Motion I

Position, Velocity, Acceleration

Motion – Position 1.1
To describe the motion of a particle in space, we first need to be
able to describe the position of the particle.
y

at time t1
y1 x1 , y1  coordinate
system

origin, O x1 2 x
Motion – Position 1.2
To describe the motion of a particle in space, we first need to be
able to describe the position vector of the particle.
y

at time t1
y1 x1 , y1 
  1  0   x1 
r1  x1iˆ  y1 ˆj r1  x1    y1     
 0  1   y1 
y1 ˆj
 1  0
iˆ   , ˆj   
ĵ  0 1
x1iˆ
O iˆ x1 3 x
Dot product 1

iˆ and ĵ are perpendicular to each other: iˆ  ˆj  0  ˆj  iˆ

y
iˆ  iˆ  1  ˆj  ˆj

r  r  xiˆ  yˆj  xiˆ  yˆj 

y  


r  xiˆ  yˆj  x 2iˆ  iˆ  xyiˆ  ˆj  yxˆj  iˆ  y 2 ˆj  ˆj

 
r  r  x2  y2
ĵ
  
O x r  x2  y2  r  r
iˆ 4 x
Motion – Position 2.1
To describe the motion of a particle in space, we first need to be
able to describe the position of the particle.
y

r  x2  y2
y r, q
y
tan q 
x
r
x  r cos q, y  r sin q

q
O x 5 x
Motion – Position 2.2
To describe the motion of a particle in space, we first need to be
able to describe the position vector of the particle.
y 
r  r cos qiˆ  r sin qˆj

q̂ r̂ 
r
y rˆ   cos qiˆ  sin qˆj
r
 qˆ   sin qiˆ  cos qˆj
r  xiˆ  yˆj
r

r  rrˆ rˆ  qˆ  0  qˆ  rˆ

q
O x 6 x
Dot product 2 
r  xiˆ  yˆj

r  r cos qiˆ  r sin qˆj


The x-component of the position vector r :

x  r cos q  iˆ  r
y

The y-component of r :

y  r cos90  q  r sin q  j  r
y 
ˆ 

 
A B  ?
q
O x 7 x
Motion – Position 3


r  xiˆ  yˆj  zkˆ iˆ  ˆj  ˆj  kˆ  kˆ  iˆ  0

iˆ  iˆ  ˆj  ˆj  kˆ  kˆ  1

8
Motion – Freely Falling Bodies 1

y0
y  4.9 m

x0
y  19.6 m
1
y   gt 2
2
x  x0 ,
1 2
y  y0  v0 y t  gt
y  44.1 m 2
9
 y y  4.9t 2

t
0.5 1 1.5 2 2.5 3

-10

-20

-30

-40

10
Projectile Motion 1

x  x0  v0 x t ,
1 2
y  y0  v0 y t  gt
2
x  v0 x t  v0 cos  0 t ,
1 2 1 2
y  v0 y t  gt  v0 sin  0 t  gt
2 2
The x- and y- coordinates can be
treated separately. 11
Disc 2
Demo 01
 1 2
y   gt
2
x  v0 x t

12
 When a particle
Uniform Circular Motion 1.1 moves in a circle
with constant
speed, the motion
is called uniform
circular motion.
Period, T
r Speed
2r
v
T

Angular speed
2

T

 v  r
13
Uniform Circular Motion 1.2
y
T ~ 2

t
t ~  2   t
T
r

q  t
O x

x  r cos t

Angular speed
dq y  r sin t
 14
dt
Motion – Displacement 1

As the particle moves through space, its position vector changes.

y at time t 2
y2
at time t1
 x2 , y2 
 y2  y1  ˆj
x1 , y1 
y1  x2  x1 iˆ
 
r1  x1iˆ  y1 ˆj r2  x2iˆ  y2 ˆj

Displacement
  
r  r2  r1   x2  x1 iˆ   y2  y1  ˆj

O x1 x2 15 x
Motion – Displacement 2
  
r  r2  r1

  x2  x1 iˆ   y2  y1  ˆj   z 2  z1 kˆ

 xiˆ  yˆj  zkˆ

16
Motion – Average Velocity 1
As the particle moves through space, its position vector changes.

at time t 2
y
y2
at time t1   x2 , y2 
r
x1 , y1 
y1

Average velocity
  
 r r2  r1
vav  
t t2  t1
O x1 x2 17 x
Motion – Average Velocity 2
Position x x2  x1
vav- x  
t t2  t1
y y2  y1
vav- y  
t t2  t1
z z2  z1
vav- z  
t t2  t1

 x y ˆ z ˆ
vav  iˆ  j k
t t t

Time

18
Motion – Instantaneous Velocity

x
vav  x 
t
x
t

x dx y dy z dz
v x  lim  v y  lim  v z  lim 
t 0 t dt t 0 t dt t 0 t dt
 dx ˆ dy ˆ dz ˆ
v i j k
dt dt dt 19
 y y  4.9t 2

t
0.5 1 1.5 2 2.5 3

-10

-20

-30

-40

20
 vy v y  9.8t

t
0.5 1 1.5 2 2.5 3
-5

-10

-15

-20

-25

-30
21
Motion – Freely Falling Bodies 2
x  0,
1 2
y   gt
2
dx
v x   0,
dt x  x0 ,
dy
vy    gt 1 2
dt y  y0  v0 y t  gt
2
dx
v x   0,
dt
dy
vy   v0 y  gt
dt

22
Projectile Motion 2

x  x0  v0 x t , v x  v0 x ,
1
y  y0  v0 y t  gt 2 v y  v0 y  gt
2
The x- and y- coordinates can be
treated separately. 23
Motion – Uniform Circular Motion 2.1
y
x  r cos t y  r sin t

q  t
O x

dx dy
vx   r sin t vy   r 24
cos t
dt dt
Motion – Uniform Circular Motion

2.2
y v   r sin tiˆ  r cos tˆj
 r sin qiˆ  cos qˆj 
 rqˆ

r  r cos tiˆ  r sin tˆj
 r cos qiˆ  sin qˆj 
r  rrˆ

q  t
O x
 
v  r  0

25
Motion – Average Acceleration 1


v1 
at time t1 v2 at time t 2

Average acceleration
  
 v v2  v1
aav  
t t2  t1 
v1
26
Motion – Average Acceleration 2
Velocity
vx ˆ v y ˆ vz ˆ vx v2 x  v1x

aav  i j k aav- x  
t t t t t2  t1
v y v2 y  v1 y
aav- y  
t t2  t1

vz v2 z  v1z
aav- z  
t t2  t1

Time
27
Motion – Instantaneous Acceleration
Velocity
 dvx ˆ dv y ˆ dvz ˆ vx dvx
a i j k a x  lim 
t 0 t dt
dt dt dt
v y dv y
a y  lim 
t 0 t dt

vz dvz
a z  lim 
t 0 t dt

Time
28
Motion – Velocity and Acceleration
  
r  r2  r1
     
 r r2  r1   v v2  v1
vav   aav  
t t2  t1 t t2  t1
   
 r dr  v d v
v  lim  a  lim 
t 0 t dt  t 0 t dt
r2


r1

29
Motion – Freely Falling Bodies 3
x  0,
1 2
y   gt
2
dx
v x   0,
dt x  x0 ,
dy
vy    gt 1 2
dt y  y0  v0 y t  gt
2
dv x
ax   0, dv dx
dt a x  x  0, v x   0,
dt dt
dv y
ay   g dv y dy
dt ay    g vy   v0 y  gt
dt dt
acceleration
due to
30
gravity
Projectile Motion 3

x  x0  v0 x t ,
1 2
y  y0  v0 y t  gt
2 a x  0,
v x  v0 x , ay  g
v y  v0 y  gt

The x- and y- coordinates can be

treated separately.
31
Motion with Constant Acceleration
To describe the motion of a particle in space, we first need to
be able to describe the position of the particle.

1 2 dx dv x
x  x0  v0 x t  a x t , vx   v0 x  a x t , ax   ax ,
2 dt dt
y  y0 dy dv y
vy  0 ay  0
x  x0 , dt dt
1 2
y  y0  v0 y t  gt 32
2
Uniform Circular Motion 3.1
y
x  r cos t y  r sin t

v x  r sin t v y  r cos t

q  t
O x

dv x dv y
ax   r2 cos t ay   r2 33sin t
dt dt
Uniform Circular Motion 3.2
y 
v  r sin tiˆ  r cos tˆj

r  r cos tiˆ  r sin tˆj
r  r cos sintˆjtˆj
ttiˆiˆrsin
cos
 rrˆ
r

q  t
O x

2
v
a  r2  
r a  r2 cos tiˆ  r2 sin tˆj
centripetal 
 a  r2 rˆ
acceleration
 
a v  0
34
 
v

atan

arad

35
Non-Uniform Circular Motion
dv v2
atan  arad 
dt r
dq
vr  r
dt
dv d
r
dt dt
d

dt
angular
acceleration

atan  r
36
Simple Harmonic Motion 1.1

equilibrium position

amplitude
left spring of negligible mass
end
fixed frictionless

37
Simple Harmonic Motion 1.2 Period, T

t 0

T
t
4

T
t
2

3T
frequency t
4
1
f 
T
t 38 T
Disc 8
Demo 12
Simple Harmonic Motion 1.3
angular frequency
2
x  A cos t   2f
T

x  A cost   phase angle, 

39
Disc 8
Demo 20
Simple Harmonic Motion 1.4
x  A cost  

dx
vx   A sin t  
dt

v x    A2  x 2

dv x
ax   2 A cost  
dt

a x   2 x
40
Motion – Fluid Resistance 1

mg  m   k  
y t  1  exp  t  
k  k  m  
dy mg   k 
vy   1  exp  t 
dt k   m 

 g exp  t 
dv y k
ay 
dt  m 

Note: We take downward to be positive.

41
Motion – Fluid Resistance 2
1 2 v y  gt
y  gt
2

mg  m    k t   dy mg    k t 
y t  1  exp    vy   1  exp  
k  k  m   dt k   m 

42
Motion – Fluid Resistance 3
v y  gt

dy mg    k t   k 
vy   1  exp   a y  g exp  t 
dt 
k   m   m 

43
Jakie
Chan
Summary
 
Position r  r t 


r  xt iˆ  y t  ˆj  z t kˆ
Velocity

 dr
v
dt
ˆ ˆ ˆ dx ˆ dy ˆ dz ˆ
vxi  v y j  vz k  i  j k
dt dt dt
Acceleration
 2
 dv d r
a  2
dt dt
2 2 2
dv dv dv d x d y d z
axiˆ  a y ˆj  az kˆ  x iˆ  y ˆj  z kˆ  2 iˆ  2 ˆj  2 kˆ
dt dt dt dt dt dt 44
Examples 3.1, 3.2, 3.4
A robotic vehicle is being used to explore the surface of Mars.
The landing craft is the origin of coordinates and the surrounding
Martian surface lies in the xy- plane. The rover, which we
represent as a point, has x- and y- coordinates that vary with
time according to
x  2.0  0.25t 2 , y  1.0t  0.025t 3

Find the rover’s coordinates and its distance from the lander
at time t = 2.0 s.
Solution: x2  1.0 m, y2  2.2 m

r2  x22  y22  2.4 m

45
Examples 3.1, 3.2, 3.4
A robotic vehicle is being used to explore the surface of Mars.
The landing craft is the origin of coordinates and the surrounding
Martian surface lies in the xy- plane. The rover, which we
represent as a point, has x- and y- coordinates that vary with
time according to
x  2.0  0.25t 2 , y  1.0t  0.025t 3

Find the vehicle’s displacement and average velocity vectors

during the interval from t = 0.0 s to t = 2.0 s.
 ˆ 
Solution: r1  2.0i  r  1.0iˆ  2.2 ˆj

  r
r2  1.0iˆ  2.2 ˆj vav   0.5iˆ  1.1 ˆj
t 46
Examples 3.1, 3.2, 3.4
A robotic vehicle is being used to explore the surface of Mars.
The landing craft is the origin of coordinates and the surrounding
Martian surface lies in the xy- plane. The rover, which we
represent as a point, has x- and y- coordinates that vary with
time according to
x  2.0  0.25t 2 , y  1.0t  0.025t 3

Derive a general expression for the vehicle’s instantaneous

velocity vector.

Solution: v x  0.50t , v y  1.0  0.075t 2

v   0.50t iˆ  1.0  0.075t 2  ˆj


47
Examples 3.1, 3.2, 3.4
Find the instantaneous velocity at t = 2.0 s. Express the
instantaneous velocity in component form and also in terms of
magnitude and direction.

Solution: v2  1.0iˆ  1.3 ˆj

v2 x  1.0 m s 1 , v2 y  1.3 m s 1

1 v2 y 1.3
v2  v  v
2 2
 1.6 m s tan  2     2  128
 1.0
2x 2y
v2 x

48
Examples 3.1, 3.2, 3.4
Find the components of the average acceleration in the
interval from t = 0.0 s to t = 2.0 s.

  v
Solution: 1 v  1.0 ˆ
j a   0.50iˆ  0.15 ˆj
t
av


v2  1.0iˆ  1.3 ˆj aav  x  0.5 m s  2 , vav  y  0 .15 m s  2

Find the instantaneous acceleration at t = 2.0 s.

Solution:
 
a  0.50iˆ  0.15t  ˆj a2  0.50iˆ  0.30 ˆj

49
Examples 3.1, 3.2, 3.4
Find the parallel and perpendicular components of the
acceleration at t = 2.0 s.
Solution:
 
v2  1.0iˆ  1.3 ˆj a2  0.50iˆ  0.30 ˆj
 
a v
a||  2 2  0.54 m s 2
v2
a2   1.3iˆ  1.0 ˆj 

a   0.21 m s 2
v2

50