WEEK 9

KNS1633
Engineering
Mechanics:
Kinematics of a
Particle
Mr Abdul Azim Bin Abdullah
Lecture Outline
Introduction
Rectilinear Kinematics:
Continuous Motion
Rectilinear Kinematics: Erratic
Motion
Introduction
 Mechanics – concern with the state of rest or
motion of bodies subjected to the action of
forces

Mechanics

STATIC DYNAMICS
S
 Statics – equilibrium of a body that is either
at rest or moves with constant velocity
 Dynamics – deals with accelerated motion of
a body
i. Kinematics – treats only geometric aspects
of motion
ii. Kinetics – analysis of the forces causing the
motion
Rectilinear Kinematics: Continuous
Motion
 Rectilinear – straight path
 Particles – has mass but negligible size and shape

e.g. rockets, projectiles or vehicles

 Rectilinear kinematics – specifying at any
instant, the particle’s position, velocity and
acceleration
 Position
1) Defined by using single coordinate axis, s
2) Origin, O
3) Position vector r – specify location of particle P at any
given instant from origin
4) Algebraic scalar s – position coordinate of particle
Note:-
Magnitude of s = distance from O to P (in meter)
Sense – follow the coordinate axis positive direction
In this case, s is positive
  Displacement – change in its position

r  r   r
 If particle moves from P to P’
s  s  s
s +ve if particle’s position is right of its initial
position
s -ve if particle’s position is left of its initial position
 Distance traveled -> +ve scalar represent total
length of path over which the particle travels
 Distance traveled ≠ Displacement
 Displacement is a vector quantity
Velocity
If particle moves through a displacement ∆r from
P to P’ during the time interval ∆t, the average
velocity, vavg;
r
vavg 
t

Instantaneous velocity is defined as

vins  lim  r / t 
t 0

dr
 vins 
dt
Representing vas
ins an algebraic scalar,

ds Kinematic
v   
  equation
dt  

Velocity is +ve = particle moving to the right

Velocity is –ve = Particle moving to the left
Magnitude of velocity is the speed (m/s)
Average speed – total distance traveled by a particle,
sT, divided by the elapsed time ∆t

v  sp avg 
sT
t

The particle travels along the path of length sT in time

∆t

 vsp  avg  sT
t
s
vavg  
t
Acceleration
Average acceleration – if the particle’s velocity is
known at points P and P’ during time interval ∆t

v
aavg 
t
∆v represents difference in the velocity during time
interval ∆t, ie

v  v'v
 Instantaneous acceleration – is found by taking
smaller and smaller values of ∆t and corresponding
smaller and smaller values of ∆v, so that..

a  lim v / t 
t 0
Or using algebraic scalars,

Kinematic dv 
equation
a  
dt   d 2s 
Subs, a 2  
dt  
ds
v
dt
 Particle is slowing down, its speed is decreasing
=> decelerating => will be v  v'v
negative.
 Consequently, a will also be negative, therefore it
will act to the left, in the opposite sense to v
 If velocity is constant, acceleration is zero
 Units :- m/s2
 Differential
relation involving the displacement,
velocity and acceleration

ds
v
dt
 
𝑎 𝑑𝑠=𝑣 𝑑𝑣
dv
a Kinematic
dt equation
Constant acceleration
 
𝑎=𝑎 𝑐
When the acceleration is constant, each of the three
kinematic equations may be integrated to relate ac,
v, s and t.
 Velocity as a Function of Time

Integrate ac = dv/dt, assuming that initially v =

v0 when t = 0.
v t
 dv   a
v0 0
c dt

v  v0  act 
 
 

Constant Acceleration
 Position as a Function of Time
Integrate v = ds/dt = v0 + act, assuming that
initially s = s0 when t = 0

 ds    v  ac t  dt
s t
0
s0 0

1 2 
s  s0  v0t  ac t   

2  

Constant Acceleration
 Velocity as a Function of Position
Integrate v dv = ac ds, assuming that initially v =
v0 at s = s0
v s
 vdv  
v0 s0
ac ds

v  v  2 ac  s  s0 
2 2 
 
0  

Constant Acceleration
Important points
 Rectilinear kinematics refers to straight-line
motion
 Average speed is the total distance traveled
divided by the total time. This is different from
the average velocity which is the displacement
divided by the time.
 The acceleration, a = dv/dt, is negative when the
particle is slowing down or decelerating.
 A particle can have an acceleration and yet have
zero velocity.
Kinematic Equation
ds
 Velocity, v
dt

dv
 Acceleration,
a
dt
 Displacement, velocity and acceleration
differential relation

𝑎 𝑑𝑠=𝑣 𝑑𝑣
 
Constant acceleration
 Velocity as function of time
v  v0  act
 Position as a function of time
1 2
s  s0  v0t  ac t
2
 Velocity as a function of position

v 2  v02  2ac  s  s0 
Example 1
The car moves in a straight line such that for a short
time its velocity is defined by v = (0.9t2 + 0.6t) m/s
where t is in sec. Determine it position and
acceleration when t = 3s. When t = 0, s = 0.
Solution
Coordinate System. The position coordinate extends
from the fixed origin O to the car, positive to the right.
Position. Since v = f(t), the car’s position can be
determined from v = ds/dt, since this equation relates
v, s and t. Noting that s = 0 when t = 0, we have


 
 
v
ds
dt

 0.9t 2  0.6t 
0
s t

ds   0.9t  0.6t dt
0
2

 
s t
s  0.3t  0.3t 3 2
0 0

s  0.3t  0.3t 3 2

When t = 3s,
s = 10.8m
Acceleration. Knowing v = f(t), the acceleration is
determined from a = dv/dt, since this equation relates
a, v and t.

a    0.9t  0.6t 
dv d 2 
 
 
dt dt
1.8t  0.6

When t = 3s,
a = 6m/s2  
Example 2
A small projectile is forced
downward into a fluid medium
with an initial velocity of 60m/s.
Due to the resistance of the fluid
the projectile experiences a
deceleration equal to a = (-
0.4v3)m/s2, where v is in m/s2.
Determine the projectile’s
velocity and position 4s after it is
fired.
Solution
Coordinate System. Since the motion is downward,
the position coordinate is downwards positive, with
the origin located at O.
Velocity. Here a = f(v), velocity is a function of time
using a = dv/dt, since this equation relates v, a and t.

a
dv
dt
 0.4v  
3
 
 v dv t
60m / s  0.4v 3  0 dt
1  1 1 v t
  2  0 dt
 0.4   2  v 60
1 1 1 
 2 2
t
0.8  v  60  
 1  
1/ 2

v    0.8t  m / s
  60 
2
 

When t = 4s,
v = 0.559 m/s   
Position. Since v = f(t), the projectile’s position can be
determined from v = ds/dt, since this equation relates
v, s and t. Noting that s = 0 when t = 0, we have

1 / 2
ds  1 
v    0.8t 
dt   60 2

1 / 2
s t  1 
0 ds  0   60 2  0.8t  dt

1 / 2
 2  1  t
s   0.8t 
 0.8   60 
2
 0
 
1  1 
1/ 2
1 
s   0.8t   m
0.4   60 2
 60 
 

When t = 4s,
s = 4.43m   
Example 3
A rocket travel upward at
75m/s. When it is 40m from
the ground, the engine fails.
Determine max height sB
reached by the rocket and its
speed just before it hits the
ground.
Solution
Coordinate System. Origin O for the position
coordinate at ground level with positive upward.

Maximum Height. Rocket traveling upward, vA =

+75m/s when t = 0. s = sB when vB = 0 at max height.
For entire motion, acceleration aC = -9.81m/s2
(negative since it act opposite sense to positive
velocity or positive displacement)

v  v  2aC ( sB  s A )
2
B
2
A sB = 327 m
Velocity.
Velocity of the rocket just before it hits the ground
can be obtain by applying eqn. 6 between points B
and C.

v  v  2aC ( sC  s B )
2
C
2
B

vC  80.1 m / s  80 / 1 m / s 
The negative root was chosen since the rocket is
moving downward
It can be shown that eqn. 6 can also be apply between
points A and C.
NOTE:

It should be realized that the rocket is subjected to

a deceleration from A to B of 9.81 m/s2, and then
from B to C it is accelerated at this rate.

Furthermore, even though the rocket momentarily

comes to rest at B (vB = 0) the acceleration at B is
9.81 m/s2 downward.
Example 4
A metallic particle travels
downward through a fluid that
extends from plate A and plate B
under the influence of magnetic
field. If particle is released from
rest at midpoint C, s = 100 mm,
and acceleration, a = (4s) m/s2,
where s in meters, determine
velocity when it reaches plate B
and time need to travel from C to
B
Solution
Coordinate System.
It is shown that s is taken positive downward, measured
from plate A

Velocity.
Since a = f(s), velocity as a function of position can be
obtained by using v dv = a ds. Realising v = 0 at s =
100mm = 0.1m
 v dv  a ds
v s
 v dv  
0 0.1
4 s ds
1 2v 4 2S
v  s
2 0 2 0.1
    
1
v  2 s 2  0.01 2

At s = 200mm = 0.2m,

vB  0.346 m / s  346 mm / s 
ds  v dt

 2 s  0.01
2
 0.5
dt
s ds t
 s
0.1 2
 0.01  0 .5
  2 dt
0


ln s  0.01  s
2
  2t s

0.1
t

ln  s2  0.01  s   2.33  2t    

At s = 200mm = 0.2m, t = 0.658s

Example 5
A particle moves along a horizontal path with a velocity
of v = (3t2 – 6t) m/s. If it is initially located at the origin
O, determine the distance traveled in 3.5s and the
particle’s average velocity and speed during the time
interval.
 Solution
Coordinate System.
Assuming positive motion to the right, measured from the
origin, O

Distance traveled.
Since v = f(t), the position as a function of time may be
found integrating v = ds/dt with t = 0, s = 0.
ds  vdt

 3t 2  6t dt 
s t t
 ds  3 t dt  6 tdt
2
0 0 0


s  t  3t m 3 2
 
 
 

0 ≤ t < 2 s -> -ve velocity -> the particle is moving to the

left,
t > 2 s -> +ve velocity -> the particle is moving to the right

s 0 s  4.0m s  6.125m
t 0 t 2 s t 3.5 s
The distance traveled in 3.5s is
sT = 4.0 + 4.0 + 6.125 = 14.125m
Velocity.
The displacement from t = 0 to t = 3.5s is Δs =
6.125 – 0 = 6.125m
And so the average velocity is

s 6.125
aavg    1.75m / s 
t 3.5  0

Average speed, v 
sp avg 
sT 14.125
  4.04m / s
t 3.5  0
Erratic Motion
 When a particle’s motion during a time period is erratic or
discontinuity in the motion -> difficult to obtain a
continuous mathematical function to describe its position,
velocity or acceleration.
 The particle’s motion described graphically using a series
of curves -> generated experimentally.
 The resulting graph may describes the relationship between
any two of the variables, a, v, s or t.
 A graph describing the relationship between the other
variables can be established using kinematic equations

a = dv/dt, v = ds/dt, a ds = v dv
Erratic Motion
Given the s-t Graph, construct the v-t Graph

 The s-t graph can be plotted if the position of the

particle can be determined experimentally during a
period time t.
 To determine the particle’s velocity as a function
of time, the v-t graph, use v = ds/dt
 Velocity as any instant is determined by measuring
the slope of the s-t graph
 Erratic Motion

ds
v
dt
Slope of s-t graph =
velocity
Erratic Motion
Erratic Motion
Given the v-t graph, construct the a-t graph

 When the particle’s v-t graph is known -> acceleration as a

function of time (a-t graph) -> a = dv/dt
 Acceleration at any instant -> slope of v-t graph

dv
a
dt
Slope of v-t graph =
acceleration
Erratic Motion
Erratic Motion

 Differentiation reduces a polynomial of degree n

to that of degree n-1
 If the s-t graph is parabolic (2nd degree curve) ->
the v-t graph will be sloping line (1st degree
curve) -> the a-t graph will be a constant or
horizontal line (zero degree curve)
EXAMPLE 6
A bicycle moves along a straight road such that it position is
described by the graph as shown. Construct the v-t and a-t graphs
for 0 ≤ t ≤ 30s.
 Solution
v-t Graph.
The v-t graph can be determined by differentiating the eqns
defining the s-t graph
ds
0  t  10s; s  0.3t 2 v  0.6t
dt
ds
10s  t  30s; s  6t  30 v 6
dt

The results are plotted.

We obtain specify values of v by measuring the slope of the s-t
graph at a given time instant.

s 150  30
v   6m / s
t 30  10
a-t Graph.
The a-t graph can be determined by differentiating the eqns
defining the lines of the v-t graph.

dv
0  t  10 s; v  0.6t a  0.6
dt
dv
10  t  30 s; v  6 a 0
dt

The results are plotted.

Thank you