Kinematics of Particles

ENGINEERING
DYNAMICS
 PRINCIPLES OF DYNAMICS

- branch of mechanics that deals

with objects in motion

- the study of the geometry of - the study of the cause of

motion motion
KINEMATICS OF PARTICLES
 KINEMATICS OF PARTICLES
 Definition of Terms:
◦ Rectilinear Motion:
 motion along a straight line
◦ Position
 “x”
 the location of an object with respect to some
reference point
◦ Displacement
 “∆x”
 a change from one position to another
 KINEMATICS OF PARTICLES
 Average Velocity:
◦ the ratio of the displacement that occurs
during the particular time interval to that
time interval

 Instantaneous Velocity:
◦ the velocity at a particular instant
 KINEMATICS OF PARTICLES
 Average Acceleration
◦ the ratio of the change in velocity that
occurs during a particular time interval
to that time interval

 Instantaneous Acceleration
◦ the acceleration at a particular instant
Kinematics of Particles

UNIFORM
RECTILINEAR
MOTION
Uniform rectilinear motion Uniformly accelerated motion
Since ,
Knowing that and , we can

obtain the following relationship with

some manipulation:
Sample 4:
A car starts from rest and moves along
straight line with an acceleration of
a= (3s-1/3)m/s2, where s is in meters.
Determine the car’s acceleration when
t= 4s.

a= (3s-1/3)m/s2
 Graphical Solution

 velocity = slope of the x

x-t curve x2
x1
 acceleration = slope of
the v-t curve t1 t2
t
 Graphical Solution

v2
v1

t1 t2 t

 change in position = area under the v-t

curve
 Graphical Solution

a1
a2

t1 t2 t

 change in velocity = area under the a-t

curve
Sample 7:
A particle moves in a
straight line with the
acceleration shown in the
figure. Knowing that the
particle starts from the
origin with vo = - 2 m/s,
(a) construct the v-t and
x-t curves for 0 s < t <18
s, (b) determine the
position and the velocity
of the particle and the
total distance traveled
when t = 18 s.
 Flash is desperate to save a person in the past thru travelling
back in time using a rotating time warp machine. In order to do so, he
needs to rotate the rim to a speed of v = 650 m/s by running over the
bottom of it. However, Flash is not aware that doing so would trigger a
chain of events that would result to the destruction of the planet.
Meanwhile, another Flash from a parallel dimension warned Batman of
what is going to happen. Batman (200 m away) rushed towards Flash to
stop him. Using the a-t graph of Flash and the v-t graph of Batman
shown, determine whether Batman is able to stop flash or not. Assume
that both were at rest when t = 0.
. aFlash (m/s2) vBatman (m/s)
100 50
50
t (s) t (s)
5 10 5 10

200 m
Kinematics of Particles

CURVILINEAR
MOTION
  Average velocity:  Average acceleration:

 Instantaneous velocity:  Instantaneous acceleration:

* Velocity is tangent to the path. *Acceleration is neither tangent

nor normal to the path.

•Curvilinear motion is superposition of two simultaneous rectilinear

motions in the x- and y- directions.
•The equations for rectilinear motion can be applied separately to the x-
motion and to the y-motion.
Curvilinear Motion

PROJECTILES
1. The air has no effect on the motion of the projectile.
2. The horizontal motion and vertical motion are
independent of each other.
3. There is no acceleration along the horizontal motion.
The horizontal motion is therefore a uniform
motion.
4. The vertical motion is uniformly accelerated due to
gravity.
 Horizontal Motion
 Vertical Motion

 Equation of
Trajectory
 Range

*Range is the horizontal distance the projectile has traveled when it returns to its
original height
Sample 2:
Milk is poured into a
glass of height 140mm
and internal diameter
of 66mm. if the initial
velocity of the milk is
1.2m/s at an angle of
40° with the
horizontal, determine
the range of values of
the height h for which
the milk will enter the
glass.
Curvilinear Motion

TANGENTIAL
AND NORMAL
COMPONENTS
 Curvilinear motion can be described
using normal and tangential coordinates
that move along the path with the
particle.
 y t
n
j
en et

k i

x
z

 Similar to unit vectors i,j, and k in the

rectangular coordinate system, there are also
unit vectors and for the moving
coordinate system in curvilinear motion
Position: Acceleration:

*β is in radians
Velocity: But,

Since the direction of is

speed directed along ,
velocity
Substituting, Therefore,

From,
Notes:
 at reflects a change in the speed of the
particle.
 an reflects a change in the direction of the
motion of the particle.
 a of a particle moving with a constant speed
along a curve will never be zero unless:
1. The particle passes through a point of inflection
where the radius of curve is infinite, or
2. The curve is a straight line.
Notes:
 at is in the positive direction if v is increasing
and in the negative direction if v is
decreasing.
 at is always directed towards the center of a
curvature.
Curvilinear Motion

CIRCULAR
MOTION
Circular Motion
- special case of curvilinear s = rθ
motion
v= rω
t an = v2 / r
at
P
= rω2
r an
n = vω
O
at = rα
Sample 1:
Determine the maximum speed that the
cars of the roller coaster can reach along
the circular portion AB of the track if the
normal component of their acceleration
cannot exceed 3g.
Sample 3:
A motorist travelling along a straight portion of a highway is
decreasing the speed of his automobile at a constant rate before
exiting from the highway onto a circular exit ramp with a radius of
560ft. he continues to decelerate at the same constant rate so that
10s after entering the ramp, his speed has decreased to 20mph, a
speed which he then maintains. Knowing that at this constant
speed, the total acceleration of the automobile is equal to one
quarter of its value prior to entering the ramp; determine the
maximum value of the total acceleration of the car.
Kinetics of Particles

RELATIVE
MOTION
 y
A B B

rB rB/A
XA XB/A
A
XB rA
x

xB/A = xB - xA rB/A = rB – rA
vB/A = vB – vA
aB/A = aB - aA
Sample 1:
The velocities of a commuter trains A and B at
the instant are as shown.Train A is slowing at a
rate of 3m/s2 while train B has an acceleration of
2m/s2. After A passed through the same
crossing, determine the relative velocity of B
with respect to A
Kinematics of Particles

CONSTRAINED
MOTION OF
CONNECTED
PARTICLES
Taking the first and
second derivative,
 Note:
During the motion, broken segments
of the cord remains constant.

or,
Sample 1:
If the end of the
cable at A is pulled
down with a speed of
2m/s, determine (a)
the velocity of block
B, (b) the relative
velocity of portion E
of the cable with
respect to portion
D.
Sample 2:
The cable at B is
pulled downwards at
4ft/s, and is slowing
at 2ft/s2. Determine
the velocity and
acceleration of block
A at this instant.
Sample 3:
If the hydraulic cylinder at H draws in rod
BC at 2ft/s slowing at a rate of 4ft/s2,
determine the velocity and acceleration of
the slider at A
Kinematics of Particles:

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