ME2112 Presentation Slides Week 09

Engineering Mechanics: KINEMATICS
• ME2112
• Prof. Dr. Dinh Van Phong
• Group of Applied Mechanics,
Department of Mechatronics,
Engineering
School of Mechanical Engineering
Mechanics: • C3/307-308 (C1/224)
Part 1 • Hanoi University of Science and
Technology
• Email: phong.dinhvan@hust.edu.vn
• 0903200960/ (024) 36230949
Nguyen Quang Hoang

1 Department of Applied Mechanics
Chapter 1
KINEMATICS OF PARTICLES
General Curvilinear Motion
◼ The particle moves along a curved

or in special case: along straight line: rectilinear motion
◼ Vector presentation: r , v, a or r , v ,a
◼ 3 types of coordinate systems

• Cartesian coordinate systems (Rectangular components)
• Normal and tangential components (Natural coordinates)
• Cylindrical components (special case for 2D: Polar coordinates)
Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering 3

General Curvilinear Motion
◼ Velocity represented by a vector:

r d
v = lim = r=r
t →0 t dt
(tangent to the path)
◼ Vector acceleration (not tangent to the path):
v dv
a = lim = =v
t →0 t dt
d 2r
a =
dt 2

Topics
◼Two basic quantities of Particle Kinematics

• Velocity and Acceleration of a Particle
• Relativity of motion of a Particle – Velocity addition
◼ Cartesian Coordinates
• Velocity and acceleration of a Particle in Cartesian coordinate
system
• Rectilinear Kinematics
◼Normal and tangential components
• Geometric Properties of a Curved Path
• Normal and tangential component of Velocity and Acceleration
◼Method of polar Coordinates / cylindrical coordinates

/ spherical coordinates

1. Velocity and Acceleration of a Particle
Considering a Particle P in space, the

position of P relative to fixed point O:
trajectory
P
r r (t ) – position vector
Trajectory of P is a line that the point P
draws in the space. r (t )
O
Rectilinear Trajec. Curvilinear Trajec.
Rectilinear Motion Curvilinear Motion

Velocity vector: characterizes the position change of

the particle over time.
P r P’
Assume that motion of P during time t is
r (from P to P’), average velocity of the
particle in this period time t : r(t) r+r
O
r
vaverage - unit [m/s]
t v
P
Velocity at time point t
r dr r(t)
v lim r
t 0 t dt O Velocity tangent
to the trajectory

Acceleration vector: characterizes the v(t)

velocity change of the particle over time. P
v(t+t)
Assume that the change of velocity in time
period t is v, average acceleration of r(t) v
the particle in this period time t :
Accel. vector toward
O
v v (t t) v (t ) the concave side of
aavg . the trajectory.
t t [m/s2]
acceleration at time point t
v dv
a lim v r
t 0 t dt
Motion: faster or slow down
d 2 0 Faster
v 2v a
dt 0 Slow down
Velocity and acceleration
d d d d
v= r= (x i) + (y j) + (z k)
dt dt dt dt
Rectangular d dx di
(xi) = i+x
component of dt dt dt
d
velocity and v =
dt
r = xi +y j+zk
acceleration a=
dv
= a x i + ay j + a z k
dt
Since i,j,k are constant

2. Method of Cartesian Coordinates
- Equations of motion z
P
x x (t ), y y(t ), z z (t )
r(t)
- Position vector ez
r = xex + yey + zez ex O

ey y
- Velocity vector
x
v xex yey zez
v x2 y2 z2 .
- Acceleration vector
Faster or slow down motion
a xex yey zez
0 Faster
a x2 y2 z2. v a xx yy zz
0 Slow down
Example (parabola motion of a particle)
Motion of a bullet in vertical plane (subjected to gravity)

x (t ) v 0t cos y
y(t ) v 0t sin 1
2
gt 2
P
v0 , , g const
e y v0
Determine: trajectory, maximum 

height, and maximum distance. O ex x
Ans.
Eliminating the time variable t in the two motion equations of x and
y, we get
x sin g
t y x x2
v0 cos cos 2v 02 cos2

Example (cont’)
y
Determine velocity and acceleration P
x (t ) v0t cos e y v0
1 2
y(t ) v0t sin gt 
2 O ex xmax
vx d
dt
x v0 cos ax 0
sin g
vy d
dt
y v0 sin gt ay g y x x2
cos 2v 02 cos2
Determine: maximum height and distance from trajec. equation:

2 sin cos v02
y(x max ) 0 x max 2v 0 sin 2
g g
sin 1 g
y max y( x max )
1
2
( 2 x max ) 2 2
( 21 x max )2 ...
cos 2v cos
0
2. Method of Cartesian Coordinates: rectilinear motion
- Equations of motion x
x x (t ), r (t ) x (t )ex
O M x
- Velocity
v xex v x
- Acceleration
a xex a x. Uniform motion
v const, x x0 vt
Faster / slow down motion
0 Faster Motion with constant acceleration
v a xx
0 Slow down
a const, v v0 at
x x0 v 0t 1
2
at 2
Example 1.
Given v(t) of a car. Determine the

acceleration and traveled v = 3t 2 + 2t [m/s]
distance after 3 second.
d
a(t ) = v(t ) = 6t + 2, m/s2
dt a(t = 3) = 20, m/s2
d
v(t ) = s(t ) = (3t 2 + 2t ), ds(t ) = v(t )dt = (3t 2 + 2t )dt
dt
3 3
s(t ) − s 0 =  v(t )dt =  (3t 2 + 2t )dt = t 3 + t 2  s(t ) = t 3 + t 2
0 0
s(t = 3) = 27 + 9 = 36 m
Example 2
Find the trajectory equation, velocity, and acceleration from

the equations of motion given in the Cartesian coordinate
system as 3
x = t + 2,
3
y = 3 −t .
Ans.:
Eliminating the time variable t in the two motion equations of
x and y, we get
x +y =5 Rectilinear motion
Velocity and acceleration:

vx = x = 3t 2, vy = y = −3t 2  v = vx2 + vy2 = 3 2t 2
ax = x = 6t, ay = y = −6t  a = ax2 + ay2 = 6 2t

3. Method of natural coordinates: curvilinear motion
Concepts related to curved path: osculating plane

at point P, the curvature, the radius of curvature, e
the natural coordinate system.
The osculating plane at point P n
en 
Let P and P’: two points on the path. e
s
If the distance s = PP is small enough: the arc PP can be

considered as a planar arc.
The plane containing this arc is the osculating plane of the trajectory at P.
For a planar curve: The osculating plane is the plane containing the
curve.

The curvature at P
 d e
k = lim =
s →0 s ds
The radius of curvature at P: e
1
=
k
E.g., a circle trajectory has a r

constant curvature
1
k = = const
r
Natural coordinates
e
On the osculating plane at P: n
• Tangential axis  (unit vector e ) en 
• Normal axis n (unit vector en ) e
s
and outside the plane: eb
• Binormal axis b (unit vector eb )
eb = et  en
Remark: Right handed coordinate system (axes): t,n,b (12312312….)

Equation of motion of P eb
s = s(t ) s(t) P ds et
Velocity of P
P0 r+dr
dr ds r
v = = et = set , v =s en
dt dt O
Acceleration of P dr = etds
dv d det
a = = (set ) = set + s dr / ds = et
dt dt dt
P et
det P‘ e
= ??? en t'
dt
Acceleration of P (cont.)
det P et
det = ???
a = set + s dt P‘
dt d et '
en
det = et  − et det
a = set + (s /  )en 2
= 1den
a = at + a n det d d ds 1
at = set , = en = en = sen
dt dt ds dt 
an = (s 2 /  )en
P
at
at = s = v,
a
an = s / , 2
ab = 0 an
Example
v
The motion of point P, moving on an et
arc of a circle of radius R, governed by
s(t) = at2/2. Determine the velocity and P
acceleration of P at t = 2 s. R
s(t)
Solution en
v = set = atet , P0
v (t = 2) = 2aet m/s at
s2 (at )2
a = v = set + en = aet + en , P
R R R
4a 2
a (t = 2) = aet + en , m/s2
R P0
an
Example
The equations of screw motion of P is written in the Cartesian

coordinate system as
x = r cos t, y = r sin t, z = pt
r , , p = const
Determine:
• velocity, tangential
acceleration, normal
acceleration of P
• radius of curvature
P

Solution
Velocity: x = −r  sin t, y = r  cos t, z = p
v = x 2 + y 2 + z 2 = r 2 2 + p2 = const
Acceleration:
x = −r2 cos t, y = −r2 sin t, z =0
a = x 2 + y 2 + z 2 = r  2 = const
at = v = 0  an = a = v 2 /   a 2 = at2 + an2
Radius of curvature:
r 2 2 + p 2
 = v / an =
2
r2

Example (textbook)
The boxes travel along the

industrial conveyor. If a box starts
from rest at A and increases its
speed such that at = (0.2t) m/s2,
where t is in seconds, determine the
magnitude of its acceleration when
it arrives at point B.

Solution
Coordinate System
The position of the box at any instant is defined from the
fixed point A using the position or path coordinate s, hence
the origin of the n, t axes is at this point A.
Since vA = 0 when t = 0, then velocity and acceleration can be

evaluated at any point:.
v t
at = v = 0.2t v = 0.1t 2
 dv =  0.2tdt
0 0
The time needed for the box to reach point B can be determined
by realizing that the position of B is sB = 3 + 2(2)/4 = 6.142 m,

Solution (…)
sB = 6.142 m and from the expression for s:

6.142 tB
ds
 ds =  0.1t dt
2
v= = 0.1t 2
dt 0 0
6.142 = 0.0333 tB3
tB = 5.690 s
Fig 2.16c
Substituting to the expression for velocity and tangent acceleration at point B yields:
(aB )t = vB = 0.2(5.690) = 1.138m / s 2 vB = 0.1(5.69)2 = 3.238m / s 2
At B, ρB = 2 m, so vB2
(3.238m/s)2
(aB )n = = = 5.242m / s
that B 2
The magnitude of aB
aB = (1.138)2 + (5.242)2 = 5.36m/s2

4. Polar coordinate system
Coordinates r = r(t ),  = (t )

M
Unit vectors er , e
r
e er
Position vector r = r (t )er 
O x
Velocity vector de = −1der der = 1de

d d
v = r = [r (t )er ] e
dt dt er
der d
= rer + r d
dt O
der d
= e = e
v = rer + re = vr + v , dt dt
d de = −1der der = 1de

er = e = e
dt e
d er
e = − er = −er d
dt d
O
Acceleration vector
v
d
a = v = (rer + r e )
dt a
M
= rer + rer + r e + r e + r e e r

 er

= (r − r  )er + (r  + 2r  )e
2
x
O
Consider a circular motion r = const  r = 0, r =0
v = rer + re = re
y y y
a
v
rM
M M ar M
er
e   
O x O x O x
a = (r − r  2 )er + (r  + 2r  )e
a = (−r 2 )er + (r  )e
= an + at

Relationship btw. Polar and Cartesian coordinate systems
r = r (t )er y
x M = r cos  yM M
yM = r sin 
r
e er

x M = r cos  − r sin 
x
yM = r sin  + r cos  O xM
x M = (r − r 2 ) cos  − (r + 2r ) sin 

yM = (r − r 2 ) sin  + (r + 2r ) cos 

EXAMPLE
Given: The platform is rotating such

that, at any instant, its angular
position is  = (4t3/2) rad, where
t is in seconds.
A ball rolls outward so that its
position is r = (0.1t3) m.
Find: The magnitude of velocity and acceleration of the ball when t = 1.5 s.
Hint: Use a polar coordinate system and related kinematic equations.

EXAMPLE (continued)
Solution:
𝑟 = 0.1𝑡 3 , 𝑟ሶ = 0.3 𝑡 2 , 𝑟ሷ = 0.6 𝑡
𝜃 = 4 t3/2, 𝜃ሶ = 6 t1/2, 𝜃ሷ = 3 t−1/2
At t=1.5 s,
r = 0.3375 m, 𝑟ሶ = 0.675 m/s, 𝑟ሷ = 0.9 m/s2
𝜃 = 7.348 rad, 𝜃ሶ = 7.348 rad/s, 𝜃ሷ = 2.449 rad/s2
Substitute into the equation

.
for velocity
.
v = 𝑟u ሶ r + r 𝜃ሶ uθ = 0.675 ur + 0.3375 (7.348) uθ
= 0.675 ur + 2.480 uθ
v = (0.675)2 + (2.480)2 = 2.57 m/s

EXAMPLE (continued)
Substitute in the equation for acceleration:

.. . .. . .
a = (𝑟ሷ – r 𝜃ሶ 2)u
r + (r 𝜃ሷ + 2 𝑟ሶ 𝜃)ሶ uθ
a = [0.9 – 0.3375(7.348)2] ur
+ [0.3375(2.449) + 2(0.675)(7.348)] uθ
a = – 17.33 ur + 10.75 uθ m/s2
a = (– 17.33)2 + (10.75)2 = 20.4 m/s2

5. Cylindrical Coordinate System
Coordinates zM
r = r (t ),  = (t ), M
z = z (t ) r
ez
Position vector e z 
r = rer + zez O r yM
xM  er
Velocity vector
v =r er = e ,
= rer + rer + zez + zez e = −er ,
= rer + re + zez ez = 0
Acceleration vector
a = v = (r − r 2 )er + (r + 2r)e + zez

5. Cylindrical Coordinate System
Relationship btw. Cylindrical and Cartesian coordinate systems

x M = r cos  zM
yM = r sin 
zM = z M
r
ez
x M = r cos  − r  sin  e z
yM = r sin  + r  cos  O r yM
zM = z
xM  er
x M = (r − r  2 ) cos  − (r  + 2r  ) sin 
yM = (r − r  2 ) sin  + (r  + 2r  ) cos 
zM = z

6. Spherical coordinate system
Coordinates z
r = r(t ),  = (t ),  =  (t )
P
Conversion to Cartesian coordinates 
r
x M = r sin  cos 
yM = r sin  sin  
z M = r cos 
x
y
Velocity components
x M = r sin  cos  + r cos  cos  − r sin  sin  x =

yM = r sin  sin  + r cos  sin  + r sin  cos   M
 yM =
z M = r cos  − r sin  z M =


6. Spherical coordinate system
Coordinates zM
r = r(t ),  = (t ),  =  (t ) M
Conversion to Cartersian coordinates r

x M = r sin  cos 
yM = r sin  sin  O
z M = r cos   yM
xM
Velocity components
x M = r sin  cos  + r cos  cos  − r sin  sin 
yM = r sin  sin  + r cos  sin  + r sin  cos 
z M = r cos  − r sin 
Acceleration components x M = x (r , ,  , r , ,  , r , ,  )
yM = y(r , ,  , r , ,  , r , ,  )
z M = z (r , ,  , r , ,  , r , ,  )

Chapter 2
FUNDAMENTALS OF
RIGID BODY KINEMATICS
Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering

KINEMATICS OF RIGID BODIES
Content
1. Overview on the motion of a rigid body

2. Translation: definition, examples, properties
3. Rotation:
• Angular velocity and angular acceleration
• Addition theorem for angular velocity
4. General spatial motion
• Decomposition into translation and rotation about a point.
• Kinematics characteristics.
• Velocity and acceleration of points on the body.

The spatial position of a rigid body is B

determined by the position of point A z
and the orientation of the body.
rA A
If the orientation of the body is
unchanged while it moves, it is in O
translational motion. x y
If A is fixed while the body moves, the body rotates about a

fixed point.
If both the position of A and the orientation of the body change,

the body exhibits general (spatial) motion.

Motion of a point Motion of a rigid body

z z B
P
rP rA A
O O
y x
x y
• Translational motion
• On a plane or in the space
• Rotational motion about a fixed point / fixed
• Rectilinear or curvilinear
axis
trajectory
• General spatial motion
• Velocity and acceleration
• Planar motion
• Max. 3 coordinates (3
• Screw motion
DOFs)
• Velocity and acceleration of point A and
angular velocity and angular acceleration
of the body
• Max. 6 coordinates (6 DOFs)

Rotational
motion
about a
fixed axis
B
Translational motion
General planar motion


Screw motion Rotational motion about a fixed point
z(t )
rA A
O
General motion

2. Translation
Definition: A body undergoing translational motion does not
change its orientation while moving. [Or: any line of the body is
parallel to itself when the body moves].
B
rA A
translation
D C
O
D
B
A A B
Property: The trajectories of all points belong to the body are the same.
At a time point: all points belong to the body have the same velocity and the
same acceleration.
Motion of a point can be used to examine the motion of the whole body.
Homework
◼ Solve problems in Problems textbook
◼ Send solved problems to my email

(with your name, class and the numbers of problems): only in 1 file.
◼ See you soon

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Engineering Mechanics: KINEMATICS

Nguyen Quang Hoang

General Curvilinear Motion

◼ The particle moves along a curved

◼ 3 types of coordinate systems

Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering 3

General Curvilinear Motion

◼ Velocity represented by a vector:

(tangent to the path)

◼ Vector acceleration (not tangent to the path):

Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering 4

◼Two basic quantities of Particle Kinematics

◼Method of polar Coordinates / cylindrical coordinates

Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering 5

1. Velocity and Acceleration of a Particle

Considering a Particle P in space, the

Rectilinear Motion Curvilinear Motion

Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering 6

1. Velocity and Acceleration of a Particle

Velocity vector: characterizes the position change of

Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering 7

1. Velocity and Acceleration of a Particle

Acceleration vector: characterizes the v(t)

acceleration at time point t

Since i,j,k are constant

2. Method of Cartesian Coordinates

r = xex + yey + zez ex O

Example (parabola motion of a particle)

Motion of a bullet in vertical plane (subjected to gravity)

Determine: trajectory, maximum 

Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering 11

Determine: maximum height and distance from trajec. equation:

2. Method of Cartesian Coordinates: rectilinear motion

Given v(t) of a car. Determine the

Find the trajectory equation, velocity, and acceleration from

Velocity and acceleration:

ax = x = 6t, ay = y = −6t  a = ax2 + ay2 = 6 2t

Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering 15

3. Method of natural coordinates: curvilinear motion

Concepts related to curved path: osculating plane

If the distance s = PP is small enough: the arc PP can be

Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering 16

3. Method of natural coordinates: curvilinear motion

E.g., a circle trajectory has a r

Remark: Right handed coordinate system (axes): t,n,b (12312312….)

Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering 18

3. Method of natural coordinates: curvilinear motion

3. Method of natural coordinates: curvilinear motion

The equations of screw motion of P is written in the Cartesian

Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering 22

Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering 23

The boxes travel along the

Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering 24

Since vA = 0 when t = 0, then velocity and acceleration can be

Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering 25

sB = 6.142 m and from the expression for s:

6.142 = 0.0333 tB3

(aB )t = vB = 0.2(5.690) = 1.138m / s 2 vB = 0.1(5.69)2 = 3.238m / s 2

Group of Applied Mechanics, Department of Mechatronics, School of Mechanical Engineering 26

4. Polar coordinate system

Coordinates r = r(t ),  = (t )

Velocity vector de = −1der der = 1de

4. Polar coordinate system

d de = −1der der = 1de