MEC102

Module 4: MOTION
RELATIVE TO A FRAME IN
TRANSLATION
 MEC102
Relative Motion
(Translating Axes)
Course Outcomes
 At the end of the lesson, you should be able
to:
 CO1. Explain and use the principles governing
motion of particles.
 CO2. Apply the concepts of kinematics of
particles to compute positions, velocities, and
accelerations of rigid bodies.
OBJECTIVES
 At the end of the lesson, you should be able
to:
 solve relative motion problems.
 solve dependent motion problems.
Relative Motion (Introduction)
 We have described particle motion using
coordinates referred to fixed reference axes
such as displacements, velocities, and
accelerations
 there are many engineering problems for which
the analysis of motion is simplified by using
measurements made with respect to a moving
reference system.
 These measurements, when combined with the
absolute motion of the moving coordinate
system, enable us to determine the absolute
motion in question.
This approach is called a relative-motion analysis.
(Translating axes)

 Relative Motion- motion is relative or dependent

on the observer
Practical Application
 Relative Motion
 For example, you can toss a pen and catch it
while walking
 The motion may have a different appearance as
viewed from a different reference frame, but
this can be explained by including the 
relative velocity of the reference frame in the
description of the motion.
Relative Motion
 Relative Displacement , Relative Velocity and
Relative acceleration
 1D (x or y coordinates) and 2D ( x and y)
 RELATIVE MOTION
 Relative Displacement:
 RELATIVE MOTION
 Relative Displacement:
Relative Velocity
 Relative velocity is a measurement of velocity
between two objects as determined in a single
coordinate system.
 This is not the case anymore with 
special relativity in which velocities depend on
the choice of reference frame.
 Frame Reference-
 the view of the person or object observing the
motion
 With respect to the earth or to the ground
RELATIVE MOTION
NOTATION
 If the position coordinates xA and xB are
measured from the same origin, there
difference defines the relative position
coordinate of B with respect to A.

 The rate of change of the relative

position coordinate of B with respect to
A is known as the relative velocity of B
with respect to A.
Solution: Add up the vectors
 RELATIVE MOTION
 Relative velocity
RELATIVE MOTION
 Example:
 The white speed boat has a velocity of 30km/h,N,
and the yellow boat a velocity of 25km/h, N, both
with respect to the ground.
 What is the relative velocity of the white boat
with respect to the yellow boat?

 Answer: 5km/h, N
RELATIVE MOTION
 Example:
 A passenger is seated on a bus that is
traveling with a velocity of 5 m/s, North. If
the passenger remains in her seat, what is
her velocity:
 with respect to the ground?
 with respect to the bus?
RELATIVE MOTION
 Example:
 The passenger decides to approach the
driver with a velocity of 1 m/s, N, with
respect to the bus, while the bus is moving
at 5m/s, N.
 What is the velocity of the passenger with
respect to the ground?

 Answer: 6m/s, N
https://www.physicstutorials.org/
home/mechanics/1d-kinematics/
riverboat-problems
 Riverboat Problems
 Example Boat has velocity 5m/s with respect to
the river. It aims to reach point A, however,
because of the river speed it reaches another 
point B. If the speed of current is 2m/s to the
east calculate the time of trip and the distance
between A and B.
RELATIVE MOTION
 Example:
 A ball is thrown vertically upward from the
12 m level in an elevator shaft with an initial
velocity of 18 m/s. At the same instant an
open-platform elevator passes the 5 m
level, moving upward with a constant
velocity of 2 m/s. Determine (a) where the
ball will hit the elevator, (b) the relative
velocity of the ball with respect to the
elevator when the ball hits the elevator.
RELATIVE MOTION
 Example:
 Two rockets are launched at a fireworks
performance. Rocket A was launched with
an initial velocity of and rocket B is
launched 4 s later with the same initial
velocity. The two rockets are timed to
explode simultaneously at a height of 73 m
as A is falling and B is rising. Assuming a
constant acceleration, determine (a) the
initial velocity, (b) the velocity of B relative
to A at the time of explosion. (c) the
relative position of A with respect to B
when A is at the highest position.
RELATIVE MOTION
 Example:
 In a boat race , boat A is leading boat B by
38m and both boats are travelling at a
constant speed of 168km/h. At t=0, the
boats accelerate at constant rates.
Knowing that when B passes A, t=8s and
VA=228km/h, determine (a) the
acceleration of A, (b) acceleration of B, (c)
the velocity of B relative to A at the time
when B passes A. (d) the relative position of
A with respect to B when t=2 s.
References
 http://hyperphysics.phy-astr.gsu.edu/hbase/rel
mot.html
 https://www.youtube.com/watch?v=UcY5Gx_W
MvI
 https://www.youtube.com/watch?v=ZImYVq59k
OU
 https://www.youtube.com/watch?v=bUfXCh0xB
zg
MEC102
Dependent Motion
OBJECTIVES
 At the end of the lesson, you should be able
to:
 solve dependent motion problems.
 relate the positions, velocities, and
accelerations of particles undergoing
dependent motion.
Course Outcomes
 At the end of the lesson, you should be able
to:
 CO1. Explain and use the principles governing
motion of particles.
 CO2. Apply the concepts of kinematics of
particles to compute positions, velocities, and
accelerations of rigid bodies.
Dependent Motion
  the motion of one object will depend on the
motion of another object.
DEPENDENT MOTION
 Applications :
 The cable and pulley
system shown here can
be used to modify the
speed of block B
relative to the speed of
the motor. It is
important to relate the
various motions in
order to determine the
power requirements for
the motor and the
tension in the cable.
DEPENDENT MOTION
 Applications :
 Rope and pulley
arrangements are
often used to assist
in lifting heavy
objects. The total
lifting force
required from the
truck depends on
the acceleration of
the cabinet.
DEPENDENT MOTION
 Procedures for analysis:
 DEPENDENT MOTION
 In many kinematics problems, the motion of
one object will depend on the motion of
another object The blocks in this figure are
connected by an inextensible
cord wrapped around a pulley.
If block A moves downward
along the inclined plane, block
B will move up the other
incline
The motion of each block can be related mathematically
by defining position coordinates, sA and sB. Each
coordinate axis is defined from a fixed point or datum line
DEPENDENT MOTION

If the cord has a fixed length, the position

coordinates sA and sB are related mathematically
by the equation
sA + lCD + sB = lT

Here lT is the total cord length and lCD is the

length of cord passing over arc CD on the pulley
 DEPENDENT MOTION
 In many kinematics problems, the motion of
one object will depend on the motion of
another object The blocks in this figure are
connected by an inextensible
cord wrapped around a pulley.
If block A moves downward
along the inclined plane, block
B will move up the other
incline
The motion of each block can be related mathematically
by defining position coordinates, sA and sB. Each
coordinate axis is defined from a fixed point or datum line
DEPENDENT MOTION

If the cord has a fixed length, the position

coordinates sA and sB are related mathematically
by the equation
sA + lCD + sB = lT

Here lT is the total cord length and lCD is the

length of cord passing over arc CD on the pulley
DEPENDENT MOTION
The velocities of blocks A and
B can be related by
differentiating the position
equation. Note that lCD and lT
remain constant,
so dlCD/dt = dlT/dt = 0

dsA/dt + dsB/dt = 0 => vB = -vA

The negative sign indicates that as A moves down

the incline (positive sA direction), B moves up the
incline (negative sB direction)
Accelerations can be found by
differentiating the velocity expression
 DEPENDENT MOTION
Consider a more complicated
example. Position coordinates (sA
and sB) are defined from fixed
datum lines, measured along the
direction of motion of each block
Note that sB is only defined to the
center of the pulley above block B,
since this block moves with the
pulley. Also, h is a constant

The red colored segments of the cord remain

constant in length during motion of the blocks
 DEPENDENT MOTION
The position coordinates are related
by the equation
2sB + h + sA = l
Where l is the total cord length
minus the lengths of the red
segments
Since l and h remain constant during
the motion, the velocities and
accelerations can be related by two
successive time derivatives:
2vB = -vA and 2aB = -aA
When block B moves downward (+sB), block A moves to the left
(-sA). Remember to be consistent with the sign convention!
DEPENDENT MOTION
 Procedures for analysis:
 Define position coordinates from fixed datum
lines, along the path of each particle. Different
datum lines can be used for each particle
 Relate the position coordinates to the cord length.
Segments of cord that do not change in length
during the motion may be left out
 If a system contains more than one cord, relate
the position of a point on one cord to a point on
another cord. Separate equations are written for
each cord
 Differentiate the position coordinate equation(s)
to relate velocities and accelerations. Keep track
of signs!
DEPENDENT MOTION
The velocities of blocks A and
B can be related by
differentiating the position
equation. Note that lCD and lT
remain constant,
so dlCD/dt = dlT/dt = 0

dsA/dt + dsB/dt = 0 => vB = -vA

The negative sign indicates that as A moves down

the incline (positive sA direction), B moves up the
incline (negative sB direction)
Accelerations can be found by
differentiating the velocity expression
Find the velocity and acceleration of
the blocks.
https://www.youtube.com/watch?
v=VClLcpymnqM

https://www.youtube.com/watch?v=VClLcpymnqM
https://www.youtube.com/watch?
v=yea9zNCTQGQ
DEPENDENT MOTION
 Example:
 Pulley D is attached to a collar which is pulled down
at 3 in./s. At t = 0, collar A starts moving down
from K with constant acceleration and zero initial
velocity. Knowing that velocity of collar A is 12
in./s as it passes L, determine the change in
elevation, velocity, and acceleration of block B
when block A is at L.
DEPENDENT MOTION
 Answer:
 Define origin at upper horizontal surface with
positive displacement downward.

• Collar A has uniformly accelerated rectilinear

motion. Solve for acceleration and time t to reach L.
DEPENDENT MOTION
 Answer:

• Pulley D has uniform rectilinear

motion. Calculate change of
position at time t.
DEPENDENT MOTION
 Answer:

• Block B motion is dependent on motions of collar

A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
DEPENDENT MOTION
 Answer:
• Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
 DEPENDENT MOTION
 Exercise:
 In the figure below, the cord at A is pulled down
with a speed of 10 ft/s. (a) Find the speed of block
B. (b) the change in elevation of B in 3 second.

Plan: There are two cords involved in the motion in this example. The
position of a point on one cord must be related to the position of a point on
the other cord. There will be two position equations (one for each cord)
DEPENDENT MOTION
 Answer:
Eliminating sC between the
DATUM
sA two equations, we get
sC sB 2sA + 4sB = l1 + 2l2

Relate velocities by
differentiating this expression.
2vA + 4vB = 0
Þ vB = - 0.5vA
Þ vB = - 0.5(8) = - 4 ft/s
Cord 1: 2sA + 2sC = l1
The velocity of block B is 4
Cord 2: sB + (sB – sC) = l2 ft/s up (negative sB direction).
PREPARATION FOR THE COURSE
 http://www.google.com.ph/url?
sa=t&rct=j&q=&esrc=s&frm=1&source=web&cd
=2&cad=rja&uact=8&ved=0CCEQFjAB&url=htt
p%3A%2F%2Fwww.mae.wvu.edu%2F~cairns
%2FTeaching%2FMAE
%2520242%2FMAE_242_Lecture5.ppt&ei=_7
lFVMWZBcjMmAXAsYGYBg&usg=AFQjCNFIP
gh0Dpc7e53KFlZO7UA9WORBxA&bvm=bv.77
880786,d.dGc
 MAE 242 Dynamics – Section I, Dr. Kostas
Sierros
PREPARATION FOR THE COURSE