School of Engineering and Architecture

Civil Engineering Department

School Year 2020-2021

Kinematics of
a Particle
Lecture 2 – Dynamics of Rigid Bodies – Answer Key

Objective To provide students with complete set of solutions as a guide,

especially to those who prefers to just listen to the discussion
instead of jotting down notes.

Content Complete solutions for sample problems of the following:

• Rectangular Coordinates
• Normal and Tangential Coordinates
• Free Fall and Projectile Motion
• Answer Key to Practice Problem of Module 1

References L.G. Kraige and J.L. Meriam, (2012). Engineering Mechanics

Volume 2 Dynamics 7th Edition. Massachusetts, USA: John Wiley
& Sons, Inc.
R.C. Hibbeler, (2010). Engineering Mechanics Statics & Dynamics
Twelfth Edition. New Jersey, USA: Pearson Prentice Hall

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Dynamics of Rigid Bodies School of Engineering

Lecture 2 – Answer Key and Architecture

Civil Engineering Department
Summer Term 2020-2021

I. RECTANGULAR COORDINATES

Sample Problem 1:
Pin P at the end of the telescoping rod in Figure (a) slides along
the fixed parabolic path y2 = 40x, where x and y are measured
in millimeters. The y coordinate of P varies with time t
(measured in seconds) according to y = 4t2 + 6t mm. When y =
30 mm, compute the velocity vector of P; and the acceleration
vector of P.
Given:
Parabolic path equation: y2 = 40x
y coordinate of P with respect to time: y = 4t2 + 6t mm
Condition: y = 30 mm

Required:
Velocity vector of P when y = 30 mm
Acceleration vector of P when y = 30 mm

Solution:
Substitute 𝐲𝐲 = 𝟒𝟒𝟒𝟒𝟐𝟐 + 𝟔𝟔𝟔𝟔 to the equation of the parabolic path 𝐲𝐲 𝟐𝟐 = 𝟒𝟒𝟒𝟒𝟒𝟒 and obtain equation
of the path in x-axis.

𝑦𝑦2 (4t2 + 6t)2

𝑥𝑥 = =
40 40

𝑥𝑥 = 0.40t4 + 1.20t3 + 0.90t2 𝑚𝑚𝑚𝑚

The rectangular components of the velocity vector thus are:

𝑣𝑣𝑥𝑥 = 𝑥𝑥′ = 1.60t3 + 3.60t2 + 1.80t 𝑚𝑚𝑚𝑚/𝑠𝑠

𝑣𝑣𝑦𝑦 = 𝑦𝑦′ = 8t + 6 𝑚𝑚𝑚𝑚/𝑠𝑠

2
Dynamics of Rigid Bodies School of Engineering

Lecture 2 – Answer Key and Architecture

Civil Engineering Department
Summer Term 2020-2021

Setting y = 30 mm in 𝐲𝐲 = 𝟒𝟒𝟒𝟒𝟐𝟐 + 𝟔𝟔𝟔𝟔 and solving for t gives t = 2.090 s.

Substituting this value of time into:

𝑣𝑣𝑥𝑥 = 𝑥𝑥′ = 1.60t3 + 3.60t2 + 1.80t 𝑚𝑚𝑚𝑚/𝑠𝑠

and

𝑣𝑣𝑦𝑦 = 𝑦𝑦′ = 8t + 6 𝑚𝑚𝑚𝑚/𝑠𝑠

We obtain:

𝑚𝑚𝑚𝑚
𝑣𝑣𝑥𝑥 = 34.1 𝑎𝑎𝑎𝑎𝑎𝑎 𝑣𝑣𝑦𝑦 = 22.7 𝑚𝑚𝑚𝑚/𝑠𝑠
𝑠𝑠

Consequently, the velocity vector at y = 30 mm is:

𝑚𝑚𝑚𝑚
𝑣𝑣 = 34.1𝒊𝒊 + 22.7𝒋𝒋
𝑠𝑠

From Eqs. 𝒗𝒗𝒙𝒙 = 𝒙𝒙′ = 𝟏𝟏. 𝟔𝟔𝟔𝟔𝟔𝟔𝟑𝟑 + 𝟑𝟑. 𝟔𝟔𝟔𝟔𝟔𝟔𝟐𝟐 + 𝟏𝟏. 𝟖𝟖𝟖𝟖𝟖𝟖 𝒎𝒎𝒎𝒎/𝒔𝒔 and 𝒗𝒗𝒚𝒚 = 𝒚𝒚′ = 𝟖𝟖𝟖𝟖 + 𝟔𝟔 𝒎𝒎𝒎𝒎/𝒔𝒔, we
can determine the components of the acceleration vector by differentiation:

𝑎𝑎𝑥𝑥 = 𝑣𝑣𝑥𝑥′ = 4.80t2 + 7.20t + 1.80 𝑚𝑚𝑚𝑚/𝑠𝑠2

𝑎𝑎𝑦𝑦 = 𝑣𝑣𝑦𝑦′ = 8 𝑚𝑚𝑚𝑚/𝑠𝑠2

Substituting t = 2.090 s, we obtain:

𝑚𝑚𝑚𝑚
𝑎𝑎𝑥𝑥 = 37.8 𝑎𝑎𝑦𝑦 = 8 𝑚𝑚𝑚𝑚/𝑠𝑠2
𝑠𝑠2

3
Dynamics of Rigid Bodies School of Engineering

Lecture 2 – Answer Key and Architecture

Civil Engineering Department
Summer Term 2020-2021

Therefore, the acceleration vector at y = 30 mm is:

𝑚𝑚𝑚𝑚
𝑎𝑎 = 37.8𝒊𝒊 + 8𝒋𝒋
𝑠𝑠2

The pictorial representation of a is:

By evaluating the slope of the path, dy/dx, at y = 30 mm, it is easy to verify that the velocity
vector determined above is indeed tangent to the path while the acceleration is not.

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Dynamics of Rigid Bodies School of Engineering

Lecture 2 – Answer Key and Architecture

Civil Engineering Department
Summer Term 2020-2021

II. RECTILINEAR MOTION

Sample Problem 2:
When the skier reaches point A along the parabolic path in
the figure shown, he has a speed of 6 m/s which is increasing
at 2 m/s2. Determine the direction of his velocity and the
direction and magnitude of his acceleration at this instant.
Neglect the size of the skier in the calculation.
Given:
va = 6 m/s
a = 2 m/s2

Required:
Direction of velocity
Magnitude and direction of acceleration

Solution:
By definition, the velocity is always directed tangent to the path.

Since:
1
𝑦𝑦 = 𝑥𝑥2,
20
𝑑𝑑𝑑𝑑 1
= 𝑥𝑥 = 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠(𝑚𝑚) = 𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡
𝑑𝑑𝑑𝑑 10

At x = 10m (as can be seen in the illustration), we can compute that:

𝑑𝑑𝑑𝑑
=1
𝑑𝑑𝑑𝑑

Therefore:
𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 = 1
𝜃𝜃 = 𝑡𝑡𝑡𝑡𝑡𝑡−1(1)
𝜃𝜃 = 45°

⸫ va = 6 m/s at 45 degrees counterclockwise from negative x-axis

5
Dynamics of Rigid Bodies School of Engineering

Lecture 2 – Answer Key and Architecture

Civil Engineering Department
Summer Term 2020-2021

We know that acceleration is determined from

𝑎𝑎 = 𝑎𝑎𝑡𝑡𝒖𝒖𝒕𝒕 + 𝑎𝑎𝑛𝑛𝒖𝒖𝒏𝒏

Where:
𝑣𝑣2
𝑎𝑎𝑛𝑛 =
𝜌𝜌
Therefore:

𝑣𝑣2
𝑎𝑎 = 𝑎𝑎𝑡𝑡𝒖𝒖𝒕𝒕 + ( ) 𝒖𝒖𝒏𝒏
𝜌𝜌

To get radius of curvature:

3
[1 + (𝑑𝑑𝑑𝑑⁄𝑑𝑑𝑑𝑑)2]2
𝜌𝜌 =
|𝑑𝑑2𝑦𝑦⁄𝑑𝑑𝑑𝑑2|
We have:
𝑑𝑑𝑑𝑑 1
= 𝑥𝑥
𝑑𝑑𝑑𝑑 10
And we can get:
𝑑𝑑2𝑦𝑦 1
=
𝑑𝑑𝑑𝑑2 10

Substituting to the formula:

3
1 2 2
[1 + (10 𝑥𝑥) ]
𝜌𝜌 = 1
| |
10
𝜌𝜌 = 28.28 𝑚𝑚

Substituting to the main formula, we can get the acceleration vector:

2
𝑎𝑎 = 2𝒖𝒖𝒕𝒕 + ( 6 ) 𝒖𝒖𝒏𝒏
28.28

𝑎𝑎 = 2𝒖𝒖𝒕𝒕 + 1.273𝒖𝒖𝒏𝒏 𝒎𝒎/𝒔𝒔𝟐𝟐

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Dynamics of Rigid Bodies School of Engineering

Lecture 2 – Answer Key and Architecture

Civil Engineering Department
Summer Term 2020-2021

To get acceleration’s magnitude and direction:

𝑎𝑎 = √𝑎𝑎𝑎𝑎𝑡𝑡2 + 𝑎𝑎𝑎𝑎𝑛𝑛2

𝑎𝑎 = √22 + 1.2732

𝑎𝑎 = 2.37 𝒎𝒎/𝒔𝒔𝟐𝟐

2
∅ = 𝑡𝑡𝑡𝑡𝑡𝑡−1 ( ) = 57.5°
1.273
→ 𝑡𝑡ℎ𝑖𝑖𝑖𝑖 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑖𝑖𝑖𝑖 𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑡𝑡ℎ𝑒𝑒 𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎

Thus as shown in the figure:

Direction from negative x-axis = 45 + 90 + 57.5 – 180

Direction from negative x-axis = 12.5 degrees counterclockwise

7
Dynamics of Rigid Bodies School of Engineering

Lecture 2 – Answer Key and Architecture

Civil Engineering Department
Summer Term 2020-2021

III. FREE FALL AND PROJECTILE MOTION

Sample Problem 3:
During a test, a rocket travels upward at 75 m/s, and when it is 40 m from the ground, its engine fails.
Determine the maximum height reached by the rocket and its speed just before it hits the ground. While
in motion, the rocket is subjected to a constant downward acceleration of 9.81 m/s2 due to gravity.
Neglect the effect of air resistance.

Given:
Vo = 75 m/s
First distance traveled = 40 m from the ground
g = 9.81 m/s2

Required:
h = maximum height reached by the rocket
V = speed just before it hits the ground

Solution:
Illustrate FBD and take points where the motion stops and
starts. In this case, ABC:

For segment AB:

@ A, the engine fails therefore the velocity 75m/s before its
engine fails becomes the initial velocity, Vo at this point.

@ B, the highest point is reached and therefore the body

stops momentarily before going down. Velocity at this point
is zero, making the final velocity, V = 0 for this segment.

To get h, we need to get Δy and add it to 40m.

For Δy:
𝑣𝑣𝑦𝑦2 = 𝑣𝑣𝑜𝑜𝑜𝑜2 + 2𝑔𝑔∆𝑦𝑦

02 = 752 + 2(−9.81)∆𝑦𝑦
752
∆𝑦𝑦 = = 286.6972𝑚𝑚
2(9.81)

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Dynamics of Rigid Bodies School of Engineering

Lecture 2 – Answer Key and Architecture

Civil Engineering Department
Summer Term 2020-2021

ℎ = ∆𝑦𝑦 + 40

ℎ = 286.6972 + 40

ℎ = 326.6972 𝑚𝑚
For segment BC:
@ B, the highest point is reached and therefore the body stops momentarily before going down.
Velocity at this point is zero making the initial velocity, Vo = 0 for this segment.

@C, just before it hits the ground has its final velocity.

𝑣𝑣𝑦𝑦2 = 𝑣𝑣𝑜𝑜𝑜𝑜2 + 2𝑔𝑔∆𝑦𝑦

𝑣𝑣𝑦𝑦2 = 02 + 2(−9.81)(−326.6972)

𝑣𝑣𝑦𝑦 = √2(−9.81)(−326.6972)

𝑚𝑚
𝑣𝑣𝑦𝑦 = 80.0612
𝑠𝑠

Sample Problem 4:
The ball at A is kicked such that θA = 30°. If it strikes
the ground at B having the coordinates x = 15ft, y = -
9ft, determine the speed at which it is kicked and the
speed at which it strikes the ground.
Given:
θA = 30°
Coordinates of point B: x = 15ft, y = -9ft

Required:
Initial Velocity, Vo or in this case, we will call it VA
Final Velocity, V or in this case, we will call it VB

9
Dynamics of Rigid Bodies School of Engineering

Lecture 2 – Answer Key and Architecture

Civil Engineering Department
Summer Term 2020-2021

Solution:
𝑥𝑥
𝑣𝑣𝐵𝐵𝐵𝐵 = 𝑣𝑣𝐴𝐴𝐴𝐴 = 𝑣𝑣𝐴𝐴𝑐𝑐𝑐𝑐𝑐𝑐30° =
𝑡𝑡
𝑥𝑥
𝑡𝑡 =
𝑣𝑣𝐴𝐴𝑐𝑐𝑐𝑐𝑐𝑐30°
15
𝑡𝑡 = → 𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 1
𝑣𝑣𝐴𝐴𝑐𝑐𝑐𝑐𝑐𝑐30°

1 2
∆𝑦𝑦 = 𝑣𝑣𝑜𝑜𝑜𝑜𝑡𝑡 + 𝑔𝑔𝑔𝑔
2
1 2
−9 = (𝑣𝑣𝐴𝐴𝑠𝑠𝑠𝑠𝑠𝑠30°)(𝑡𝑡) + (−32.2)(𝑡𝑡 ) → 𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 2
2
Substitute equation 1 to equation 2:
15 1 15 2
−9 = (𝑣𝑣𝐴𝐴𝑠𝑠𝑠𝑠𝑠𝑠30°) ( ) + (−32.2) [( ) ]
𝑣𝑣𝐴𝐴𝑐𝑐𝑐𝑐𝑐𝑐30° 2 𝑣𝑣𝐴𝐴 𝑐𝑐𝑐𝑐𝑐𝑐30°

1 15 2
−9 = (15𝑡𝑡𝑡𝑡𝑡𝑡30°) + (−32.2) [( ) ]
2 𝑣𝑣𝐴𝐴𝑐𝑐𝑐𝑐𝑐𝑐30°

1 15 2
−9𝑣𝑣𝐴𝐴2 = 𝑣𝑣𝐴𝐴2(15𝑡𝑡𝑡𝑡𝑡𝑡30°) + (−32.2) [( ) ]
2 𝑐𝑐𝑐𝑐𝑐𝑐30°

2
1 15 2
𝑣𝑣𝐴𝐴2(15𝑡𝑡𝑡𝑡𝑡𝑡30°) + 9𝑣𝑣𝐴𝐴 = (32.2) [( ) ]
2 𝑐𝑐𝑐𝑐𝑐𝑐30°

1 15 2
2 (32.2) [( 𝑐𝑐𝑐𝑐𝑐𝑐30°) ]
𝑣𝑣𝐴𝐴2 =
(15𝑡𝑡𝑡𝑡𝑡𝑡30°) + 9

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Dynamics of Rigid Bodies School of Engineering

Lecture 2 – Answer Key and Architecture

Civil Engineering Department
Summer Term 2020-2021

1 15 2
(32.2) [(𝑐𝑐𝑐𝑐𝑐𝑐30°) ]
√2
𝑣𝑣𝐴𝐴 =
(15𝑡𝑡𝑡𝑡𝑡𝑡30°) + 9

𝑣𝑣𝐴𝐴 = 16.5377 𝑓𝑓𝑓𝑓/𝑠𝑠

We can now get 𝑣𝑣𝐵𝐵𝐵𝐵

𝑣𝑣𝐵𝐵𝐵𝐵 = 𝑣𝑣𝐴𝐴𝐴𝐴 = 𝑣𝑣𝐴𝐴𝑐𝑐𝑐𝑐𝑐𝑐30°

𝑣𝑣𝐵𝐵𝐵𝐵 = (16.5377)𝑐𝑐𝑐𝑐𝑐𝑐30°

𝑓𝑓𝑓𝑓
𝑣𝑣𝐵𝐵𝐵𝐵 = 14.3241
𝑠𝑠

To get 𝑣𝑣𝐵𝐵𝐵𝐵:
𝑣𝑣𝐵𝐵𝐵𝐵 = 𝑣𝑣𝐴𝐴𝐴𝐴 + 𝑔𝑔𝑔𝑔
15
𝑣𝑣𝐵𝐵𝐵𝐵 = 16.5377𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠30° + (−32.2) ( )
16.5377𝑐𝑐𝑐𝑐𝑐𝑐30°
𝑓𝑓𝑓𝑓
𝑣𝑣𝐵𝐵𝐵𝐵 = −25.4498
𝑠𝑠
→ 𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛 𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 𝑡𝑡ℎ𝑒𝑒 𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝑖𝑖𝑖𝑖 𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑

To get 𝑣𝑣𝐵𝐵:

𝑣𝑣𝐵𝐵 = √𝑣𝑣𝐵𝐵𝐵𝐵2 + 𝑣𝑣𝐵𝐵𝐵𝐵2

𝑣𝑣𝐵𝐵 = √14.32412 + 25.44982

𝑓𝑓𝑓𝑓
𝑣𝑣𝐵𝐵 = 29.2040
𝑠𝑠

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