Kinematics

February 10, 2024

1 Kinematics
From the assumption of constant acceleration, we can derive two kinematics equations using calculus:

a = const.

vf = vi + at
1
rf = ri + vi t + at2
2
The two kinematics equations can be combined in various ways. For example, we can eliminate time between
them:
v f − vi
t=
a
   2
vf − vi 1 vf − vi
=⇒ rf = ri + vi + a
a 2 a
2
vi vf − vi2 (vf − vi )
rf − ri = +
a 2a
vi vf − vi2 vf2 + vi2 − 2vi vf
∆r = +
a 2a
2a∆r = 2vi vf − 2vi2 + vf2 + vi2 − 2vi vf

2a∆r = −2vi2 + vf2 + vi2

2a∆r = vf2 − vi2

This is sometimes considered the “third” kinematics equation, although it comes from the first two.
In 2D motion, we are sometimes interested in how far a projectile travels horizontally. We can solve for
this as well.

2 Puzzle 1
Consider the following kinematics equations:

vf x = vix + ax t
vf y = viy + ay t
vf2 x vf2 y
 2 2 2
  2
+ a2y t2 + 2viy ay t

+ = vix + ax t + 2vix ax t + viy

vf2 x + vf2 y = vix

 2 2
  2 2
+ ax t + a2y t2 + [2vix ax t + 2viy ay t]

+ viy

vf2 x + vf2 y = vix

 2 2
  2
+ ax + a2y t2 + 2 [vix ax + viy ay ] t

+ viy

1
Then
2
(v + at) = v 2 + a2 t2 + 2vat
Then if the initial velocity is parallel to the acceleration, we can write
vix = vi v̂ix , viy = vi v̂iy
ax = aâx , ay = aây
Parallel vectors have the same unit vector, so
ax = av̂ix , ay = av̂iy
Then,
vix ax + viy ay = vi v̂ix av̂ix + vi v̂iy av̂iy
2 2


= vi a v̂ix + v̂iy
= vi a |v̂|
But v̂ is a unit vector, so
vix ax + viy ay = vi a
Thus,
vf2 x + vf2 y = vix
 2 2
  2
+ ax + a2y t2 + 2vi at

+ viy
vf2 x + vf2 y = vi2 + a2 t2 + 2vi at
2
vf2 x + vf2 y = (vi + at)
2
vf2 = (vi + at)
vf = vi + at
But this also works if vi = 0...
Another puzzle:
F⃗ = F⃗ 1 + F⃗ 2 = m⃗a
F⃗ 2 = mg ŷ
F⃗ 1 = m⃗a − mg ŷ
F⃗ 1 = m (ax x̂ + ay ŷ − g ŷ)
F⃗ 1
= ax x̂ + (ay − g) ŷ
m
Define a quantiy
F⃗ 1
∆v = t
m
q
2
∆v = a2x t2 + (ay − g) t2
q
2
∆v = vx2 + (ay − g) t2
q 
2
vf = vi + a2net, x + (ay − g) t

Now, if vi = 0, q 
2
vf = a2net, x + (ay − g) t
q
2 2
vf = (anet, x t) + ((ay − g) t)
2 2
vf2 x = (anet, x t) , vf2 y = ((ay − g) t)
vf y = anet, y t

2
3 Puzzle 2
If you know the initial velocity ⃗v i , the acceleration ⃗a , and the amount of time t, you can find the final
velocity ⃗v f . The general formula is one of the kinematic equations. We often write it like

vf = vi + at

However, this formula only works for components. There are actually two equations:

vf x = vix + ax t

and
vf y = viy + ay t
Now let’s take a look a the magnitudes. The magnitude of the final velocity is
q
|⃗v f | = vf2 y + vf2 x

Let’s plug in the earlier formulas:

q
2 2
|⃗v f | = (vix + ax t) + (viy + ay t)
q

|⃗v f | = 2 + 2v a t + a2 t2 ) + v 2 + 2v a t + a2 t2
(vix ix x x iy iy y y
q
2 + 2v a t + a2 t2 + v 2 + 2v a t + a2 t2
|⃗v f | = vix ix x x iy iy y y

Let me rearrange things a little bit...

q


|⃗v f | = 2 + v 2 + a2 t2 + a2 t2 + (2v a t + 2v a t)
vix iy x y ix x iy y

q


|⃗v f | = 2 + v 2 + a2 + a2 t2 + 2t (v a + v a )
vix iy x y ix x iy y

The part
2 2


vix + viy
is equal to the magnitude of the initial velocity squared:
q
2 + v2
|⃗v i | = vix iy

2 2 2
|⃗v i | = vix + viy
The part
a2x + a2y

is equal to the magnitude of the acceleration squared:

q
|⃗a | = a2x + a2y

2
|⃗a | = a2x + a2y
We can plug these in: q
2 2
|⃗v f | = |⃗v i | + |⃗a | t2 + 2t (vix ax + viy ay )
Now, in the special case that the initial velocity is zero, we have
q
2
|⃗v f | = 02 + |⃗a | t2 + 2t ((0) ax + (0) ay )

3
 q
2
|⃗v f | = |⃗a | t2
|⃗v f | = |⃗a | t
So, if the initial velocity is zero, then we can just use the magnitudes.
There are other special cases where using the magnitudes will give you the right answer, but the general
formula is more complicated:
q
2 2
|⃗v f | = |⃗v i | + |⃗a | t2 + 2t (vix ax + viy ay )

Notice especially that to get the right answer (unless you have a special case), you have to include some
information about the components; you can’t just use the magnitudes.

4 Average Speed
When is average speed useful?

Define
Define the time-averaged velocity in 1 dimension as
xf − xi
vavg =
t
What can we do with this? Let’s observe:
1
xf = xi + vi t + at2
2
xf − xi 1
= vi + at
t 2
1
vavg = vi + at
2
1
vi = vavg − at
2
Next:
vf = vi + at
1
vf = vavg − at + at
2
1
vf = vavg + at
2
Finally:
vf2 = vi2 + 2a (xf − xi )
 2  2
1 1
vavg + at = vavg − at + 2a (xf − xi )
2 2
   
2 1 2 2 2 1 2 2
vavg + a t + vavg at = vavg + a t − vavg at + 2at (vavg )
4 4
Okay, this is just redundant. Try a different method:
1
vi = vavg − at
2
then
vf2 = vi2 + 2a (xf − xi )

4
 vf2 = vi2 + 2atvavg
vf2 − vi2
vavg =
2at
2
(vi + at) − vi2
=
2at


vi + a t + 2vi at − vi2
2 2 2
=
2at
a2 t2 + 2vi at
=
2at
at
vavg = + vi
2
Redundant. What is this useful for then???
Let’s try something randomly:
vi + vf
vavg =
2
vavg − 12 at + vavg + 12 at
=
2
vavg + vavg
=
2
vavg = vavg
Okay, so this is legitimate! The average actually behaves like we expect it to. Sort of.
But then...

vf2 − vi2 vi + vf
vavg = =
2at 2
vf2 − vi2 = vi at + vf at
vf2 − vf at = vi at + vi2
vf (vf − at) = vi (vi + at)
uh
vf2 − vf at − vi at + vi2 = 0


q
2
at ± (−at) − 4 (− (vi at + vi2 ))
vf =
2
p
at ± a2 t2 + 4vi at + 4vi2
=
2
q
2
at ± a2 t2 + 2 (2vi ) at + (2vi )
=
2
q
2
at ± (2vi + at)
=
2
at ± |2vi + at|
=
2
Okay, this checks out.