12/09/2023

LECTURE 1: KINEMATICS OF A PARTICLE CONTENTS

1. Rectilinear motion:
• Position, velocity, and acceleration (scalars)
• Differentiation and analytical Integration

2. Curvilinear motion:
• Position, velocity, and acceleration vectors
• Rectangular components (Cartesian coordinates)
• Tangential and Normal components (Intrinsic coordinates)
• Radial and Transverse components (Polar coordinates)

3. Relative Motion (Translating axes)

Motion of P seen from O : Reference Frame (RF 𝒮)

trajectory Curvilinear motion

(in RF 𝒮)

𝑂
(RF 𝒮)

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Motion of P seen from O : Reference Frame (RF 𝒮)

𝑟Ԧ = 𝑂𝑃
trajectory 𝒂 𝑣Ԧ = 𝑟Ԧሶ tangent to trajectory
𝑎Ԧ = 𝑣Ԧሶ = 𝑟Ԧሷ inside the curve or tangent

𝒓
𝒗
𝑂
(RF 𝒮)

Plane Motion
2D
RECTANGULAR coordinates: perpendicular constant axes (𝑋, 𝑌)
𝑌
𝑌

𝑋
𝑌

𝑌
𝑃
𝑋

𝑋
𝒓
𝑂 𝑋
(RF 𝒮)

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Plane Motion
2D
RECTANGULAR coordinates: constant unit vectors 𝒊Ԧ, 𝒋Ԧ
𝑌

𝒓
𝒋Ԧ 𝒗
𝑂 𝑋
𝒊Ԧ
(RF 𝒮)

Plane Motion
2D
RECTANGULAR coordinates: 𝑟Ԧ = 𝑟Ԧ𝑥 + 𝑟Ԧ𝑦 = 𝑥Ԧ𝑖 + 𝑦Ԧ𝑗
𝑌
𝑣Ԧ = 𝑣Ԧ𝑥 + 𝑣Ԧ𝑦 = 𝑥Ԧሶ 𝑖 + 𝑦Ԧ
ሶ𝑗
𝒂
𝑎Ԧ = 𝑎Ԧ𝑥 + 𝑎Ԧ𝑦 = 𝑥Ԧሷ 𝑖 + 𝑦Ԧ
ሷ𝑗
𝒂𝒚

𝒂𝒙 𝑃 𝒗𝒙
𝒓𝒚 𝒓 𝒗𝒚
𝒋Ԧ 𝒗
𝑂 𝑋
𝒊Ԧ 𝒓𝒙
(RF 𝒮)

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Plane Motion
2D
INTRINSIC coordinates: perpendicular changing axes
𝑌 (normal 𝑛,tangential 𝑡)
𝑛

𝑛
𝑡 𝑛
𝑃

𝑡
𝒓 𝑡

𝑂 𝑋
(RF 𝒮)

Plane Motion
2D
INTRINSIC coordinates: changing unit vectors 𝒆𝒕 , 𝒆𝒏

𝑛
𝒂

𝑃
𝒆𝒏

𝒓 𝒆𝒕
𝒗
𝑂
(RF 𝒮) 𝑡

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Plane Motion
2D
INTRINSIC coordinates:
𝑣Ԧ = 𝑣𝑒Ԧ𝑡
𝑣2
𝑎Ԧ = 𝑎Ԧ𝑡 + 𝑎Ԧ𝑛 = 𝑣ሶ 𝑒Ԧ𝑡 + 𝑒Ԧ𝑛
𝒂 𝜌
𝑛

𝒂𝒕 𝑃
𝒆𝒏
𝒂𝒏

𝒓 𝒆𝒕
𝒗
𝑂
(RF 𝒮) 𝑡

Example:

24 m/s

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Plane Motion
2D
POLAR coordinates: perpendicular changing axes
(radial 𝑟,transverse 𝜃)
𝑟
𝜃

𝜃
𝜃
𝑟
𝑃
𝑟
𝒓
𝜃
𝑂
(RF 𝒮)

Plane Motion
2D
POLAR coordinates: changing unit vectors 𝒆𝒓 , 𝒆𝜽
𝜃

𝒆𝜽 𝑟

𝑃
𝒆𝒓

𝒓
𝜃 𝒗
𝑂
(RF 𝒮)

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Plane Motion
2D
POLAR coordinates: 𝑟Ԧ = 𝑟𝑒Ԧ𝑟
𝜃 𝑣Ԧ = 𝑣Ԧ𝑟 + 𝑣Ԧ𝜃 = 𝑟ሶ 𝑒Ԧ𝑟 + 𝑟𝜃ሶ 𝑒Ԧ𝜃
𝒂 𝒂𝜽 𝑎Ԧ = 𝑎Ԧ𝑟 + 𝑎Ԧ𝜃 =
= 𝑟ሷ − 𝑟𝜃ሶ 2 𝑒Ԧ𝑟 + 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ 𝑒Ԧ𝜃
𝒆𝜽 𝑟
𝒗𝒓
𝑃
𝒂𝒓 𝒆𝒓

𝒓
𝜃 𝒗𝜽 𝒗
𝑂
(RF 𝒮)

Example:
A tracking radar lies in the vertical plane of
the path of a rocket which is coasting in
unpowered flight above the atmosphere.
For the instant when 𝜃 = 30°, the tracking
data give r = 8 × 104 m, 𝑟ሶ = 1200 m/s, and
𝜃ሶ = 0.80 deg/s.
The acceleration of the rocket is due only
to gravitational attraction and for its
particular altitude is 9.2 m/s2 vertically
down.
For these conditions determine the speed
v of the rocket and the values of 𝑟ሷ and 𝜃.ሷ

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Example: Relative Motion (Translating axes)

𝜃 A
O

A and B initially at rest

t=0 A starts moving with constant acceleration 𝑎Ԧ𝐴
B starts falling down the ramp 𝑎Ԧ𝐵 =?

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A
O

t=t1

A
O

t= t2

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B
A
O

t= t3

𝑎Ԧ𝐴 absolute motion of A (relative to O)

A
O

𝑎Ԧ𝐴

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𝑎Ԧ𝐵/𝐴 relative motion of B (relative to A)

𝑎Ԧ𝐵/𝐴
𝑎Ԧ𝐵/𝐴 constant
𝜃 A
O

absolute motion of B (relative to O)

𝑎Ԧ𝐵/𝐴 𝑎Ԧ𝐵

O
𝑎Ԧ𝐴
𝑎Ԧ𝐵/𝐴 𝑎Ԧ𝐵 = 𝑎Ԧ𝐴 + 𝑎Ԧ𝐵/𝐴
𝜃 𝑎Ԧ𝐴

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