Review of Kinematics

Rectilinear Motion: Variable acceleration

If a mathematical relation is established between any two of the four

variables s, v, a, and t, then a third variable can be determined by using one
of the following equations which relates all three variables.

ds
v
dt
dv
a
dt
ds dv
dt    vdv  ads
v a

If Acceleration is constant:
2
s  s 0  v0t  1 ac t 2 v  v0  ac t v 2  v0  2ac ( s  s0 )
2
Cartesian Rectangular x, y z coordinates:

These coordinates are often used when the motion can be resolved into
rectangular components. They are also very useful for studying projectile
motion since the acceleration of the projectile is always downward

v x  x a x  x
v y  y a y  y
v z  z a z  z
 n, t, b Intrinsic coordinates

These coordinates are particularly advantageous for studying

particle acceleration along a known path. This is because the t and
n components of a represent the separate changes in magnitude
and direction of the velocity, respectively, and these components
can be readily formulated

ds
v
dt
dv at ds  vdv
at 
dt
v2
an 
  2 3/ 2 

 1   dy   
   dx    When y  f (x) is known
 2 
 d y 
 dx 2

 
 r , , z Coordinates

These coordinates are used when the data regarding the angular motion of
the radial coordinate r is given to describe the particle’s motion. Also, some
paths of the motion can conveniently be described using these coordinates.

vr  r ar  r  r 2

v  r a  r  2r



a z  z
v z  z
F
x  ma x
F
y  ma y
F
z  ma z

 F  ma
r r

 F  ma
 F  ma
t t
 F  ma
z z
 F  ma
n n

F 0 b
Equations of Motion of a particle in Rectangular Cartesian Coordinate System

F x  ma x a x  x
F y  ma y a y  y
F z  ma z a z  z
Equations of Motion of a particle in Intrinsic Coordinate Systems

ds
v at ds  vdv
dt
 F  ma dv
at 
t t

 F  ma
n n
dt
F 0
b

v2
an 

Equations of Motion of a particle in Cylindrical and Polar Coordinate Systems

 F  ma
r r
vr  r
 F  ma v  r
 F  ma
z z v z  z
ar  r  r 2
a  r  2r


a z  z

In polar coordinate:
vz  0
az  0
 Requirements for Solving Dynamic Problems
Geometric requirements – Kinematics (position of the particle s as
function of the spatial variable, velocity, and acceleration)
Example: Rectilinear Motion with Variable acceleration
ds
v
dt
dv
a
dt
ds dv
dt    vdv  ads
v a
dp d ( mv) dv
Dynamic Requirements f 
dt

dt
 m  ma
dt
p  mv
p is linear momentum
Constitutive requirements for system elements and gravitational field

p  mv Momentum - velocity

f s  ks Spring force

Gravitational force
f g  mg
f f  k N Frictional force
 Example1: Consider a simple pendulum consisting of a mass, m, suspended from a
string of length L and negligible mass. We can formulate the problem in polar
coordinates, and noting that r = L (constant), and write r and theta components.

ar  r  r 2
a  r  2r r  L  r  r  0


o
x
 F  mg cos   T  mL
r
2


L  F  mg sin   mL
T u Where T is the tension on the string. If we restrict the
motion to small motion, we can approximate,
ur sin   
g
mg The   equation becomes

   0
L
y  g  
Integrating we obtain the general  (t )  C1 cos t  C2 sin  g t
  L
solution  L  

Where the constants C1 and C2 are determined from the initial conditions. Thus, if  (0)   max
 g
 (t )   max cos t
 and T  mg cos   mL 2
 L 
Problem 13-62:
The ball has a mass of 30 kg and speed v = 4 m/s at the instant it
is at its lowest point,   0 Determine the tension in the cord and
the rate at which the ball’s speed is decreasing at the instant   20
Neglect the size of the ball
 ds
We can formulate the problem v
Given v0=4 m/s, dt
using n-t coordinates:
determine v and tension dv
T
at 
dt
at ds  vdv
v2
an   l 4

n
v2
T  Fn man  T  30(9.81) cos  30 4
t
un  Ft  mat  30(9.81) sin   30at
ut

 at ds  vdv s  r  4  ds  4d
mg
 v v
 9.81 sin  (4d )   vdv   vdv
0 v0 4

 1 2 1 2 1
9.81(4) cos 0  v  4  v 2  8  39.4(cos   1)
2 2 2
At   20
v  3.357m / s
at  3.36m / s 2
T  361N
 s