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Kinematics Kinematics
Course Virtual Worlds
INFOVW - 2010
What is Kinematics? What is Kinematics?
Kinematics is the study of the motion of bodies
without regard to the forces acting on the body
Focus:
P iti Position
Velocity
Acceleration
How are these related and how do they change
over time?
Focus Focus
We will focus on
Particles
Rigid bodies
A system of particles that remain at fixed distances syste o pa t c es t at e a at ed d sta ces
from each other with no relative translation or
rotation among them
Velocity and Acceleration Velocity and Acceleration
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Velocity is a vector quantity,
Direction
Magnitude
d f l ll d d
Speed Speed
Magnitude of velocity is called speed
t
s
v
A
A
=
Speed example Speed example
1000 m
kph
t
s
v 72
s
m
20
s ) 10 60 (
m 1000
= =

=
A
A
=
1
t
1
= 10 s
2
t
2
= 60 s
Instantaneous velocity Instantaneous velocity
ds s A
dt
ds
t
s
v
t
=
A
A
=
A
) ( lim
0
Integrate this
Relationship between s and v Relationship between s and v
=
=
dt v ds
dt
ds
v
}
} }
= A =
=
2
1
2
1
2
1
1 2
t
t
t
t
s
s
dt v s s s
dt v ds
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Displacement and Distance Displacement and Distance
In 1D (straight-line movement) displacement
and distance traveled is the same
I hi h di i thi i diff t In higher dimensions this is different
Show this on whiteboard
Acceleration Acceleration
t
v
a
A
A
=
dt
dv
a
t
v
a
t
=
A
A
=
A 0
lim
Integrate this
Speed change Speed change
=
=
dt a dv
dt
dv
a
}
} }
= A =
=
2
1
2
1
2
1
1 2
t
t
v
v
t
t
dt a v v v
dt a dv
Constant Acceleration Constant Acceleration
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Constant Acceleration Constant Acceleration
If an object experiences constant acceleration its
speed changes accordingly
Example is the acceleration due to the earths
gravity (a = g = 9 81 m/s2) gravity (a = g = 9.81 m/s2)
This can be calculated by solving the following:
} }
=
2
1
2
1
v
v
t
t
dt a dv
Do this on whiteboard
Velocity dependent on distance Velocity dependent on distance
d
ds
d
dt
dv
a =
dv v ds a
dv
dt
ds a
=
=
Ki nemat i c Di f f ent i al Equat i on of Mot i on
Integrate this
Exam Exam
You should be able to calculate all these things
by heart
Table 2.1 in the book will not be supplied at
the exam
Non Non- -Constant Acceleration Constant Acceleration
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Non Non- -constant acceleration constant acceleration
This is very common
For example, any object moving in a real world
will experience drag
d i l t l t more on drag in later lecture
One type of drag is dependent on speed
2
v k a =
Resulting equation Resulting equation
k
dv
v k a =
2
2
dt k dv
v
v k
dt
=
=
2
2
1
Integrate this
integrated integrated
1
2
dt k dv
v
=
) 1 (
...
1
1
2
t k v
v
v
+
=
substitute substitute
ds dt v
dt
ds
v = =
) 1 (
where
1
1
t k v
v
v
+
=
Integrate this
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results in results in
t k v ) 1 ln(
1
+
k
s
) (
1
=
Question for you Question for you
When and where will an object stop under the
drag in the previous example?
U th f ll i l Use the following values
k = 10
v1 = 20 m/s
General cases General cases
In general very hard to calculate using these
formulas
Usually solved by numerical integration
Will b di d i l t l t Will be discussed in later a lecture
2D Particle Kinematics 2D Particle Kinematics
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Independence of two directions Independence of two directions
In the 2D case, you can regard the two
directions as being independent
Two sets of 1D problems
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=
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\
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=
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\
|
=
y
x
y
x
a
a
v
v
y
x
a
v
s
Written out this leaves Written out this leaves
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\
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=
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\
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=
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\
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= =
y
x
v
v
d
dy
dt
dx
dt
y
x
d
dt
ds
v
|
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.
|

\
|
=
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\
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= = =
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.

\
y
x
a
a
dt
y d
dt
x d
dt
d
dt
d
dt
2
2
2
2
2
2
s v
a
An Example An Example
v
1
=800 m/s
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30
assume: g = -10 m/s
2
3D Particle Kinematics 3D Particle Kinematics
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Just an extension of 2D Just an extension of 2D
Nothing more complicated than 2D case
Just add an extra dimension
R lt i Results in:
position: x, y, z
velocity: v
x
, v
y
, v
z
acceleration: a
x
, a
y
, a
z
Rigid Body Kinematics Rigid Body Kinematics
Similar Kinematics Similar Kinematics
Rigid Body Kinematics is basically particle
kinematics with rotation
M t i t i t th t f Most convenient is to use the center of mass as
the particle for linear kinematics
track C.o.M. translation
track rotation around C.o.M
Local Coordinate Frame Local Coordinate Frame

body f r ame
y
y
x

wor l d f r ame
x
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Angular Velocity and Acceleration Angular Velocity and Acceleration
O
=
dt
d
e
O =
O
= =
d d
dt
d
dt
d
o e e
e
o
2
2
Integrate this
Points on the Object Points on the Object
Points on the object move
Combination of two motions:
linear motion of CoM
angular motion around CoM angular motion around CoM
Want to calculate this because you want to
know stuff about the points
For example, how hard will two object hit each
other
Arc Length Arc Length
Call c
p
the arc length for a point on the object
Let r
p
be the distance between this point and
the axis of rotation
L b h l h b d ( Let be the angle the object rotated (in
radians)
O =
p p
r c
Angular and Linear Velocity Angular and Linear Velocity
p
dt
d
r
dt
dc O
=
e
p p
r v =
Differentiate this
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Angular and Linear Acceleration Angular and Linear Acceleration
e
dt
d
r
dt
dv
p
p
=
o r a
t
=
Tangent i al l i near accel er at i on
Centripetal Acceleration Centripetal Acceleration
Besides the tangential linear acceleration, there
is also the centripetal acceleration of a point on
the object
Thi i di t d t d th i f t ti This is directed toward the axis of rotation
This is what you feel when you go through a
corner in a car or bus
Centripetal Acceleration Centripetal Acceleration
2
r
v
a
n
=
2
e r a
r
n
=
2D vs. 3D 2D vs. 3D
In 2D there is no problem in using these scalar
quantities for angular speed and acceleration
H i 3D thi i f bl d However, in 3D this is more of a problem, and
vectors need to be used
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Linear Tangential Velocity Linear Tangential Velocity
r v =
r a
r a
=
=
t
n
) (
Resulting Quantities for Point Resulting Quantities for Point
Remember, the object moves linearly as the
CoM moves
Rotation add to the movement for points on
th bj t the object
Total motion of a point on the object is the
sum of the two motions
Show on whiteboard
Exercise Exercise
Car drives around a bend with 20 m/s
The diameter of the turn is 20 meter.
Questions:
1 Wh t i th l l ti ? 1. What is the angular acceleration?
2. What is the centripetal acceleration?
3. Assume that the gravitational acceleration is 10
m/s
2
, what is the amount of Gs experienced
by the driver and passengers?
Questions?? Questions??
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Next Lecture Next Lecture
Topic of the next lecture:
Forces