)
(a) Velocity, using eq.(1.43) we write
vr = r = – 2bsin 
v = r  = 2bcos 
v= v r2 + v2 = 4b 2 sin 2  2 + 4b 2 cos 2  2

= 2b 
 v = 2b  or 2b [Ans]
(b) Acceleration, using eq.(1.44) we write
ar = r – r  2
= – 2bcos  2 – 2bcos  2
= – 4bcos  2
a = r  + 2 r 
= – 4bsin  2
a= a r2 + a2
= 16b 2 cos2  4 + 16b 2 sin 2  4
= 16b2 4 (cos2  + sin 2  )
= 4b  2
 a = 4b  2 or 4b2 [Ans]
Comment: In this example, we see that the use of polar coordinate makes the analysis
easy and straight forward. What is the direction of the velocity and acceleration?
Curvilinear motion
A radar positioned near the air force base
at A is used to track an airplane flying B
vertically in a loop as shown in the figure.
At the location when the airplane passes
through point B, its speed is 150 m/s and is
speeding up at the rate of 250 m/s2. 
r
Find: Determine at this instant for (i)  =
tan–1(3/4) and  = 0o, and (ii)  = tan–1(4/3)
  = 2 km
and  = 30o A
a) the velocity and the acceleration of the
airplane in the x-y coordinates, and 800 m

b) the recorded values of r , r ,  , and 
Figure E1.20
by the radar.
Assumption(s): r
Theory: r = f(); tan  =
The size of a roller is negligible i.e. it is dr / d
treated as a particle. Kinematics relation using polar
coordinates
Solution: (i) First, we identify the reference coordinate systems to be used as shown.
+t
a) For  = tan–1(3/4) and  = 0o, and at
+ the given instant, we have
+r
v
y vB = 150 m/s 
= 150ut = 150i m/s [ans]
B +n
r aB = (aB)t + (aB)n
A   = 2 km where (aB)t = 250 m/s2

x v2 150 2
and (aB)n = B = = 11.25 m/s2
800 m  2000
So we have, the total acceleration of the airplane at B,
aB = (aB)t + (aB)n = 250 m/s2  + 11.25 m/s2 → [ans]

or aB = a + a = 250.3 m/s
2
t
2
n
2
87.4o
[ans]
b) Note that sin = 3/5 and cos = 4/5
Writing vr = r = v sin = 150(3/5) = 90 m/s 

800
v = r  = v cos = 150(4/5) = 120 m/s  where r = = 1000 m
cos 
120
  = = 0.12 rad/s CCW [ans]
1000
ar = r – r  2 = 250sin + 11.25cos
= 250(3/5) + 11.25(4/5) = 159 m/s2
 r = 159 + r  2
 = 159 + 1000(0.12)2 = 173.4 m/s2 [ans]
and a = r  + 2 r  = 250cos – 11.25sin
= 250(4/5) – 11.25(3/5) = 193.25 m/s2
193 .25 − 2r 193 .25 − 2(90 )(0.12 )
  = = = 0.172 rad/s2 CCW [ans]
r 1000
(ii) Similarly, we identify the reference coordinate systems to be used as shown.
+
+t a) For  = tan–1(4/3) and  = 30o and at the
v +r
given instant, we have
an B 
vB = 150ut m/s
y
+n Note that ut = sin i + cos j = 0.5i + 0.866j
at 
r => vB = 150(0.5i + 0.866j)
= 75i + 130j m/s
  = 2 km aB = (aB)t + (aB)n
A
x
b where (aB)t = 250 m/s2
800 m
v2 150 2
and (aB)n = B = = 11.25 m/s2
 2000
So we have, the total acceleration of the airplane at B,
aB = (aB)t + (aB)n
= 250ut + 11.25un m/s2 where ut = cos i – sin j = 0.866i – 0.5j
= 250(0.5i + 0.866j) + 11.25(0.866i – 0.5j) m/s2
= ( 125i + 216.5j ) + ( 9.7425i – 5.625j) m/s2
= 134.7i + 211j m/s2
or aB = at2 + an2 = 250.3 m/s2 57.4o [ans]
b) Note that sin = 4/5 and cos = 3/5,  = 90o –  –  = 90o – 53.1o – 30o = 6.9o
b = 800 + ( – cos) = 1068 m
Writing vr = r = v cos = 150cos6.9o = 148.9 m/s 6.9o [ans]

1068
v = r  = v sin = 150cos6.9o = 18.02 m/s 6.9o where r = = 1780 m
cos 
18 .02
  = = 0.101 rad/s CCW [ans]
1780
ar = r – r  2 = 250cos – 11.25sin
= 250cos6.9o – 11.25sin6.9o = 246.8 m/s2
 r = 246.8 + r  2
 = 246.8 + 1780(0.101)2 = 265 m/s2 [ans]
and a = r  + 2 r  = – 250sin + 11.25cos
= – 250sin6.9o + 11.25cos6.9o = – 18.87 m/s2
− 18 .87 − 2r − 18 .87 − 2(148 .9)(0.101)
  = = = – 0.275 rad/s2
r 1780
  = 0.275 rad/s2 CW [ans]
Comments: Note that the negative answer indicates that the actual direction is opposite
the positive sense of the reference coordinate used.
1-4 APPLICATIONS AND CASE STUDIES
Relative motion
At the instant when d = 300 m, a motorbike
at A is traveling to the left at 120 km/h and d A
is speeding up uniformly at 10 m/s2, while at
the same time the car at B is accelerating at
a constant rate of 5 m/s2 from rest to the B
right.
Figure E1.21
Task: Determine when d = 0 m i.e. the Theory:
motorbike and car is crossing each other Kinematics relations with relative motion
a) the time taken when it happened, and
b) the relative velocity of the motorbike Assumption(s):
with respect to the car at this instant.
[a) t = 1 s, vA/B = 3.0i m/s]
Solution:
We write
d A xA = xB + xA/B (1)
x A = x B + x A / B (2)
O
xA = xB + xA / B (3)
B
xB xA/B
xA
We observe that initially xA,o – xB,o = d = 300 m, and when they are crossing each other, we
have xA – xB = 0 i.e. xA = xB.
Motion of motorbike A. Given the motorbike A accelerates at 10 m/s2 = constant to the left
and its initial speed is 110 km/h, we write
vA,o = 126 /3.6  = – 35i m/s
aA = 10 m/s2  = – 10i m/s2
[s = so + vot + 1
2
at t2] xA = xA,o + vA,o t + 12 aA t2
= xA,o – 35t + 12 (– 10)t2
= xA,o – 35t – 5 t2 (5)
[v = vo + at] vA = vA,o + aA t = – 35 – 10t (6)
Motion of car B. Given car B starting from rest with a constant acceleration of 5 m/s2 to
the right, we write
vB,o = 0 m/s
aB = 5 m/s2 → = 5j m/s2
[s = so + vot + 1
2
at t2] xB = xB,o + vB,o t + 12 aB t2
= xB,o + 0 + 12 (5)t2
= xB,o + 2.5 t2 (7)
[v = vo + at] vB = vB,o + aB t = 5t (8)
Equating eqs.(6) and (7), we obtain
xA,o – 35t – 5t2 = xB,o + 2.5t2

(xA,o – xB,o) – 35t – 5t2 = 2.5t2
300 – 35t – 5t2 = 2.5t2
7.5t2 + 35t –300 = 0
=> t = 4.41 s [ans]
and when t = 4.41 s, we have from eq.(8)

vB = 5(4.41) = 22.1 m/s
 vB = 22.1 m/s → [ans]
and from eq.(6)
vA = – 35 – 10(4.41) = – 79.1 m/s
 vA = 79.1 m/s  [ans]

x A / B = x A – x B
= [79.1 m/s ] – [22.1 m/s →]
 vA/B = 101.2 m/s  [ans]
Comment: vA/B = 101.2 m/s = 364 km/h is a measure of how fast the driver in car B would have
‘felt’ the speed of the motorbike as the motorbike passed by.
Relative motion
A mass-pulley system is used to connect two
blocks A and B as shown. Starting from rest
block A is pulled to the right with a constant
acceleration of 3 m/s2.
Task: Determine after block A has displaced A

3.375 m to the right
a) the time taken in s, B
b) the acceleration of block B, and
c) the velocity and acceleration of block B Figure E1.22
relative to block A at this instant. Theory:
Kinematics relations with relative motion
Assumption(s):
Solution:
x Kinematics. We write
y 2xA + 3yB + e = l note e = constant (1)
aA 2 x A + 3 y B = 0 or 2vA + 3vB = 0 (2)
e
yB
xA vA 2 x A + 3 y B = 0 or 2aA + 3aB = 0 (3)
A Also
xB = xA + xB/A (4)
B x B = x A + x B/A or vB = vA + vB/A (5)
x B = x A + x B/A or aB = aA + aB/A (6)
a) Given vA,o = 0 and aA = 3 m/s2 = constant, we write
[v = vo + at] vA = vA,o + aAt = 0 + 3t = 3t (7)

[v2 = vo2 + 2a(s – so)] vA2 = vA,o2 + 2aA(xA – xA,o)
= 0 + 2(3)(3.375)
vA = 4.5 m/s => vA = 4.5 m/s →
From eq.(7), t = 4.5/3 = 1.5 s [ans]
b) From eq.(3), aB = – 23 aA = – 23 (3) = – 2.0 m/s2 => aB = 2.0 m/s2 
c) From eq.(2), vB = – 23 vA = – 23 (4.5) = – 3.0 m/s => vB = 3.0 m/s 
From eq.(5), vB/A = vB – vA = [3.0 m/s ] – [4.5 m/s →]
= [3.0 m/s ] + [4.5 m/s ]
= 5.41 m/s 33.7o [ans]
From eq.(6), aB/A = aB – aA = [2.0 m/s2 ] – [3.0 m/s2 →]

= [2.0 m/s2 ] + [3.0 m/s2 ]
= 3.61 m/s2 33.7o [ans]
Comment: Note that eqs.(1) through (6) are vector equations. Hence, proper direction
must be established and the rule of vector addition/subtraction must be observed.
Relative motion
The mass-pulley system is used to raise
block B via trolley A as shown where h = 12
C
m.
Task: If trolley A is pulled to the right by a

motor (not shown) giving it a speed of 10 h
m/s and a deceleration of 6 m/s2 at the B
instant when x = 4 m, determine the velocity A
at which block B is raised and its x
acceleration at this instant. Copyright ZaAR Dynamics Corporation
Theory: Figure E1.23

Kinematics relations with relative motion Assumption(s):
Solution:
Approach 1: Mathematical approach I We write for length of the cable
(h – y) + 2r = L (1a)
C
where h and L = constant
h–y
r
h
But r = h 2 + x 2 , eq.(1) then becomes
B
y
A (h – y) + 2 h 2 + x 2 = L (2a)
x
Copyright ZaAR Dynamics Corporation
Velocity. Differentiating eq.(2a) with respect to time yields

xx
– y + 2 =0 (3a)
h2 + x2
Note that vA = x and vB = y , therefore eq.(3a) becomes
xv A
vB = 2
h2 + x2
For vA = 10 m/s, x = 4 m, and h = 12 m, we have h2 + x2 = (12) 2 + (4) 2 = 12.65
4(10)
=> vB = 2 = 6.32 m/s
12.65
 vB = 6.32 m/s  = 6.32 j m/s [ans]
Acceleration. Differentiating eq.(3a) with respect to time yields
xx xx xx (− xx )

– y + 2( + + )=0 (4a)
h2 + x2 h2 + x2 (h 2 + x 2 )3 / 2
Note that aA = x and aB = y , therefore eq.(4a) becomes
v A2 xa A − x 2 v A2
– aB + 2( + + )=0
h2 + x2 h2 + x2 (h 2 + x 2 )3 / 2
Substituting vA = 10 m/s, aA = – 5 m/s2, x = 4 m, h = 12 m, and h 2 + x 2 = 12.65, we get
102 4( − 5) − (4) 2 (10) 2

– aB + 2( + + )=0
12.65 12.65 2024
=> aB = 11.07 m/s2
 aB = 11.07 m/s2  = 11.07 j m/s2 [ans]
Approach 2: Mathematical approach II
Alternatively, addition to eqns.(2a) and (3a) which are

– y + 2 s = 0 (2a)
– y + 2 s = 0 (3a)
we may also solve this problem using the constraint equation and differentiate it with
respect to time once and twice as follows.
x2 + h2 = s2 (4b)
 2x x + 0 = 2s s or x x = s s (5b)
 x x + x x = s s + s s or x 2 + x x = s 2 + s s (6b)
Given vA = x = 10 m/s, aA = x = – 5 m/s2, x = 4 m, and h = 12 m, we obtain

s = 12 2 + 4 2 = 12.65 m
eq.(5b), 4(10) = 12.65 s => s = 3.16 m/s

eq.(6b), (10)2 + 4(– 5) = (3.16)2 +12.65 s => s = 5.53 m/s2
Finally, we have
eq.(2a), y = – 2 r = – 2(3.16) = – 6.32 m/s (same as before)
eq.(3a), y = – 2 s = – 2(5.53) = – 11.07 m/s2 (same as before)
Approach 3: Using polar coordinates r-
We write for length of the cable

x
C y y + 2r = L (1c)
+
y  r and its time derivatives yield
h
aA y + 2 r = 0 (2c)
B 
vA and
A
x
Copyright ZaAR Dynamics Corporation y + 2 r = 0 (3c)
+r
Given vA = 10 m/s, aA = – 5 m/s2, x = 4 m, and h = 12 m, and using the r- coordinate
system, we write
r = 12 2 + 4 2 = 12.65 m and tan = 4/12 =>  = 18.43o
Velocity, vr = r = vAsin = 10sin18.43o = 3.16 m/s
From eq.(2c), we obtain y = – 2 r = – 2(3.16) = – 6.32 m/s
and since it is negative, we have
 vB = 6.32 m/s  = – 6.32 j m/s [ans]
Acceleration, ar = aAsin = – 5sin18.43o = – 1.581 m/s2
[ar = r – r  2] => r = ar + r  2
where  is obtained from v = r  = vAcos =>  = 10cos18.43o/12.65 = 0.75 rad/s
=> r = – 1.581 + 12.65(0.75)2 = 5.53 m/s2
From eq.(3c), we obtain y = – 2 s = – 2(5.53) = – 11.07 m/s2
and since it is negative, we have
 aB = 11.07 m/s2  = – 11.07 j m/s2 [ans]
Comment: Note that even though this is a dependent motion problem, the direction of the
acceleration of block B is upward, i.e. not necessarily downward as one might be tempted
to conclude for the given acceleration of trolley A. This is understandable since aB depends
on various terms as seen in eqs.(4a) or (6b).
Relative motion
Problem Statement: Two sliders A and P are
connected through a mass-pulley system
using an inextensible rope passing through
collar B as shown where slider P is initially at
C. The system is initially at rest when
h = 1.8 m
suddenly slider P is given a constant
acceleration of 5 m/s2 from C to D while
block A at the same time is subjected to a
downward uniform acceleration of 2 m/s2. A
B C
P D
Task: Determine the velocity and
acceleration of collar B relative to slider P at
the instant when slider P has moved 1.6 m Figure E1.24
to the right. Also determine the velocity and Assumption(s):
acceleration of slider P relative to collar B at Cable is inextensible.
this instant. Mass of cable is negligible.
Theory:
Kinematics of rectilinear motion
Relative motion analysis
Solution: Using the t-n coordinate system for collar P, we write
yA + 2yB + s = l (1)
and
s2 = xP2 + h2 (2)
yA
yB h = 1.8 m
s Differentiating eqs.(1) – (2) , yields
y A + 2 y B + s = 0 (1a)
s s = xP xP (2a)
A
B C
xP P D Differentiating eqs.(1) – (2) , yields
yA + 2 yB + s = 0 (1b)
s s + s s = xP xP + xP xP (2b)
Given aA = yA = 2 m/s2  = constant aP = xP = 5 m/s2 → = constant and xP = 1.6 m
s = 1.82 + 1.62 = 2.41 m
[v2 = vo2 + 2a(s – so)] vP2 = vP,o2 + 2aP(xP – xP,o)

= 0 + 2(5)(1.6)
vP = 4 m/s => vP = 4 m/s →
[v = vo + at] vP = vP,o + aPt = 0 + 5t = 5t => 5t = 4 or t = 0.8 s
[v = vo + at] vA = vA,o + aAt = 0 + 2t = 2(0.8) = 1.6 m/s
Using eq.(2a), we obtain 2.41 s = 1.6(4) => s = 2.65 m/s

Using eq.(2b), we obtain 2.652 + 2.41 s = 42 + 1.6(5) => s = 7.04 m/s2
Using eq.(1a), we obtain 1.6 + 2 y B + 2.65 = 0 => y B = – 2.125 m/s

Using eq.(1b), we obtain 2 + 2 yB + 7.04 = 0 => yB = – 4.52 m/s2
 vB = 2.13 m/s  [ans]

 aB = 4.52 m/s2  [ans]
Relative motion,
vP = vB + vP/B => vP/B = vP – vB (3)
aP = aB + aP/B => aP/B = aP – aB (4)
From eq.(3), vP/B = vP – vB = [4 m/s →] – [2.13 m/s ]

= [4 m/s →] + [2.13 m/s ]
= 4.53 m/s 28.0o [ans]
From eq.(4), aP/B = aP – aB = [5.0 m/s2 →] – [4.52 m/s2 ]

= [5.0 m/s2 →] + [4.52 m/s2 ]
= 6.74 m/s2 42.1o [ans]
Comment: (1) The negative answer simply indicates that the direction is opposite to the
positive sense of the reference axis used. (2) Also note that when the negative sign is
multiplied into the bracket, the arrow turns opposite.
Relative motion
A rigid rope attached to a rigid point E on a
wall is linked to slider B through slider A D
E
which is linked to block C by means of ropes p
and pulleys designed as shown.
Task: At the instant when  = 30o slider B is

moving to the left with velocity 2 cm/s and C
acceleration 1 cm/s2. Determine the velocity A
and acceleration of block C at that instant.
B 
Theory:
Kinematics relations with relative motion Figure E1.25
Assumption(s):
[a) t = 1 s, vA/B = 3.0i m/s]
Solution: Choosing a fixed point D as our reference for both horizontal and vertical
direction and labelling various dimensions as shown below, we can write for the length of
each of the cables as follows.
s + (xB – xA) = l1 (1)
xA + h + p = l2 (2)
E
D p (h – p) + (y – p) = l3
y h + y – 2p = l3 (3)
q s h
C and
s2 = q2 + (r – xA)2 (4)
B  A
xA
xB
r
Differentiating eqs.(1) – (4) , yields

s + x B – x A = 0 (5)
x A + p = 0 since both h and l2 are constant (6)
y – 2 p = 0 since both h and l3 are constant (7)
s s = – (r – xA) x A since both q and r are constant (8)
Differentiating eqs.(5) – (8) yields, respectively
s + xB – xA = 0 (9)
xA + p = 0 (10)

y – 2 p = 0 (11)
2
s + s s = x A2 – (r – xA) xA (12)
Given x B = 2 cm/s, and xB = 1 cm/s2

At the instant when  = 30o, q = 20 cm, s = 40 cm,
and from eq.(4), (r – xA) = 34.64 cm.
Using eq.(8), we obtain x A = – 1.1547 s , substituting into (5) to get
s = – 0.4641 x B = – 0.4641(2) = – 0.9282 cm/s

and x A = – 1.1547 s = – 1.1547(– 0.9282) = 1.0718 cm/s
Subsequently, from eqs.(6) and (7), we obtain
y = 2 p = – 2 x A = – 2(1.0718) = – 2.1436 cm/s [ans]
Eq.(12) (– 0.9282 )2+ (40) s = (1.0718)2 – (34.64) xA

=> s = 0.00718 – 0.866 xA (13)
Eq.(9) s + xB – xA = 0
=> xA = 1 + s (14)
Solving eqs.(13) and (14), we get s = – 0.4602 cm/s2 , and xA = 0.5398
From eq.(11) we obtain y = 2 p = – 2 xA = – 1.0795 cm/s2 [ans]
Relative motion
Problem Statement: Starting from rest at a y
certain location along a circular path with the
radius of  = 120 m, the AGV is looping at a
speed defined by v = 1.25t m/s, where t is in
seconds.
v 
Task: Determine at the instant when it has
traveled 50 m and passed though point P
a) the magnitude of the speed of the AGV, P x
b) the corresponding magnitude of its
acceleration, and
c) the acceleration vector of the AGV at Figure E1.26
point P. Assumption(s):
Theory: The terrain does not affect the motion.
Kinematics of curvilinear motion using t-n
Solution: Using the t-n coordinate system, we write

ds
v= = 1.25t => ds = 1.25t dt
dt
t
s–0= 0
1.25t dt = 0.625t2 (1)
For s = 20 m, from eq.(1) we obtain
=> s = 0.625t2 = 50 m => t = 8.94 s
v = 1.75(8.94) = 15.65 m/s [ans]
dv
at = = 1.25 m/s2
dt
v2 (15.65) 2
and an = = = 2.04 m/s2
 120
 a = at + an = 1.25  + 2.04 → m/s2 or a = 2.4 m/s2 31.5o [ans]
Comment:
Relative motion
Problem Statement: A single seat roller C
coaster is moving in half vertical loop of
radius 35 m as shown.
r
Task: Initially moving at a speed of 90 km/h
as it passes through point A when it starts
B
accelerating steadily at 2 m/s2 around the
loop, determine at each of the positions
shown the velocity and acceleration the
roller coaster.
A
Theory: Figure E1.27
Kinematics of curvilinear motion using t-n
Assumption(s):
Solution: Using the t-n coordinate system, we write

dv
at = = 2 m/s2
dt
v t
=> vo
dv =  0
2 dt where vo = 90/3.6 = 25 m/s
v – 25 = 2t
v = 25 + 2t (1)
ds
v= = 25 + 2t
dt
s t
=>  0
ds = 
0
(25 + 2t)dt
s – 0 = 25t + t2
s = 25t + t2 (2)
At A, we have
at = 2 m/s2 →
v2 (25) 2
and an = = = 17.86 m/s2 
 35
 a = at + an = 2 → + 17.86  m/s2 or a = 2.4 m/s2 83.6o [ans]
1
At B, s = 4
[2(35)] = 55 m, and from eq.(2) we obtain
=> 25t + t2 = 55 => t = 2.03 s
v = 25 + 2(2.03) = 29.1 m/s [ans]
at = 2 m/s2 
v2 ( 29.1) 2
and an = = = 24.2 m/s2 
 35
 a = at + an = 2  + 24.2  m/s2 or a = 24.3 m/s2 4.7o [ans]
1
At C, s = 2
[2(35)] = 110 m, and from eq.(2) we obtain
=> 25t + t2 = 110 => t = 3.82 s
v = 25 + 2(3.82) = 32.6 m/s [ans]
at = 2 m/s2 
v2 (32.6) 2
and an = = = 30.4 m/s2 
 35
 a = at + an = 2  + 30.4  m/s2 or a = 30.5 m/s2 86.2o [ans]
Comment: We note that the normal component of acceleration of the particle keeps
increasing even when its tangential component is constant. This is clearly observable
since the speed of the particle is increasing.
Relative motion
Problem Statement: A soccer ball is to be u
kicked on a flat surface located at A which is A 
at the height h above B as shown.
h
Task: If the ball is kicked with a velocity of B
O c
magnitude u and should fall through the gap C
of width e, determine the maximum value of
u if the ball were not to hit edge C for a)  = b e
0o, and b)  = 60o. Use b = 60 m, c = 8 m, e = Figure E1.28

20 m, and h = 10 m. Assumption(s):
There is no surrounding effect on the
Theory:
motion, and g = constant
Projectile motion
Solution: Let’s choose point O as our origin of the x-y reference axes.
Maximum u occurs when the ball hits end C (x = b + e = 80 m, y = – c = – 8 m).

a) For vo = u and  = 0o, we have for the uniform motion in the x direction,
vx = vocos = u
x = xo + vocos t = 0 + ut (for origin at O) (1a)
and for the uniformly accelerated motion in the y direction,

vy,o = vosin = 0
y = yo + (vosin)t – 21 gt2 where yo = h = 10 m
= 10 + 0t – 21 gt2
= 10 – 21 gt2 (2a)
Substituting values into eqs.(1a) and (2a), we obtain

from eq.(1a) u = 80/t
from eq.(2a) – 8 = 10 – 21 gt2 => t = 1.916 s
=> u = 80/1.916 = 41.8 m/s
b) For vo = u and  = 60o, we have for the uniform motion in the x direction,
vx = vocos = u cos60o = 0.5u
x = xo + vocos t = 0 + 0.5ut (for origin at O) (1b)
and for the uniformly accelerated motion in the y direction,

vy,o = vosin = u sin60o = 0.866u
y = yo + (vosin)t – 1
2
gt2 where yo = h = 10 m
1
= 10 + 0.866u t – 2
gt 2
1
= 10 + 0.866u t – 2
gt2 (2b)
Substituting values into eqs.(1b) and (2b), and solving, we obtain

from eq.(1b) u = 80/t
from eq.(2b) – 8 = 10 + 0.866u t – 21 gt2 => t = 4.22 s
=> u = 80/4.22 = 18.96 m/s
Comment: We note that kicking the ball flat requires a higher initial velocity as compared
to kicking it at a certain angle .
Relative motion
Problem Statement: Motion of slider block y
A in a slotted arm OE in a horizontal plane is r, r
controlled through a cable which pulls the E
slider block relative to the rotating arm with r A
r = 0.75 – 0.06t2 m.

Task: If starting from rest at t = 0 s and  =
0o, arm OA rotates counterclockwise with a
O ,  x
constant acceleration of 0.24 rad/s2,
calculate at the instant when t = 3 s Figure E1.29
a) the position of the slider block A, and Theory:
b) the velocity and acceleration of the slider Kinematics of curvilinear motion using r-
block A.
Assumption(s):
Cable is inextensible
Solution: Using the r- coordinate system, we write

r = 0.75 – 0.06t2 m  = 0.24 rad/s2 = constant
t
=> r = – 0.12t m/s  =  0
0.24dt = 0.24t rad/s
t
=> r = – 0.12 m/s2 = 0
0.24t dt = 0.12t2 rad
When t = 3 s, we obtain
a) r = r ur = [0.75 – 0.06(3)2] ur = 0.21 ur m and  = 0.12(3)2 = 1.08 rad [ans]
b) vr = r ur = – 0.12(3) ur m/s v = r u = 0.21[0.24(3)] u m/s

= – 0.36 ur m/s = 0.1512 m/s
 v = vr + v = – 0.36 ur + 0.1512 u m/s [ans]
ar = ( r – r 2 )ur a = ( r + 2 r ) u

= [– 0.12 – 0.21(0.72)2]ur m/s2 = [0.21(0.24) + 2(– 0.36)(0.72)]u m/s2
= – 0.229 ur m/s = – 0.463 m/s
 a = ar + a = – 0.229 ur – 0.463 u m/s2 [ans]
Comment: Note that the slider block A is moving toward the center O as it also at the
same time rotates about O.
Relative motion
Problem Statement: The rod AB slides x
through the pivoted collar B as slider block C
moves along the horizontal slot. C
Task: If the slider C starts from rest at x = 0 0.15 m

and moves to the right with a constant
acceleration of 0.1 m/s2, calculate at the 
instant when x = 200 mm B
a) the velocity of the slider block C, and
b) the angular velocity and angular A
acceleration of rod AB.
Figure E1.30
Kinematics relations with relative motion
[a) t = 1 s, vA/B = 3.0i m/s]
Solution:
a) Since the motion in the x direction is given, we can write when x = 200 mm = 0.2 m
ax = x = 0.1 m/s2
[v2 = vo2 + 2a(x-xo)] vx = x = 2a x ( x − xo ) = 2(0.1)(0.2 − 0) = 0.2 m/s
The velocity of the slider block C, v = 0.2 i m/s = 0.2 m/s → [ans]
For motion in the r direction, using the equation of the radial path centered at B, we
write
x2 + y2 = r2 where y = 0.15 m = constant (1)
 2x x + 0 = 2r r (2)
 x x + x x + 0 = r r + r r (3)
From eq.(1) at y = 0.15 m, we have r = 0.2 2 + 0.15 2 = 0.25 m
1 1
From eq.(2), we obtain vr = r = x x = (0.2)(0.2) = 0.16 m/s
r 0.25
1
From eq.(3), we obtain r = ( x 2 + x x – r 2)
r
1
= [(0.2)2 + (0.2)(0.1) – (0.16)2]
0.25
= 0.1376 m/s2
We also have ar = ax cos  => ar = ax cos  = 0.1(0.8) = 0.08 m/s2

a = ax sin  => a = ax sin  = 0.1(0.6) = 0.06 m/s2
[v = r  ] v = vx sin  = r  =>  = vx sin  / r = 0.48 rad/s [ans]
[ar = r – r  2] 0.08 = 0.1376 – 0.25  2 =>  = 0.48 rad/s

  =  k = 0.48k rad/s [ans]
[a = r  + 2 r ] 0.06 = 0.25  + 2(0.16)(0.48) =>  = – 0.374 rad/s2
  =  k = – 0.374k rad/s2 [ans]
Relative motion
Problem Statement: Horizontal slotted arm
CD is designed to control the rotation of link
AB as shown. At the instant represented, C
B
D
arm CD has an upward velocity of 1.5 m/s
120 mm
and is increasing at 10 m/s2 when y = 40 y

mm.
x A
Task: Determine at this instant
a) the velocity and acceleration of pin B, Figure E1.31
and Assumption(s):
b) the magnitude of  and  .
[a) v = 0.531 i + 1.5 j m/s, a = 25.9 i + 10 j m/s2; b) 
= 13.26 rad/s;  = 150.7 rad/s2]
Theory:
Kinematics relations
[a) t = 1 s, vA/B = 3.0i m/s]
Solution:
a) Since the motion in the y direction is given, we can write when y = 40 mm = 0.04 m
ay = y = 10 m/s2
vy = y = 1.5 m/s
For motion in the x direction, using the equation of the circular path centered at A, we
write
x2 + y2 = r2 (1)
 2x x + 2y y = 0 (2)
 x x + x x + y y + y y = 0 (3)
From eq.(1) at y = 0.04 m, we have x = 0.122 − 0.042 = 0.1131 m, and since it is to left of
the reference axis, we write x = – 0.1131 m. From eq.(2), we obtain
1 1
vx = x = – y y = – (0.04)(1.5) = 0.531 m/s
x - 0.1131
1
ax = x = – ( x x + y y + y y )
x
1
=– [(0.531)2 + (1.5)2 + 0.04(10)]
- 0.1131
= 25.9 m/s
The velocity and acceleration of the pin finally becomes
v = 0.531 i + 1.5 j m/s or v = 1.591 m/s 70.52o [ans]
a = 25.9 i + 10 j m/s2 or a = 27.8 m/s2 21.1o [ans]
b) The magnitude of  and  : at the instant when y = 0.04 m and x = 0.1131 m, we have
y 0.04
tan  = = =>  = 19.48o
x 0.1131
t Using t-n coordinates, we have for the velocity

v
70.52o
C
B
D v =   where  = 0.12 m
120 mm => 1.591 = 0.12 
y n

A x or  = 13.26 rad/s [ans]
t Using t-n coordinates, we have for the

at
a acceleration
B
at =   where  = 0.12 m
21.1o
C
=> 27.8 cos(70.52o – 21.1o) = 0.12 
y n

A x or  = 150.7 rad/s2 [ans]
Comment: This problem can also be solved using the following approach i.e. using a
combination of t-n and r- coordinate systems.
Velocity analysis. Since point B is on a rotating link AB, we can write

vB =   rB (assuming link AB rotates clockwise i.e.  = –  k rad/s)
= –  k  (– rcos i + rsin j) where  = tan– 1(40/120) = 19.47o
= –  k  (– 0.12cos19.47o i + 0.12sin19.47o j)
= 0.1131  j + 0.04  i m/s (1)
Also point B on a moving arm CD, we write

vB = vr + v where vr = x i + y j ; y = 1.5 m/s and v = 0
= x i + 1.5j m/s (2)

0.1131  j + 0.04  i = x i + 1.5j
i: 0.04  = x
j: 0.1131  = 1.5 =>  = 1.5 / 0.1131 = 13.26 rad/s
x = 0.04(13.25) = 0.531 m/s
  = 13.26 rad/s CW = – 13.26k rad/s [ans] (same as above)
vB = 0.531i + 1.5j m/s [ans] (same as above)
Acceleration analysis. For point B and link AB, we can write

aB = taB + naB
where taB = –  k  rB (assuming link AB rotates clockwise i.e.  = –  k rad/s2 )
= –  k  (– 0.1131i + 0.04j) = 0.1131  j + 0.04  i m/s2
naB = –  rB = –  rB = – (13.26) (– 0.1131i + 0.04j) = 19.89i – 7.03j m/s
2 2 2 2
=> aB = 0.1131  j + 0.04  i + 19.89i – 7.03j

= (0.04  + 19.89)i + (0.1131  – 7.03)j m/s2 (3)
Also point B on a moving arm CD, we write

aB = ar + a where ar = x i + y j ; y = 10 m/s2 and a = 0
= x i + 10j m/s2 (4)

(0.04  + 19.89)i + (0.1131  – 7.03)j = x i + 10j
i: 0.04  + 19.89 = x
j: 0.1131  – 7.03 = 10 =>  = 17.03 / 0.1131 = 150.6 rad/s2
x = 0.04(150.6) + 19.89 = 25.9 m/s
  = 150.6 rad/s CW = – 150.6k rad/s2 [ans] (same as above)
2
aB = 25.9 i + 10j m/s [ans] (same as above)
Relative motion
Problem Statement: Pin P is attached to the
All dimensions in mm
rim of the rotating disk and slides into the
slotted bar OA in the figure. When  = 45o
R A
the angular velocity of OA is  = 0.5 rad/s P
and is constant.
Task: For the given instant determine O B 

a) the angular velocity of the disk (  ) and 
the velocity of P relative to the arm OA 80
( R ), and
b) the angular acceleration of the disk (  )
and the acceleration of P relative to the 200
 ).
arm OA ( R Figure E1.32
Assumption(s):
Theory:
Solution:
Velocity,
 Let  = BP,
t rx = 200 + 80 cos 45o = 256.6 mm
v ry = 80 sin 45o = 56.6 mm
v
r r= rx2 + ry2 = 256.6 2 + 56.6 2
 P
 = 262.7 mm
r=R vr   = tan –1(56.6/256.5) = 12.44o
O B n 
In t-n coordinates, we can write

v =   = 80  mm/s (1)
80
In r- coordinates, we write (  = 0.5 rad/s)
vr = r
200
v = r  = 262.7(0.5) = 131.4 mm/s
But
vr = r = v cos( + )
= – 80  cos( + ) (2)
v = 131.4 = 80  sin( + ) (3)
Substituting the corresponding values into eqs.(1) and (2), and solving, we obtain
vr = r = – 84 mm/s [ans]

 = 1.95 rad/s [ans]
Acceleration,
 In n-t coordinates, we write
t
at a
[From eq.(1)]: v = 80(1.95) = 156 mm/s
at =   m/s2
r
 P
v2 (156) 2
 an = = = 304.2 m/s2 
r=R
ar a   80
O B
n
n 

In r- coordinates, we have
ar = r – r  2
80
a = r  + 2 r 
But
200 ar = – at cos( + ) + [– an sin( + )]
a = at sin( + ) + [– an cos( + )]
Then
 ar = r – (262.7)(0.5)2 = – (80)  cos(57.44o) + [– 304.2 sin 57.44o)] (4)
 a = (262.7)(0) + 2(– 84)(0.5) = (80)  sin(57.44o) + [– 304.2 cos 57.44o)] (5)
Solving eqs.(4) and (5) yields
r = – 242 mm/s2….[ans]

 = 1.182 rad/s2….[ans]
Relative motion
Problem Statement: Rod AC rotates clockwise D
with a constant angular rate of 5 rad/s. A
double collar B is pin-connected together
such that one collar slides over the straight C
rod AC and the other over the curved rod
DE.  B
Task: If the curved shape is given by the r
equation r = (2.5 – cos ) m, where  is in A
radians, determine the magnitude of the
velocity and acceleration of the double
collar when  = 30o. E
Figure E1.33
Theory:
Assumption(s):
Solution: Given  = 30o,  = 5 rad/s (= constant) =>  = 0.
The magnitude of the velocity and acceleration of the double collar B in the polar
coordinate r-.
r = (2.5 – cos) (1)

Differentiating eq.(1) with respect to time
r = sin  (2)
r = sin  + cos  2 (3)
and substituting the given values yield

r = (2.5 – cos30o) = 1.634 m
r = sin30o(5) = 2.5 m/s
r = sin30o(0) + cos30o(5)2 = 21.7 m/s2
Velocity,
vr = r = 2.5 m/s
v = r  = 1.634(5) = 8.17 m
v = v r2 + v2 = 8.54 m/s [ans]
Acceleration,
ar = r – r  2 = 21.7 – 1.634(5)2 = – 19.2 m/s2
a = r  + 2 r  = 1.634(0) – 2(2.5)(5) = 25 m/s2

a= a r2 + a2 = 31.5 m/s2 [ans]
Velocity and acceleration of point C,

Let RC = AC = RCu where RC = 3 m, u = cos i + sin j;  = 90o –  = 60o
= 0.5i + 0.866j
= 3(0.5i + 0.866j)
= 1.50I + 2.60J m (since i = I and j = J) (1)
vC = R C = RC where  =  = – 5k = – 5K rad/s (since K = k) (2)

aC = R = RC + (RC) where  =  =  = 0 rad/s2 (3)
C
 vC = R C = RC = (– 5K)(1.5I + 2.6J) = 13.0I – 7.5J m/s [ans]

 aC = R = RC + (RC)
C
= 0 + (– 5K)(13.0I – 7.5J)
= – 37.5I – 65.0J m/s2 [ans]
Let RB = AB = RBu where u = cos i + sin j;  = 90o –  = 60o

= 0.5i + 0. 866j
RB = (2.5 – cos) = (2.5 – cos30o) = 1.634 m
= 1.634(0.5i + 0. 866j)
= 0.817I + 1.415J m (since i = I and j = J) (1)
 vB = R B = R Bu + RB (2)
where R B = r = sin  = sin30o(5) = 2.5 m/s
 =  = – 5k = – 5K rad/s (since K = k)
 aB = R B = R Bu + 2( R Bu) + RB + (RB) (3)

where  B = r = sin  – cos  2 = sin30o(0) – cos30o(5)2 = 21.7 m/s2
R
 =  =  = 0 rad/s2
From eq.(2),
vB = R B = R Bu +   RB
= 2.5(0.5I + 0.866J) + (– 5K)(0.817I + 1.415J)
= (1.25I + 2.165J) + (7.075I – 4.085J)
= 8.325I – 1.920J m/s or vB = v B2 , x + v B2 , y = 8.54 m/s [ans]
From eq.(3),
aB = R B = R Bu + 2( R Bu) + RB + (RB)
= 21.7(0.5I + 0.866J) + 2(– 5K)(1.25I + 2.165J) + 0 + (– 5K)(7.075I – 4.085J)
= [10.85I + 18.79J] + [21.65I – 12.50J] + [– 20.425I – 35.375J]

= 12.075I – 29.085J m/s2 or aB = a B2 , x + a B2 , y = 31.5 m/s2 [ans]
Relative motion
Problem Statement: The motion of pins A and y
B is controlled through a slotted horizontal
guide along the elliptical path given by x2/a2
+ y2/b2 = 1 where a = 10 cm and b = 6 cm as A
shown. If arm C is pulled to the right at a b C
constant acceleration of 4 mm/s2 and is a x
initially at rest in the middle of the elliptical B
section, answer the following questions.
Task:
Figure E1.34
a) Determine the velocity and acceleration
Theory:
of pin A at the instant when x = 5 cm.
b) Determine the rate at which the two
pins approach each other at this same Assumption(s):
instant.
Solution:
Since the motion in the x direction is given, we can write when x = 5 cm
ax = x = 4 mm/s2 = 0.4 cm/s2 = constant (1)
t
=> vx = x =  0
0.4 dt = 0.4t cm/s (2)
t
=> x=  0
0.4t dt = 0.2t2 cm (3)
For motion in the y direction, using the given elliptic equation of the path,
x2 y2
=> + =1 (where a = 10 cm, b = 6 cm) (4)
a2 b2
2x  2y 
=> x + 2 y =0 (5)
a2 b
1 1
=> 2
( x x + x x ) + 2 ( y y + y y ) = 0 (6)
a b
At x = 5 cm, we have from
eq.(4), y =  5.20 cm (It is positive for pin A and negative for pin B)
eq.(3), 5 = 0.2t2 => t = 5 s
eq.(2), vx = x = 0.4(5) = 2.0 cm/s
b2 1 62 1
eq.(5), vy = y = – x x = – (5)(2) =  2.77 cm/s
2
y a  5.20 5 2
1 b2
ay = y = – [ 2 ( x 2 + x x ) + y 2]
y a
1 62
=– [ 2 [(2.0)2 + (5)(0.4)] + (2.77)2]
 5.20 10
=  1.891 m/s2
Note that for vy and ay, the positive answers are for pin B (i.e. vy,B  while accelerating)
and the negative answers are for pin A (i.e. vy,A  while accelerating).
a) The velocity and acceleration for pin A finally becomes
v = 2.0 i – 2.77 j cm/s or v = 3.42 cm/s 54.2o [ans]
a = 0.4 i – 1.891 j cm/s2 or a = 27.8 m/s2 78.1o [ans]
b) The rate at which the two pins approach each other is
=> 2vy = 2(2.77) = 5.54 cm/s [ans]
Relative motion
Problem Statement: At the bottom of a loop O
in the vertical plane, an airplane has a
horizontal velocity of 150 m/s and is
speeding up at the rate of 25 m/s2. The 2 km
radius of curvature of the loop is 2 km while
the radial distance of the airplane from the t
B v = 120 m/s
radar is 1000 m and  = tan– 1(3/4). The
plane is being tracked by radar at O. y
r
Task:
a) Determine the velocity and acceleration 
E
of the airplane using n-t coordinates, and x
b) What are the recorded values of r , r , 

and  at this instant? Figure E1.35
Assumption(s):
Theory: Kinematics relations
Solution: Geometry. The polar coordinates are

r = (800) 2 + (600) 2 = 1000 m
 = tan–1(3/4) = 36.9o => cos  = 54 , sin  = 3
5
Velocity,
Since the velocity is always tangent to the path, therefore
v = vt = 150 m/s →
and resolving it into r- components, we have
vr = v cos = 150(4/5) = 120 m/s

v = v sin = 150(3/5) = – 90 m/s (why –ve?)
But also vr = r = 120 m/s [ans]

v − 90
v = r  =>  =  = = – 0.09 rad/s [ans]
r 1000
Acceleration,
at = 25 m/s2 →
v2 (150) 2
27.41 an = = = 11.25 m/s2 
 11.25  2000
25 a = 25 m/s2 → + 11.25 m/s2  = 27.41 m/s2 24.2o
 –  = 36.9o – 24.2o = 12.7o

ar = a cos ( – ) = 27.41 cos (12.7o) = 26.7 m/s2
a = – a sin ( – ) = – 27.41 sin (12.7o) = – 6.0 m/s2
ar = r – r  2
=> r = ar + r  2 = 26.7 + 1000(– 0.09)2 = 34.8 m/s2 [ans]
a = r  + 2 r 
a 2 r −6 2(120)(−0.09)
=>  =  – = – = 0.0156 rad/s2 [ans]
r r 1000 1000
Relative motion
Problem Statement: The roller coaster in the figure See below
which is initially at rest at A is accelerated to the right Figure E1.36
at a constant rate of 8 m/s2 between sector AC and Theory:
continues through to sector CDEF. Use the units of s, Kinematics using x-y, r-, and n-t
m, m/s, m/s2, rad, rad/s, and rad/s2 unless otherwise coordinates;
specified.
Uniform motion: x = xo + vot + 0.5at2
Task: v = vo + at
a) Determine the time the roller coaster takes as it v2 = vo2 + a(x – xo)
reaches its midsector at point B and the
Assumption(s):
corresponding velocity in km/h,
1. The roller coaster is treated as a
b) Determine at this same point B the recorded
particle
values of r , r ,  , and  by the radar located at E 2. Motion along A to J is
where  = tan–1(3/4), and considered as entirely in a
c) Determine the velocity and acceleration of the vertical plane.
roller coaster at point C and D in km/h.
[a) v = 0.531 i + 1.5 j m/s, a = 25.9 i + 10 j m/s2; b)  = 13.26
rad/s;  = 150.7 rad/s2]
F D
80 m
J
+x H I 
A r B C
15 m 100 m 100 m
E 
Solution:
E
t
n
F D

y
r
80 m
J
+x H I 
x
A r B C
15 m 100 m 100 m
E 
Solution:
a) ABC and HI: rectilinear motion
CDEFH and IJ: curvilinear motion
b)
(i) At B,
x = xo + vot + 0.5at2
 100 = 0 + 0 + 0.5(8)t2 or t=5s [ans]
v = vo + at
 v = 0 + 8(5)
1 km 3600 s
= 40 m/s ( )( ) = 144 km/h
1000 m 1h
 vB = 144 km/h → or 144i km/h [ans]
(ii) At B, using geometries of the polar coordinates we have

15
r= = 25 m;  = tan–1(3/4) => cos  = 4
= 0.8; sin  = 3
= 0.6
sin  5 5
vr = r = v cos = 40(0.8) = 32 m/s [ans]

v = r  = – v sin = – 40(0.6) = – 24 m/s or 24 m/s

− 24
  =
25 = – 0.96 rad/s or 0.96 rad/s CW [ans]
ar = r – r  2 = a cos
= 8(4/5) = 6.4 m/s2
 r = 6.4 + r  2
 = 6.4 + 25(– 0.96)2 = 29.44 m/s2 [ans]
and a = r  + 2 r  = – a sin
= – 8 (3/5) = – 4.8 m/s2 or 4.8 m/s2
− 4.8 − 2r
  =
r
− 4.8 − 2(32)(−0.96)
 = = 2.27 rad/s2 CCW [ans]
25
(iii) At C,
v2 = vo2 + 2a(x – x0)
 v2 = 0 + 2(8)(200 – 0) or
vC = 56.57i m/s [ans]
vC2 56.57 2
aC = (aC)t + (aC)n where (aC)t = 8 m/s → and (aC)n =
2
= = 40 m/s2 
 80
So we have, the total acceleration of the roller coaster at C,
aC = (aC)t + (aC)n = 8i + 40j m/s2 [ans]

or aC = a + a = 40.8 m/s2 at 78.7o
2
t
2
n [ans]
At D,
v2 = vo2 + 2a(x – x0)
 v2 = 0 + 2(8)[(200 + 80/4) – 0] or
vD = 64.84j m/s [ans]
v2 64.842
aD = (aD)t + (aD)n where (aD)t = 8 m/s2  and (aD)n = D = = 52.6 m/s2 
 80
So we have, the total acceleration of the roller coaster at D,
aD = (aD)t + (aD)n = – 52.6i + 8j m/s2 [ans]

or aD = a + a = 56.8 m/s at 8.65
2
t
2
n
2 o
[ans]
Comments:
WORKSHEET 1.0: Kinematics of Particle

Worksheet 1-1 :
Problem Statement: A light aircraft is moving along a Data & Diagram:
straight takeoff runway with its acceleration given by a
= 2.4t m/s2 where t is time in s. It is known that the
aircraft is initiallly at rest at its starting position O.
x
Task:
a) Derive the expression for the position x and the O
velocity v as a function of time t.
b) Determine the position, velocity, and acceleration of
the aircraft when t = 10 s.
[a) x = 0.4t 3, v = 1.2t 2; b) x = 400 m, v = 120 m/s] Assumption(s):
Theory: 1.
Solution:
Worksheet 1-2 :
Problem Statement: A particle is moving along a Data & Diagram:
straight horizontal guide with its velocity given by v = –
3x2 m/s where x is in m. It is known that when t = 0 s, x
= 0.2 m.
O v
Task:
a) Derive the expression for the position x and the x
velocity v as a function of time t. x
b) Derive the expression for acceleration a as a function
of (i) its position x, and (ii) the time t.
c) Determine the position, velocity, and acceleration of Assumption(s):
the parcel when t = 1 s. 2.
[a) x = (3t + 5)– 1, v = – 3(3t + 5)– 2; b) a = 18x3, a = – 18(3t + 5)– 3;
c) 0.125 m, – 0.0469 m/s, 0.0352 m/s2]
Theory:
Solution:
Worksheet 1-3 :
Problem Statement: Consider a simple mass-pulley Data & Diagram:
system as shown.
Task:
a) Given that the velocity of block A relative to block
B is 9 m/s to the right, what is the velocity of block B
A
A and B at this instant.
b) Knowing that block B moves to the right from rest
at a constant rate of 1.5 m/s2, determine at the
instant when t = 2 s Assumption(s):
(i) the velocity and acceleration at which block A
1. Length of the cable is constant
moves,
(ii) the displacement of block A, and
(iii) the velocity and acceleration of block B
relative to block A.
[a) vA = 18 m/s →, vB = 9 m/s →; b) (i) vA = 6 m/s →, aA = 3 m/s2 →,
(ii) 6 m, (iii) vB/A = – 3 m/s or 3 m/s ]
Theory:
Solution:
Worksheet 1-4 :
Electric motor M is used to pull the crate
on the incline using the mass-pulley
system as shown.
Task: Knowing that the motor pulls in the A M

attached cable at a constant acceleration M
B
of 6 m/s2 and the crate is initially at rest,
determine
a) the velocity and acceleration of the
30o
crate after 5 s, and
b) the velocity and acceleration of the
crate after it has displaced 3 m.
[a) vA = 10i m/s, aA = 3i m/s2; b) vA = 2.0i m/s, aA = 3i m/s2]
Solution:
Worksheet 1-5 :
The mass-pulley system is used to raise block B via b
slider A as shown where b = 12 m and h = 15 m.
C
Task: If slider A is pulled downward by a motor (not
shown) giving it a speed of 6 m/s and a s
deceleration of 10 m/s2 at the instant when s = 9
m, determine the velocity at which block B is raised h
A
at this instant and its acceleration.
B
[a) vB = 1.8 m/s  = – 1.8 j m/s; aB = 2.23 m/s2  = 2.23 j m/s2]
Solution:
Worksheet 1-6 :
The motor at D pulls in the cable with an
E
acceleration aD = 2 m/s2, where t is in seconds B
while the motor at E draws in its cable at a p A
constant rate aE = 5 m/s2. C D
Task: If both motors start at the same instant from
rest when p = 3.0 m, determine
a) the time taken for p = 0, and
b) the relative velocity of block A with respect to
block B when this occurs
[a) t = 1 s, vA/B = 3.0i m/s]
Solution:
Worksheet 1-7 :
Problem statement: Ball bearings leave the horizontal trough with a velocity of magnitude
u and fall through the 150-mm-diameter hole as shown.
Data & Diagram:
Task: Determine
a) the value of u if the ball bearings were A u
to hit either edge B or C, and
b) the corresponding time travelled.
200 mm
Theory:
B C
Assumption(s):
300 mm 150 mm
[a) 1.485 m/s < u < 2.23 m/s; b) t = 0.202 s]

Solution:
Worksheet 1-8 :
Problem statement: A package which is initially at rest at A on an industrial conveyor belt
moves with a uniform acceleration of 4 m/s2.
Task: Data & Diagram:
a) Determine the velocity and acceleration of D
the package when it arrives at position B.
b) Determine the velocity and time for the
package to arrive at position C. C
Theory: 2.1 m
[a) vB = 6 m/s →, aB = 4 m/s2 → + 17.14 m/s2 ; b) vC = 7.90 m/s

, t = 1.975 s] A s B
4.5 m
Assumption(s):
Solution:
Worksheet 1-9 :
Problem statement: For the instant represented in the figure, the racing car A is rounding
the circular curve at a speed of 126 km/h and is accelerating at 7 m/s2 after coming off a
quick pit stop, while car B is moving at 270 km/h and is speeding up at the rate of 5 m/s2.

Determine at the instant shown the velocity and
acceleration of car B relative to car A.
B
Theory:
Assumption(s):
A
125 m
[vB/A = – 75 i – 35 j m/s, aB/A = 4.8 i – 7.0 j m/s2]
Solution:
Worksheet 1-10 :
Problem statement: A bicyclist is cycling up along part of a cliff defined by y = 0.0125x2.
He is accelerating uniformly at 0.4 m/s2 along section OA of the cliff and has a speed of 7
m/s as he reached point A.
Determine at acceleration of the cyclist at point A.
y = 0.0125x2
Theory:

Assumption(s): A
s 12 m
[a = 0.725 m/s2] O
Solution:
Worksheet 1-11 :
Problem Statement: A particle moves outward along Data & Diagram:
the slot in the circular platform with the speed of
r = 0.3t m/s where t is in seconds while the
platform is rotating as shown.
Task: Knowing that the platform rotates at a r P

constant rate of  = 0.4 rad/s and that the particle

starts from rest at r = 100 mm and  = 0o,
O
determine at the instant t = 2 s, the velocity and
acceleration of the particle.
Theory:
[a) v = 0.6ur + 0.24u m/s; b) a = – 0.02ur + 0.48u m/s2]

Assumption(s):
1.
Solution:
Worksheet 1-12 :
Problem Statement: The position of a racing car A is Data & Diagram:
tracked through a camera stationed at O as shown. x
Task: If the racing car passing at x = 0 with a speed A

of 250 km/s and is increasing uniformly at 10 m/s2,
calculate at the instant when x = 200 m 150 m
a) the velocity of the car, and
b) the angular velocity and angular acceleration of 
the camera. O
[a) v = 63.25 i m/s; b)  = 0.1518k rad/s,  = – 0.0374k rad/s2] Assumption(s):
Theory:
Solution:
Worksheet 1-13 :
Problem Statement: A smooth roller P moves along Data & Diagram:
a grooved horizontal slot as shown. The slot is in a
spiral form defined by the equation r = 0.12 m, r = f()
where  is in radians.

Task: Knowing that arm OA which is initially at rest B
is rotating at a constant angular acceleration of  = A O
r
0.5 rad/s2, determine at the instant when  = 180o
a) the time taken by arm OA from  = 0o to 180o,
b) the velocity of roller B, and Assumption(s):
c) the acceleration of roller B. 1.
Theory:
[a) t = 3.54 s; b) v = 0.701 m/s; c) a = 1.467 m/s2]

Solution:
Worksheet 1-14 :
Problem Statement: At the bottom of a loop in the Data & Diagram:
vertical plane, an airplane has a horizontal velocity O
of 120 m/s and is speeding up at the rate of 25
m/s2. The radius of curvature of the loop is 2.4 km
while the radial distance of the airplane from the 2.4 km
radar is 1000 m and  = tan– 1(4/3). The plane is
being tracked by radar at O. t
B v = 120 m/s
Task:
a) Determine the velocity and acceleration of the y
airplane using n-t coordinates, and r
b) What are the recorded values of r , r ,  and
 for this instant? 
[a) v = 150 m/s →, a = 27.41 
m/s2 b) r = 120 m/s, r =
24.2o; E x
 
34.8 m/s ,  = – 0.09 rad/s,  = – 0.0156 rad/s2]
2
1.
Solution:
EXERCISE 1.0: Kinematics of Particles

A: Understanding Question
A-1 Which statement correctly define the meaning of kinematics of a particle?
A. The study of motion of a particle under the action of forces.
B. The study of motion of a particle without a regard to the cause of motion.
C. The study of geometry of a particle when forces are applied on it.
D. The study of the interaction of forces on a particle.
A-2 In the study of dynamics, which statement is correct?

A. A particle is a rigid body when its size and shape are insignificant.
B. A particle is a small object whose size and shape are insignificant.
C. A particle is an object whose mass and size can be neglected.
D. A particle is a rigid body without a size and shape.
A-3 In engineering dynamics, which physical quantities are fundamental in SI system?

A. Force, mass, and time
B. Mass, time, and space
C. Mass, time, and length
D. Force, mass, time, and length, temperature.
A-4 Motion of a particle in a straight path is called ______________ motion.

A-5 Motion of a motorbike along a curved path is called ______________ motion.
A-6 An object is released from rest at a certain position in the air. Which information is
correctly stated at this position?
A. v = 0 m/s; a = 0 m/s2 B. v = 0 m/s; a  0 m/s2
C. v  0 m/s; a = 0 m/s 2
D. v  0 m/s; a  0 m/s2
A-7 Block A moves to the right at v m/s and is decreasing at a m/s2. Which diagram represents
this statement correctly?
x a x a x a x a
A v A v A v A v
O O O O
A. B. C. D.
A-8 Match each of the given statements and vector expressions with the correct
diagram in Figure A-3 where the positive direction of the reference axis is as
indicated.
A. Block A moves to the right at 3 m/s and is increasing at 2 m/s2.
B. Block A moves to the right at 3 m/s and is decreasing at 2 m/s2.
C. Block A moves to the left at 3 m/s and is increasing at 2 m/s2.

D. Block A moves to the left at 3 m/s and is decreasing at 2 m/s2.
I. v = 3i m/s; a = 2i m/s2 III. v = 3i m/s; a = – 2i m/s2

II. v = – 3i m/s; a = 2i m/s2 IV. v = – 3i m/s; a = – 2i m/s2
x aA x aA x aA x aA
A vA A vA A vA A vA
O O O O
Figure A-8
A-9 Match each of the given statements and vector expressions with the correct
diagram in Figure A-4 where the positive direction of the reference axis is as
indicated.
A. Collar B moves upward at 2 m/s and is accelerating at 2.45 m/s2.
B. Collar B moves downward at 2 m/s and is decelerating at 2.45 m/s2.
C. Collar B moves upward at 2 m/s and is decelerating at 2.45 m/s2.
D. Collar B moves downward at 2 m/s and is accelerating at 2.45 m/s2.
I. v = – 2j m/s; a = 2.45j m/s2 III. v = – 2j m/s; a = – 2.45j m/s2

II. v = 2j m/s; a = 2.45j m/s2 IV. v = 2j m/s; a = – 2.45j m/s2
vB vB vB vB
aB aB aB aB
B B B B
y y y y
O O O O
Figure A-9
A-10 For motion of an elevator, when does it have a) no acceleration, b) an upward

acceleration, and c) a downward acceleration? Explain with simple illustrations.
A-11 When the tip of a robot arm undergoes a rectilinear motion, its acceleration can be
specified in 5 different ways. What are they?
A-12 A small rigid body moving with a constant velocity is said to have a _____________
motion.
A-13 A car having a constant acceleration undergoes a __________________________
motion.
A-14 In one of the experiments, a mechanical engineering student in the 3 rd semester

observed a sliding block on the vertical rod. Write down all kinematics equations for
the following situations: a) if the block had a constant velocity as it slid down the
vertical rod, and b) if the block had a constant acceleration.
A-15 The motion of one body, which directly causes the motion of another body via some
forms of connection, is known as ____________ motion. Draw simple diagrams to
illustrate this type of motion for cases of a) one degree of freedom (1DOF) and b)
two degree of freedom (2DOF) systems.
A-16 Slider A moves to the right at 3 m/s while at the same time block B moves to the left
at 2 m/s along the same path. What is the velocity of slider A relative to block B at
this instant?
A. 5 m/s to the right B. 1 m/s to the left C. 1 m/s to the right D. 5 m/s to the left
A-17 For a bicycle moving along a curved indoor track, what are the reference coordinate
systems that can be used to analyze the motion of this bicycle? For each set of
these references write down the expression for its position, velocity, and
acceleration.
A-18 A fireball is fired by a cannon and travels in the air for sometimes before it hits the
level ground. What type of motion does the fireball have? With the help of a simple
diagram, describe this motion clearly and write down all kinematics equations for
this motion.
A-19 What components of acceleration will a train have when it is speeding along a
circular track?
A-20 A collar may slide freely on a rotating rod in a horizontal plane. What reference
coordinate system would be best in order to analyze the motion of this collar? Use a
simple sketch to help you in your answer.
A-21 Motion of one body with respect to another body may be studied through
_________________ analysis and it is best performed using a ___________
approach. With the aids of a simple diagram, draw a system of two independent
bodies to show this type of motion.
A-22 For the given motion of (i) a stationary collar P, and (ii) a moving collar P on the
rotating arm AB, explain how different the absolute velocity and acceleration of the
collar P are for the two cases.
y y
,  , 
A B A B
x x
O O r, r
P P
r r
(i) Stationary P (ii) Moving P
A-23 For each of the given mass-pulley systems, a) define the appropriate coordinates
required in the motion analysis of the system by showing a reference point or
datum, positive sense of the reference axes, and b) obtain the expressions for (i) the
cable length, and (ii) the corresponding velocity and acceleration equations.
A
A
C
Counterweight
Counterweight
B C
B D
Asansor D
Motor or Drive Asansor E
Motor or Drive
(c) (c)
s
h
H
D B  A
D C
B
b A
E
(d) E (e)
State whether each of the following statements is True (T) or False (F).
A2-1 A projectile motion occurs when an object moves along a curve path in the air
with no force acting on it.
A2-2 When two bodies are moving, there is only a relative velocity and no relative
acceleration between them.
A2-3 When a particle has a constant acceleration motion along a straight path, its
velocity at any instant of time depends only on its displacement and initial
velocity.
A2-4 When a body undergoes a curvilinear motion, its velocity is always tangent to the
path, but not its acceleration.
A2-5 In curvilinear motion, the absolute acceleration of an object measured either in
the x-y, r-, or t-n coordinate systems at any time instant will always be the same.
B: Analysis Question
Rectilinear Motion
1-1 A car which is initially 70 m from its origin is cruising due South on a cold night along
a straight road at a constant speed of 54 km/h. Sketch a simple diagram representing the
car and its motion. Show and label your reference axis clearly. Express a) the velocity of
the car, b) its displacement, and c) its position when t = 5 s. Use proper symbols,
notations, and units.
[a) T1 = 750g N; b) T2 = 1250g N; c) Cx = 0 N, Cy = 2000g N ; and M = 62.5g Nm CW] Figure P1-1
1-2 Starting from rest at the dock, a racing boat is accelerating constantly to the left of
the dock in a straight path at the rate of 25 m/s2. Sketch a simple diagram representing
the boat and its motion. Show and label your reference axis clearly. Determine a) the
position and velocity of the boat when t = 10 s, b) the time taken and the corresponding
position for the boat to reach 100 m/s, and c) the time for the boat to come to a
complete stop after reaching the 100 m/s speed and is decelerating at the same rate. Use
proper symbols, notations, and units for all quantities.
1-3 A motorcycle moves along a straight road with an initial speed of 40 km/h and a
constant acceleration of 2 m/s2. What is the velocity of the motorcycle when t = 5 s?
What is its displacement during this time interval? Also determine the time needed to
stop this motorcycle.
1-4 Car A moves with the initial velocity of 15 m/s at an acceleration given by 2.5t m/s2
where t is time in seconds, while car B which is 100 m ahead of car A starts moving from
rest at a constant acceleration of 10 m/s2. If both cars start at the same time and move in
the same direction, determine whether car A will eventually overtake car B. If yes, at
what position and time?
1-5 An object travels in a medium with an initial speed of 20 m/s and experiences a
deceleration of 4t m/s2. Determine the distance traveled and the time taken by the
object before it stops.
1-6 A particle moves in the x-y plane such that its displacement may be expressed in
two components, namely
x = t3 – 2t2 + 2 and 4y = x2 – 2t2
Determine the velocity and acceleration of the particle when x = 4 cm/s.

1-7 An object is moving in a straight path according to v2 = k/x where v is the velocity in
m/s, x is the distance traveled in m, and k is a constant. Knowing that at time t = 0 s, the
velocity is 2 m/s, and its position is 2 m, determine the velocity of the object at t = 3 s.
1-8 In certain experiment of a newly-designed parachute, the acceleration of the falling

parachutist is given by a = -0.4v1.5. Show that the displacement x, velocity v, and time t of
the parachutist can be related by equation x = t v o v where vo is the initial velocity and xo
= 0 m. What was the falling distance of the parachutist in 3 s if his initially velocity was 25
m/s?
1-9 A particle moves in a straight path with velocity described by v = – 3x2 where x is in
m. Determine the position of the particle when t = 1 s knowing that x = 0.5 m when t = 0
s.
1-10 A motorcycle starts from rest and accelerates uniformly to a speed of 80 km/h over
a distance of 500 m. Calculate the acceleration and time taken. The brakes are now
applied to bring the motorcycle to rest under a uniform retardation in 5 s, find the
distance traveled during the braking.
1-11 At the instant shown, luggage A is moving to the right on a conveyor belt at 2 m/s
and is decelerating at 4.5 m/s2, while luggage B is moving at 3 m/s to the left and is
decelerating at 7.5 m/s2. Using the proper symbols and notations, determine and express
at this instant
a) the position of luggage A and B from the origin O,
b) the position of luggage B relative to A,
c) the velocity of luggage A and B,
d) the velocity of luggage B relative to A,
e) the acceleration of luggage A and B, and
f) the acceleration of luggage B relative to A.
Also draw or show each of these vectors clearly on the diagram.
B A
x
O
30 m 50 m
1-12
Consider a simple mass-pulley system as shown.
Task: Knowing that block B moves downward at a

speed of 10 m/s and is increasing uniformly at 5
m/s2, determine
a) the velocity and acceleration at which block A is B
raised at this instant,
A
b) the displacement of block A after 2 s, and
c) the velocity of block A relative to block B when t
= 2 s.
1-13
The mass-pulley system shown is initially at rest.
Task: Knowing that block B is pulled leftward at a

speed of 4 m/s and is increasing at 10t m/s2 where
t is time in s, determine at the instant when t = 2 s h
a) the velocity and acceleration at which block A is A
raised,
b) the displacement of block A, and B
c) the velocity of block A relative to block B.
Impulse-momentum equation
Example 2-1 :
Problem statement: The mass-pulley system Data & Diagram:
shown is at initially rest when a constant
force P = 30g N (where g = 9.81 m/s2) is
applied to collar A which may slide freely
on the horizontal guide rail. Neglect the
effect of friction in the pulleys and use mA =
30 kg and mB = 12 kg.
Find: A
a) Draw the impulse-momentum diagram
for the cart A and block B by showing all P
components acting on them clearly,
b) Determine the time at which the
velocity of collar B will be 2.0 m/s to the
right, and the corresponding tension in
the cable.
B
Theory:
Kinematics: length of cable = constant
Kinetics: mv1 +  Imp1-2 = mv2 Assumption(s):
1. Neglect air resistance
2. Frictionless pulleys.
1-14
For the mass-pulley system shown, determine the
A velocity of block A knowing that block B is moving
upward with a speed of 5 m/s. If block B has
displaced 2.5 m, what is the displacement of block A
during this same period of time?
Figure P1-14 [a) T1 = 750g N; b) T2 = 1250g N; c) Cx = 0 N, Cy = 2000g N ; and M =]
1-15
Consider the mass-pulley system as shown. If cart A
is moving to the right at a constant speed of 12
Datum mm/s, determine the velocity of block B. How long
sB
sA does it take for block B to move upward 200 mm
B sC
and what is the displacement of cart A at the same
A
instant, and in which direction?
C
1-16
A mass-pulley system consists of block A on an

inclined surface and block B which is connected by
a cable through pulleys as shown. The system is
initially at rest. Knowing that block B accelerates
downward constantly at 3 m/s2, determine at the A
instant when t = 4 s
a) the velocity and acceleration at which block A is 
pulled, and B
b) the velocity and acceleration of block B relative
to block A.
1-17
For the mass-pulley system consists of two blocks
A and C connected by a cable through pulleys and
collar B as shown. C
Task: Determine the velocity and acceleration at

A
which block A is raised if the roller B moves
downward with the speed of 2 m/s and is B
increasing at 3 m/s2, and block C moves upward at
Copyright ZAR Dynamics Corp.
the constant speed of 4 m/s.
1-18
A system consists of two blocks A and B connected
via a cable as shown. The system is initially at rest
when suddenly a force (not shown) is applied to B
block A causing it to move to the right at a constant
acceleration of 3 m/s2. A
a) Determine at this instant the acceleration of
block B.
b) What is the velocity of block B when t = 2 s?
1-19
The motor at C pulls in the cable with an
C
acceleration aC = 3t2, where t is in seconds while D B
D
the motor at D draws in its cable at aD = 5 m/s2. If A
both motors start at the same instant from rest
d=2m
when d = 2 m, determine
a) the time taken for d = 0, and
b) the relative velocity of block A with respect to

block B when this occurs
1-20
Block B which is on the platform A is hold in the vertical position via inextensible cable to
towing cart C which is also tied by a cable to the back of the pickup truck as shown. The
system is initially at rest when the truck suddenly accelerates forward at the constant
rate of 2.5 m/s2. Determine at the instant when the truck is pulling block C,
a) the acceleration of platform A and block B, and
b) the velocity of towing cart C relative to platform A after the truck has moved 20 m.
B
A
1-21
A motor is used to drive slider A on a horizontal Data & Diagram:
guide using a mass-pulley system arranged as D C
shown. The system is initially at rest when
suddenly the motor is drawing in a cable with
an acceleration of 7.5t m/s2 where t is time in s. 3m
a) Determine at this instant the acceleration of
slider A.
b) What is the velocity and acceleration of the B
A
slider when it has reached point B and the 4m
time taken.
1-22
Find the velocity and acceleration of Block A if

Block B moves 4 cm/s upward with an acceleration
of 3 cm/s2 and Block C moves 8 cm/s downward
with a deceleration of 2 cm/s2.
C
Curvilinear Motion
1-23
A ball is kicked from the ground with an initial
speed v0 = 20 m/s at an angle of  = 40o. Find
the maximum height and the maximum distance vo
that the ball will reach before it hits the ground. A 
Also determine the velocity of the ball just B
before hitting the ground. b
1-24
The water nozzle ejects water horizontally at an
A
initial speed v0 from point A located 3 m above
the ground. If the water stream just passes over B
the wall at B and hits the ground at C, determine 3m
1.8 m
a) the value of v0, and C
b) the distance d.
12 m d
1-25
A bullet is fired from a military tank with an
vo
initial speed v0 from its turret at point A located A 
h m above the ground as shown. If the missile C
hits the target at C, determine a) the value of v0 h
for  = 40o,  = 30o, c = 300 m, and h = 200 m. 
B
1.5 km c
1-26
C A fire broke on the second floor of a building
and a fire hydrant squad is attempting to it off
2.4
vo B
by spraying a water jet through the window
A opening as shown where all dimensions are in
 13.2
1.5 m. Determine the value of vo and  for the
water stream to pass through a) the lower
20
edge, and b) the upper edge of the window.
1-27
A package which is initially at rest at t
A on an industrial conveyor belt
moves with a constant acceleration of
6 m/s2. Determine the total n
acceleration of the package when it C
has arrived at position B and C. 2.1 m
A s B
4m
1-28
At the instant when  = 60o, robotic arm AB y
with tip P rotates counterclockwise at the P
rate 2.5 rad/s and is decreasing at 10 rad/s2
1.2 m B
about A while arm OA remains horizontal as
shown. Determine at this instant, the

velocity and acceleration of tip P.
O A
[v = 3 m/s, a = 14.15 m/s2] Figure P1-28
1-29
Arham, a 3rd semester mechanical engineering at UiTM, is maneuvering his Yamaha Y150
near the roundabout at Section 2, Shah Alam. If he maintains his speed of 60 km/h from
A to B and is accelerating at the rate of at = 0.15t m/s2 from B to D where t is in seconds,
determine his velocity and acceleration when he is at B, C, and D.
D
C 50 m
o
75o 70
30 m
A s B
100 m
1-30
At the instant shown, trailer A is moving due D C

north at 120 km/h and is decreasing at a
constant rate of 5 m/s2 while car B is travelling a
curved path at 70 km/h and is increasing at the
constant rate of 2.5 m/s2. At the same time, B
pick-up truck D is cruising due west at a 130 m 100 m
constant acceleration of 40 m/s2 and has a 30o
speed of 90 km/s as it passes through point C. 40o
Draw the corresponding velocity and E
acceleration vectors on each of the vehicles at y
their respective positions when t = 2 s. Express
each of the velocities and accelerations using x
A
the rectangular coordinates as shown.
1-31
Particle P moves outward along the slot in the
A rotating arm OA with a speed of r = 3t m/s where t
is in seconds as shown. Knowing that the arm
r P rotates at a constant rate of  = 10 rad/s and that
the particle starts from rest at r = 100 mm,

determine the magnitude of its velocity and
O
acceleration 1 s later.
1-32
A block of negligible size slides outward
along the slot in the circular platform with a
speed r = 4t m/s, where t is in seconds. At
the same time the platform rotates at a
 constant rate  = 6 rad/s. If the block starts
r
from rest at the center, determine at the
y instant when t = 1 s, a) the position of the
 block, b) the velocity of the block, and c) the
acceleration of the block.
x
Figure P1-32 [a) r = 2 ur m,  = 6 rad; b) 4 ur + 2 u m/s; c) – 64 ur + 48 u m/s2]
1-33
Arm AB with end effector tip P of a robotic
arm OAB is hydraulically actuated such that
at the instant considered where  = 60o and P
AP = 1.2 m it is extending at the constant
r B
rate of 4 m/s while rotating
counterclockwise at the rate of 2.5 rad/s and 
is decreasing at 10 rad/s2 while arm OA is
kept horizontal. Determine the velocity and O A x
acceleration of tip P at this instant.
[v = 5 m/s, a = 10.97 m/s2] Figure P1-33
1-34
A tracking device positioned at A is used in

order to track the motion of a rocket travelling
upward as it was launched from the launching
base at C as shown. Determine
a) the speed of the car in terms of b, , and  , B
and
b) the magnitude of the acceleration in terms of
r
b, ,  , and  .
What is the recorded value of r , r ,  , and  if 
the roller has a velocity of 15 m/s and is A
speeding up at a rate of 25 m/s2 and  = tan– C
1
(3/4) where b = 80 m. b
1-35
The pin P is free to move in a vertical B
plane and along the rotating rod OB. At
the instant shown, the pin has an upward
velocity of 1.5 m/s and is increasing at a
rate of 2.5 m/s2. Determine at this instant,
the values of r , r ,  , and  . P
r
15 cm

O
20 cm
[ r = , r = ,  =,  = ] Figure P1-35
1-36
The slotted arm OA rotates in a horizontal plane
with a constant angular velocity  =  during a O
limited interval of its motion and moves the
pivoted slider block B along the horizontal rail
h
guide as shown. Write the expressions for the 
magnitude of velocity vB and acceleration aB of
the pin B on the slider block in terms of .
[b) t = 1.971 s; T = 142.1 N] B
A
1-37
At the bottom of a circular loop, pin P B
attached to rod AP in the vertical plane A
20 cm
has a horizontal velocity of 1.5 m/s and is
increasing at a rate of 2.5 m/s2 as shown.
The pin P also may move freely in the
slotted rod OB through a small slider 1.50 m/s
P
block. The radius of the loop is 20 cm.
Determine at the instant when  = tan–
1(3/4) and r = 1 m, the values of r , r ,  ,
 O  r

and  .
[ r = , r = ,  =,  = ] Figure P1-37
1-38 A radar positioned near the air force base at A is used to track an airplane flying
vertically in a loop as shown in the figure. At the location when the airplane passes
through point B, its speed is 150 m/s and is speeding up at the rate of 25 m/s2,
and  = tan–1(3/4). Determine at this instant
a) the velocity of the airplane,
b) the acceleration of the airplane, and
c) the recorded values of r , r ,  , and  by the radar.
+t
+
+r
v
B +n
r
A   = 2 km
800 m
[ r = 90 m/s, r = 24 m/s2,  = 0.12 rad/s CCW,  = – 0.00835 rad/s2; Figure P1-38
(aB)t = 25 m/s2 and (aB)n = 11.25 m/s2; aB = 27.4 m/s2 65.8o ]
1-39
The rod AB rotates clockwise with a constant angular D

rate of 5 rad/s. A double collar C is pin-connected
together such that one collar slides over the straight
B
rod AB and the other over the curved rod DE. If the
curved shape is given by the equation r = (2.5 – cos )  C
m, where  is in radians, determine the magnitude of r
the velocity and acceleration of the double collar C
A
when  = 30o.
E
[v = 8.54 m/s, a = 31.5 m/s2] Figure P1-39
1-40
The vertical motion of slotted arm CD is controlled y
by the rotation of link AB through the motion of B
pin P along a circular path x2 + y2 = r2 where r = 400 C
P D
mm as shown.
y
Task: At the instant when y = 125 mm, arm CD has 
A
a constant upward velocity of 1.9 m/s, determine
r x
at this instant
a) the velocity and acceleration of pin P, and
b) the magnitude of  and  .
[a) vP = – 2i + 1.9j m/s, aP = – 20i m/s2; b)  = 6.9 rad/s,  = 15.62 rad/s2] Figure P1-40
1-41
The rod AB rotates clockwise with a constant angular D
rate of 5 rad/s. A double collar C is pin-connected
together such that one collar slides over the straight
B
rod AB and the other over the curved rod DE. If the
curved shape is given by the equation r = (2.5 – cos )  C
m, where  is in radians, determine the magnitude of r
the velocity and acceleration of the double collar C
A
when  = 30o.
E
[v = 8.54 m/s, a = 31.5 m/s2] Figure P1-41
1-42
y A slotted link OA is used to drive roller P along a

A grooved horizontal spiral guide defined by the
equation r = 0.42 m, where  is in radians. At the
instant when  = /4 rad, link OA is rotating at a rate
r P
of 5 rad/s counterclockwise and is increasing at 10
r = f()
rad/s2.
 x a) the radial and transverse components of the
O
velocity of roller P,
b) the radial and transverse components of the
acceleration of roller P.
c) the rectangular components of the velocity and
acceleration of roller P.
Figure P1-42 [a) vP = – 2i + 1.9j m/s, aP = – 20i m/s2; b)  = 6.9 rad/s,  = 15.62 rad/s2]
1-43
A grooved arm which carries a small sphere A is y
pinned at O and is constrained to move along
b
the circle of radius b as the arm rotates in a O
horizontal plane as shown. If the arm rotates at
x
a constant angular acceleration  = 0.75 r
rad/s2, a) derive the expression for the position 
r of the sphere as a function of time t, and b)
determine the velocity v and acceleration a at e A
the instant  = /5 rad.
1-44 A single-cart roller coaster which is initially moving at 30 m/s at A starts

accelerating at the constant rate of 1.5 m/s2 until its launching point at D.
a) Determine the time the roller coaster takes as it reaches point B and the
corresponding velocity in km/h,
b) Determine the time it takes, the velocity and the acceleration of the roller
coaster at point C and D in km/h.
c) Determine how far the roller coaster will be able to reach if the landing point is
located 10 m below point C, and also calculate the maximum elevation it will
reach above point D.
40 m
y y = 0.01x2
D
C
B x
60 m 20 m
End of Chapter 1

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Chapter 1

The motion of a particle can be divided into two types.

1-2 RECTILINEAR MOTION

1-2.1 Position, Velocity, and Acceleration of a Particle

Figure 1.1 Position coordinate of a particle in rectilinear

where s is in meter (m) and t is in second (s).

Figure 1.2 Average velocity of a particle motion in rectilinear

and this becomes

Figure 1.3 Average acceleration of a particle motion in

Using chain rule, we can write eq.(1.6) as

1-2.2 Describing Motion of a Particle

(1) The acceleration as a function of time, a = f(t).

Solution: The motion of the car can be illustrated as shown above.

x(4) = 3(4)2 + 1.5(4) = 54

(b) Similarly, substitute t = 4 s into eq.(2) and (3) to obtain

v = 6(4) + 1.5 = 25.5

 v = 25.5 m/s and a = 6 m/s2 [ans.]

To get the distance traveled s, we can further integrate using v = ds/dt,

s = 23.81 ln(1+1.05t) m [ans] (5)

(4) The acceleration is zero, a = 0 (v = constant): Uniform Rectilinear Motion.

When v = constant, we obtain from eq.(1.3),

(5) The acceleration is constant, a = constant: Uniformly Accelerated Rectilinear Motion.

When a = constant, we obtain from eq(1-1) through (1-3),

Uniformly accelerated rectilinear motion

1-2.3 Relative Motion of Particles

Figure 1.4 Relative motion of two particles in rectilinear

Let sA : position of A (absolute)

From Figure 1.4, we may write

sB = sA + sB/A or sB/A = sB – sA (1.12)

Its time derivatives give

Motion of car B. For car B having a constant acceleration of 3 m/s2, we write

a) when t = 4 s, we obtain from eqs.(1) and (2), respectively

and eq.(3), vB = 20 + 3(4) = 32 m/s

The position of the motorbike A relative to the car B at this instant is

 xA/B = 172 m → = 172 i m [ans]

The velocity of the motorbike relative to the car at this instant is

 vA/B = 7 m/s  = – 7 i m/s [ans]

200 + 25t = 20t + 1.5t2

 vA/B = 35 m/s  = – 35i m/s [ans]

1-2.4 Dependent Motion of Particles

We observe that the total length of the cable is

If the initial positions of the blocks (which are

Taking the time derivative of eq.(1.17) yields the acceleration

For this system, we can write the expression for the

From eq.(1.19) or (1.20), we obtain after taking the time derivatives

2sA + sB = constant (1)

Differentiating eq.(1) once and twice, yield respectively

(a) Substitute aB = 4 m/s2 into eq.(3) gives

aA = - 2 m/s2 [Ans] (3)

vA = – 0.894 m/s and t = 0.447 s [Ans]

(c) Since B also has a uniformly accelerated motion, we have for B

Substituting vB,o = 0 and t = 3 s into eq.(8), we have

xB Cable length. Defining the position

Differentiating eq.(1) once and twice, yield respectively

b) The velocity and acceleration of slider B relative to block A can be obtained by

 vB/A = 0.4 m/s → = 0.4 i m/s [ans]

and aB/A = aB – aA = – 1.2 – (– 0.5) = – 0.7 m/s

 aB/A = 0.7 m/s  = – 0.7 i m/s [ans]

Differentiating with respect to time yields:

b) aD/B = aD – aB = 0.2g – (– 0.6g) = 0.8g = 7.85 m/s2  [ans]

c) vA2 = vA,o2 + 2aA(xA – xA,o) = 02 + 2(0.2g)(0.1)

Find: Determine at the instant when block B

Differentiating eqs.(1a) and (2a) with respect to time yields