Chapter 12 Kinematics of a Particle

Chapter 12 Kinematics of a Particle

1. Particle vs. Rigid Body

2. Kinematics

3. Translation
a. Averaged Motion of a Particle
b. Instantaneous Motion of a Particle
c. Rectilinear Kinematics-Erratic motions

4. Reference Frame
a. Inertial (Newtonian) Frame of Reference
b. Relative Motions

5. Coordinate Systems
a. Rectangular Coordinate
b. Cylindrical Coordinate
c. Normal-Tangential Coordinate
d. Position Coordinate

MIT Physics 1: Classical Mechanics (Professor Walter Lewin)

MIT Engineering Dynamics (Professor J. Kim Vandiver)

Ⓒ EUN SOO KIM ALL RIGHTS RESERVED SINCE 2017 - 1 -

Chapter 12 Kinematics of a Particle

1. Particle vs. Rigid Body

◎ Particle:
◎ Rigid body:

 ≠ ′
 ,
     ′  const.
※ A rigid body can be treated as a particle;

2. Kinematics (운동학)

General Motions

a. Translation occurs when every particle on a body has

b. Rotation occurs if every particle on the body moves

3. Translation
a. Averaged motions of a particle (평균운동)

Scalar Vector
① Scalar Position and Time: ① Vector Position and Time :

② Distance traveled (이동거리): ② Displacement (변위):

③ Averaged speed (평균속력) : ③ Averaged velocity (평균속도) :

④ Averaged scalar acceleration (평균가속력): ④ Averaged acceleration (평균가속도):

- 2 - Ⓒ EUN SOO KIM ALL RIGHTS RESERVED SINCE 2017

Chapter 12 Kinematics of a Particle

Example)
A particle moves on a circular path with a constant
speed. If the particle takes two seconds to reach point
B from point A, calculate an averaged speed, velocity,
scalar acceleration, and vector acceleration.

Scalar Vector
① Distance traveled : ① Displacement :
 

② Averaged speed : ② Averaged velocity :

③ Averaged scalar acceleration: ③ Averaged acceleration:

b. Instantaneous Motion of a Particle (순간운동)

→ ⇒      

Scalar Vector

① Distance traveled:    

 ① Displacement:           

② Speed : ② Velocity :

③ Acceleration : ③ Acceleration :

Ⓒ EUN SOO KIM ALL RIGHTS RESERVED SINCE 2017 - 3 -

Chapter 12 Kinematics of a Particle

c. Rectilinear Kinematics - Erratic Motions

(i) Independent variable: t (           ) - good for the observation of the motions

        

     
      →      →
 

※ Special case :   constant

(ii) Independent variable: S (             ) - good for the control of the motions

        

    
           →
 



if   constant : 
               

∴           

(iii) Independent variable:  (          ) - good for the control of the motions

   

      
    →           ·    ·   
       
   
 

 



 
     →
     
 

  

 

∴    



  
∴    


 


if   constant :           


    ∴           

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Chapter 12 Kinematics of a Particle

Example)

When the effect of aerodynamic drag is included, the

y-acceleration of a base ball moving vertically upward is
      , while the acceleration when the ball is moving
downward is       , where  is a positive constant
and  is the speed in m/s, g is constant. The ball is thrown
upward at   from essentially ground level.

(a) Using the definition of the acceleration find the general expressions for the vertical
position of the ball   and   in terms of  , respectively. The ball is thrown upward at  from
ground and downward at  ′   from the maximum height  , respectively.
 
     
Sol)            ⇒   
      
 ⇒     
   


 


    


  
 
     

 



  


′


 ′    

 

  ≤         →    





    
   



 
   


ln



 

 

ln
    

    
 

 
ln
   

      
    
∴     ln 
      
  ≤         →   
   ′    ′ 
   
′ 



    
  

  
 


ln



 


ln 
   ′

 



ln  

 

 ′
∴       ln   
 

(b) Express the maximum height  in terms of  , g, and   .

Sol) ∗       
  
⇒ ∴    ln   
   
(c) Express the final speed  upon impact with the ground in terms of  , g, and  .

Assume     .

Sol)

∗    ⇒
  
    ln   
    
 


⇒       ⇒         


∴       
 


Ⓒ EUN SOO KIM ALL RIGHTS RESERVED SINCE 2017 - 5 -

Chapter 12 Kinematics of a Particle

Example)
A projectile is launched from point O with an initial velocity of magnitude  directed as shown in
the figure.

Figure
(a) If the aerodynamic darg can be neglected, find the expression for the acceleration, velocity, and
position in terms of    ,  , and t. Also, determine flight time T when the projectile is
reaches at the highest position from x-y plane. (Use the Cartesian coordinate as given in the figure
 is the gravitational acceleration.)

Sol)
  
       sin cos  sin
 coscos 


   
         sin cos coscos  sin 

 


 
 
 

       sin cos coscos   sin   

 




At the highest point, the z-velocity component is equal to zero,

sin
    sin    ⇒ ∴  

 

(b) If the aerodynamic darg is result in    , find the expression for the acceleration, velocity,
and position in terms of    ,  , t, and k. Also, determine flight time T when the projectile
is reaches at the highest position from x-y plane.

Sol)
  
 
      
  


   

  ⇒ ∴ 
≡ 
    
  
  
 


          
 


 
    
   
  
  ⇒  
   
  

  ln  ⇒    
 

 
     
 
   
   
 ⇒   
  

  ln  ⇒    
 

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Chapter 12 Kinematics of a Particle

 

     
   
      ⇒  
         ln 
   
 
    


 
  




⇒         
  

 ≡     
  

   

   
    
      ⇒        
 


    ⇒       
  
     

    
      ⇒            ⇒       
 



       

      ⇒                    

   
    
  
  

 

 
⇒           
 
∴       sincos 

∴       coscos 


  
∴         
 
  sincos
∴             
 

  coscos
∴             
 

 sin

 

 
  


∴                     
  
At the highest point, the z-velocity component is equal to zero,


  
 
            ⇒        
 
  
  
 



  
 



∴    ln    ln   
  



    

Ⓒ EUN SOO KIM ALL RIGHTS RESERVED SINCE 2017 - 7 -

Chapter 12 Kinematics of a Particle

4. Reference Frame
: A physical concept related to an observer and the observer’s motion

a. Inertial (Newtonian) Frame of Reference

- The frame in which all laws of physics take on their simplest form
- Newton’s 2nd law holds true only in the inertial frame of reference
- A fixed frame (absolute motions) or a moving frame (relative motions)
with a constant velocity and without rotation of axes

∎ Problems that arise when using a non-inertial frame of reference

For the steel ball :     

   For the steel ball:   
   
 
 ∦ 
 ≠ 
 (???)

          

 
  
    
  
    
  
  
        

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Chapter 12 Kinematics of a Particle

b. Relative Motions

(i) Fixed frame (ii) Translating frame w/o rotation


  
 ′   , 
  
 ′   , 
≠ 
 

 
 
   
 (absolute motion)  ′  ≠   ′  for the moving frame

   (relative motion)

   

  
  
  
 ′    
 ′   

  
  
≠   
 ′  
 ′       
 ′   
 ′    

  
  
  ′   ∴ 
   
 ′     
 ≠  


  
 ′ for the relative fixed frame  
 
 ′    
 ′ 
 ′    lim  lim 
   
→   →    

       ′     
 ′    

 ′  
   ′
      
 

∴ 
   
  
 ′     ′   ′    ′
        
   
 
      
  
      lim      ′  ′
 

lim     ′
→   →   
  ∴
≠  and  
 ≠  ,
           ′  
   ′
  
    


   , ′   ′

   ′   
   ′

∴
≠    
    ,
        ′  ′

   If  ′ ≠  ⇒  ≠    ′ ,

 ,   ′
  
Newton’s 2nd law is not vaild.
   ′
→ Non-Inertial Frame of Reference


→       ′

If  ′    ′   ⇒      ′ ,
→ Inertial Frame of Reference
Newton’s 2nd law is vaild.
→ Inertial Frame of Reference

Ⓒ EUN SOO KIM ALL RIGHTS RESERVED SINCE 2017 - 9 -

Chapter 12 Kinematics of a Particle

Fixed frame Moving frame (Translating w/o rotation)

 
≠ 
≠ 

   
   
 ′     
 ≠  



    ′ 

      ⇔
   ⇔   
   ′   
    
 

   ′  ′


 
   ′ 
 
 ′ 
   ′
   ⇔ 
     ′      ⇔ 
   ′  
   ′
    


   ≠     ′
If  ′ ≠  Newton’s 2nd law is not vaild.
Non-Inertial Frame of Reference


        ′
* Only the reference frame moving with a
Inertial Frame of Reference constant velocity

 ′  constant →  ′  


   ′  
   ′     ′

→ 
        ′
→ Inertial Frame of Reference

- 10 - Ⓒ EUN SOO KIM ALL RIGHTS RESERVED SINCE 2017

Chapter 12 Kinematics of a Particle

5. Coordinate Systems
-
-

a. Rectilinear(Cartesian) Coordinate (      )










Ⓒ EUN SOO KIM ALL RIGHTS RESERVED SINCE 2017 - 11 -

Chapter 12 Kinematics of a Particle

b. Cylindrical Coordinate (      ): 3D → Polar Coordinate (    ): 2D





  ⊥








- 12 - Ⓒ EUN SOO KIM ALL RIGHTS RESERVED SINCE 2017

Chapter 12 Kinematics of a Particle

Cylindrical coordinate Rectilinear coordinate


     
      cos    
   sin   

  
   

   cos     sin   
   cos   sin  
   sin    cos 
   

   
     
    

   cos   sin     sin    cos   
          
          



      
      
    


   cos   sin      sin    cos

Ⓒ EUN SOO KIM ALL RIGHTS RESERVED SINCE 2017 - 13 -

Chapter 12 Kinematics of a Particle

c. Normal-Tangential Coordinate (Path variable coordinate:            )

- The path along which a particle is known ;

- Tangential direction ( 
 )
:
Tangent unit vector: 
    ≡

- Normal direction ( 
  
 ⊥
 )
:

- Radius of curvature : 

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Chapter 12 Kinematics of a Particle

if     constant (circular motions)

  constant → 



  
 , 
   


* Polar Coordinate
  
    
    



  
         
   

        



* Normal-Tangential Coordinate
  



   
    
 

   
   



→   

     
     
   
      
   
  
→      


 
→        


Ⓒ EUN SOO KIM ALL RIGHTS RESERVED SINCE 2017 - 15 -

Chapter 12 Kinematics of a Particle

Example)
A projectile is launched with speed   from point A of the slope, which is inclined at an angle  with the
horizontal.

Sol)
Solving with Cartesian Coordinate as given in the figure.

  
   
  
 
    ⇒ 
  

  
       cos  sin   

       

When the projectile reaches at the point B,


   sin      


  
  

  cos 

     cos

   sin 


 cos
 cos    cos  ⇒   
 cos 

 cos   cos
 

 sin      sin         sin     
   cos 
   cos 
  cos sin    cos
   sin     
cos    cos

  sin  cos   cos  sin 

⇒    
 cos  cos 

(a) Derive an expression for the distance R to the point of impact in terms of      and  ,
where g is the gravitational acceleration.
Sol)
  sin  cos   cos  sin 
∴    
 cos  cos 

  cos   cos
  sin  cos   cos  sin    sin    
 cos   cos 
  cos 
   tan   tan 
 cos

(b) Derive an expression for the time of flight t in terms of       and  .

Sol)
 cos   sin    cos sin 
∴       
  cos   cos
    sin    
   sin  cos  cos sin  
 cos  cos
  cos
   tan   tan  


- 16 - Ⓒ EUN SOO KIM ALL RIGHTS RESERVED SINCE 2017

Chapter 12 Kinematics of a Particle

Example)
Rotation of the arm OP is controlled by the horizontal motion of the vertical slotted link A.

(a) The position vector for the pin in the polar coordinates shown in above figure is given by
  
  . Using definition of the velocity and acceleration, derive the general formulas for the

velocity and acceleration in the polar coordinates.

(b) If the arm OP rotates with the angular velocity  in clockwise, determine the velocity of
the link A in the given x-y coordinate and in terms of R,  and  .

(c) If the arm OP rotates with the constant angular velocity  in clockwise, determine the
acceleration of the link A in the given x-y coordinate and in terms of R,  and  .

Ⓒ EUN SOO KIM ALL RIGHTS RESERVED SINCE 2017 - 17 -

Chapter 12 Kinematics of a Particle

Example)

The double collar C is pin connected together such tat one

collar slides over the fixed rod and the other slides over the
rotating rod AB in counterclockwise. The path defined by the
fixed rod is    sin  m.

(a) If the mechanism is to be designed so that the

maximum speed given to the collar is 6m/s. Determine
the required constant angular velocity  of rod AB.

(b) Determine the tangential and normal component of acceleration at the instant of the maximum
speed of the collar.

(c) Determine the radius curvature at the instant of the maximum speed of the collar.

- 18 - Ⓒ EUN SOO KIM ALL RIGHTS RESERVED SINCE 2017

Chapter 12 Kinematics of a Particle

d. Position Coordinate
-
- The motion of one particle will depend on the motion of another particle.
- This commonly occurs if the particles are interconnected by inextensible cords.

Ⓒ EUN SOO KIM ALL RIGHTS RESERVED SINCE 2017 - 19 -