Dynamics CH12

Chapter 12 : Kinematics Of A Particle
Chapter Objectives
To introduce the concepts of position, displacement,
velocity, and acceleration.
To study particle motion along a straight line and
represent this motion graphically.
To investigate particle motion along a curved path
using different coordinate systems.
To present an analysis of dependent motion of two
particles.
To examine the principles of relative motion of two
particles using translating axes.
2007 Pearson Education South Asia Pte Ltd
Chapter Outline
Introduction
Rectilinear Kinematics: Continuous Motion
Rectilinear Kinematics: Erratic Motion
Curvilinear Motion: Rectangular Components
Motion of a Projectile
Curvilinear Motion: Normal and Tangential
Components
Chapter Outline
Curvilinear Motion: Cylindrical Components
Absolute Dependent Motion Analysis of Two
Particles
Relative Motion Analysis of Two Particles
Using Translating Axes
Introduction
Mechanics the state of rest of motion of
bodies subjected to the action of forces
Static equilibrium of a body that is either at
rest or moves with constant velocity
Dynamics deals with accelerated motion of
a body
1) Kinematics treats with geometric aspects
of the motion
2) Kinetics analysis of the forces causing
the motion
Rectilinear Kinematics: Continuous

Motion
Rectilinear Kinematics specifying at any
instant, the particles position, velocity, and
acceleration
Position
1) Single coordinate axis, s
2) Origin, O
3) Position vector r specific location of
particle P at any instant

4) Algebraic Scalar s in metres
Note : - Magnitude of s = Dist from O to P

- The sense (arrowhead dir of r) is defined by
algebraic sign on s
=> +ve = right of origin, -ve = left of origin

Displacement change in its position, vector
quantity

If particle moves from P to P
=> r r r
s s s
s is +ve if particles position is right of its initial

position
s is -ve if particles position is left of its initial
position

Velocity
r
Average velocity,vavg
t
Instantaneous velocity is defined as

vins lim r / t
t 0
dr
vins
dt

Representingvins as an algebraic scalar,
ds
v
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 is defined as total distance
traveled by a particle, sT, divided by the
elapsed time t .
sT
vsp avg
t
The particle travels along
the path of length sT in time
=>
sT
vsp avg
t
s
vavg
t

Acceleration velocity of particle is known at
points P and P during time interval t,
average acceleration is
v
aavg
aavg
v represents difference in the velocity

during the time interval t, ie
v v'v

Instantaneous acceleration at time t is found
by taking smaller and smaller values of t and
corresponding smaller and smaller values of
v,
a limv / t
t 0
dv
a
dt
d 2s
a 2
dt

Particle is slowing down, its speed is
decreasing => decelerating => v v'v
will be 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

Velocity as a Function of Time
Integrate ac = dv/dt, assuming that initially v
= v0 when t = 0.
v
v0
dv a dt
c
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
s
s0ds 0v0 act dt

1 2
s s0 v0t act
2

Velocity as a Function of Position
Integrate v dv = ac ds, assuming that initially v =
v0 at s = s0
v
v0
s0
vdv a ds
c
v v 2ac s s0
2
2
0

PROCEDURE FOR ANALYSIS
1) Coordinate System
Establish a position coordinate s along the
path and specify its fixed origin and positive
direction.
The particles position, velocity, and
acceleration, can be represented as s, v and a
respectively and their sense is then determined
from their algebraic signs.

The positive sense for each scalar can be
indicated by an arrow shown alongside each
kinematics eqn as it is applied

2) Kinematic Equation
If a relationship is known between any two of the
four variables a, v, s and t, then a third variable
can be obtained by using one of the three the
kinematic equations
When integration is performed, it is important that
position and velocity be known at a given instant
in order to evaluate either the constant of
integration if an indefinite integral is used, or the
limits of integration if a definite integral is used

Remember that the three kinematics equations
can only be applied to situation where the
acceleration of the particle is constant.
EXAMPLE 12.1
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.
EXAMPLE 12.1
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 cars 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
ds

2
0
.
9
t
0.6t

dt
EXAMPLE 12.1
ds 0.9t 2 0.6t dt
0
s 0.3t 3 0.3t 2
0
s 0.3t 0.3t
3
When t = 3s,
s = 10.8m
t
0
EXAMPLE 12.1
Acceleration.
Knowing v = f(t), the acceleration
is determined from a = dv/dt, since this equation
relates a, v and t.
dv d
a 0.9t 2 0.6t
dt dt
1.8t 0.6
When t = 3s,
a = 6m/s2
EXAMPLE 12.2
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 projectiles
velocity and position 4s
after it is fired.
EXAMPLE 12.2
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.
dv
3
a
0.4v
dt
EXAMPLE 12.2
t
dv
60m / s 0.4v 3 0 dt
t
1 1 1 v
2 0 dt
0.4 2 v 60
v
1 1
1
t
2
2
0.8 v 60
1/ 2
1

v
0.8t m / s
2
60

When t = 4s,
v = 0.559 m/s
EXAMPLE 12.2
Position.
Since v = f(t), the projectiles 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
2
dt 60
0 ds 0 602 0.8t
s
1 / 2
2 1
0.8t
s
2
0.8 60
dt
1 / 2
t
0
EXAMPLE 12.2
1 / 2
1 1
1
0.8t m
s
2
0.4 60
60
When t = 4s,
s = 4.43m
EXAMPLE 12.3
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.
EXAMPLE 12.3
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 ht. For
entire motion, acceleration aC = -9.81m/s2 (negative
since it act opposite sense to positive velocity or
positive displacement)
EXAMPLE 12.3
v v 2aC ( s B s A )
2
B
2
A
sB = 327 m
Velocity.
v v 2aC ( sC s B )
2
C
2
B
v 80.1 m / s 80 / 1 m / s
2
C
The negative root was chosen since the rocket is

moving downward
EXAMPLE 12.4
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
EXAMPLE 12.4
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
EXAMPLE 12.4
v dv a ds
v
0.1
v dv
4s ds
1 2v 4 2S
v s
2 0 2 0.1
v 2 s 2 0.01
1
2
At s = 200mm = 0.2m,
vB 0.346 m / s 346 mm / s
EXAMPLE 12.4
ds v dt
s
0. 1
2 s 0.01
ds
2
ln s
0.01
0.5
0.5
2 dt
0
2t
0.01 s 2.33 2t
ln s 0.01 s
2
dt
0. 1
At s = 200mm = 0.2m, t = 0.658s
EXAMPLE 12.5
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 particles
average velocity and speed during the time interval.
EXAMPLE 12.5
View Free Body Diagram
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.
EXAMPLE 12.5
ds vdt
3t 2 6t dt
s
ds 3 t dt 6 tdt
s t 3t m
EXAMPLE 12.5
ds vdt
3t 2 6t dt
s
ds 3 t dt 6 tdt
s t 3t m
3
0 t < 2 s -> -ve velocity -> the particle is moving

to the left, t > 2a -> +ve velocity -> the particle is
moving to the right
s
t 0
t 2 s
4.0m
t 3.5 s
6.125m
EXAMPLE 12.5
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
s = 6.125 0 = 6.125m
And so the average velocity is
aavg
s 6.125
1.75m / s
t 3.5 0
Average speed,
sp avg
sT 14.125
4.04m / s
t 3.5 0

When particles motion is erratic, it is best
described graphically using a series of curves that
can be generated experimentally from computer
output.
a graph can be established describing the
relationship with any two of the variables, a, v, s, t
using the kinematics equations a = dv/dt, v =
ds/dt, a ds = v dv
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 of time t.
To determine the particles 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
ds
v
dt
Slope of s-t graph =
velocity
Given the v-t Graph, construct the a-t Graph

When the particles v-t graph is known, the
acceleration as a function of time, the a-t graph can
be determined using a = dv/dt
Acceleration as any instant is determined by
measuring the slope of the v-t graph
dv
a
dt
Slope of v-t graph =
acceleration

Since differentiation reduces a polynomial of
degree n to that of degree n-1, then if the s-t graph
is parabolic (2nd degree curve), the v-t graph will be
sloping line (1st degree curve), and the a-t graph
will be a constant or horizontal line (zero degree
curve)
EXAMPLE 12.6
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.
EXAMPLE 12.6
Solution:
v-t Graph. The v-t graph can be determined by
differentiating the eqns defining the s-t graph
0 t 10 s;
s 0.3t
10 s t 30 s; s 6t 30
ds
0.6t
v
dt
ds
6
v
dt
The results are plotted.

EXAMPLE 12.6
We obtain specify values of v by measuring the
slope of the s-t graph at a given time instant.
s 150 30
6m / s
v
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.
EXAMPLE 12.6
dv
0 t 10 s; v 0.6t a
0.6
dt
dv
10 t 30s; v 6
a
0
dt
The results are plotted.
Given the a-t Graph, construct the v-t Graph

When the a-t graph is known, the v-t graph may
be constructed using a = dv/dt
v a dt
Change in = Area under
velocity
a-t graph
Knowing particles initial velocity

v0, and add to this small increments
of area (v)
Successive points v1 = v0 + v, for
the v-t graph
Each eqn for each segment of the
a-t graph may be integrated to yield
eqns for corresponding segments
of the v-t graph
Given the v-t Graph, construct the s-t Graph

When the v-t graph is known, the s-t graph may
be constructed using v = ds/dt
s v dt
Displacement = Area under
v-t graph

knowing the initial position s0,
and add to this area increments
s determined from v-t graph.
describe each of there
segments of the v-t graph by a
series of eqns, each of these
eqns may be integrated to yield
eqns that describe
corresponding segments of the
s-t graph
EXAMPLE 12.7
A test car starts from rest
and travels along a
straight track such that it
accelerates at a constant
rate for 10 s and then
decelerates at a constant
rate. Draw the v-t and s-t
graphs and determine the
time t needed to stop the
car. How far has the car
traveled?
EXAMPLE 12.7
Solution:
v-t Graph. The v-t graph can be determined by
integrating the straight-line segments of the a-t
graph. Using initial condition v = 0 when t = 0,
0 t 10 s a 10;
dv 10 dt , v 10t
0
EXAMPLE 12.7
When t = 10s, v = 100m/s, using this as initial
condition for the next time period, we have
10s t t ; a 2;
dv 2 dt , v 2t 120
100
10
When t = t we require v = 0. This yield t = 60 s

s-t Graph. Integrating the eqns of the v-t graph
yields the corresponding eqns of the s-t graph.
Using the initial conditions s = 0 when t = 0,
0 t 10 s; v 10t ;
ds 10t dt , s 5t 2
0
EXAMPLE 12.7
When t = 10s, s = 500m. Using this initial condition,
10 s t 60 s; v 2t 120;
ds 2t 120dt
s
500
10
s t 2 120t 600
When t = 60s, the position is s = 3000m
Given the a-s Graph, construct the v-s Graph

v-s graph can be determined by using v dv = a ds,
integrating this eqn between the limit v = v0 at s =
s0 and v = v1 at s = s1
s1
1 2 2
v1 v0 a ds
s0
2
Area under
a-s graph
determine the eqns which define the segments of

the a-s graph
corresponding eqns defining the segments of the
v-s graph can be obtained from integration, using
vdv = a ds
Given the v-s Graph, construct the a-s Graph

v-s graph is known, the acceleration a at any
position s can be determined using a ds = v dv
dv
a v
ds
Acceleration = velocity times slope of v-s graph
At any point (s,v), the slope dv/ds of the v-s graph

is measured
Since v and dv/ds are known, the value of a can
be calculated
EXAMPLE 12.8
The v-s graph describing the motion of a motorcycle
is shown in Fig 12-15a. Construct the a-s graph of
the motion and determine the time needed for the
motorcycle to reach the position s = 120 m.
EXAMPLE 12.8
Solution:
a-s Graph. Since the eqns for the segments of the
v-s graph are given, a-s graph can be determined
using a ds = v dv.
0 s 60m; v 0.2 s 3
dv
0.04 s 0.6
av
ds
60m s 120m; v 15;
dv
0
av
ds
EXAMPLE 12.8
Time.
The time can be obtained using v-s
graph and v = ds/dt. For the first segment of
motion, s = 0 at t = 0,
ds
ds
0 s 60m; v 0.2 s 3; dt
v 0.2 3
t
s
ds
o dt 0 0.2s 3
t 5 ln(0.2 s 3) 5 ln 3
At s = 60 m, t = 8.05 s
EXAMPLE 12.8
For second segment of motion,
ds ds
60 s 120m; v 15; dt
v 15
t
s ds
8.05 dt 60 15
s
t 4.05
15
At s = 120 m, t = 12.0 s
General Curvilinear Motion
Curvilinear motion occurs when the particle moves

along a curved path
Position. The position of the particle, measured
from a fixed point O, is designated by the position
vector r = r(t).
Displacement. Suppose during a small time

interval t the particle moves a distance s along
the curve to a new position P`, defined by r` = r +
r. The displacement r represents the change in
the particles position.
Velocity. During the time t, the average velocity

of the particle is defined as
vavg
The instantaneous velocity is determined from

this equation by letting t 0, and consequently
the direction of r approaches the tangent to the
curve at point P. Hence,
dr
vins
dt
Direction of vins is tangent to the curve

Magnitude of vins is the speed, which may be
obtained by noting the magnitude of the
displacement r is the length of the straight line
segment from P to P`.
ds
v
dt
Acceleration.
If the particle has a velocity v at
time t and a velocity v` = v + v at time t` = t + t.
The average acceleration during the time interval
t is
aavg
dv d 2 r
a
2
dt dt
a acts tangent to the hodograph, therefore it is not

tangent to the path
Position.
Position vector is defined by

r = xi + yj + zk
The magnitude of r is always positive and defined

as
2
2
2
r x y z
The direction of r is specified
by the components of the
unit vector ur = r/r
Velocity.
dr
v
vx i v y j vz k
dt
where v x x v y y v z z
The velocity has a magnitude

defined as the positive value of
v v v v
2
x
2
y
2
z
and a direction that is specified by the components

of the unit vector uv=v/v and is always tangent to
the path.
Acceleration.
dv
a
axi a y j az k
dt
where a x vx x
a y v y y
a z vz z
The acceleration has a magnitude defined as the

positive value of
a a x2 a y2 a z2
The acceleration has a direction specified by the

components of the unit vector ua = a/a.
Since a represents the time rate of change in
velocity, a will not be tangent to the path.

Coordinate System
A rectangular coordinate system can be used to
solve problems for which the motion can
conveniently be expressed in terms of its x, y and z
components.
Kinematic Quantities
Since the rectilinear motion occurs along each
coordinate axis, the motion of each component is
found using v = ds/dt and a = dv/dt, or a ds = v ds
Once the x, y, z components of v and a have
been determined. The magnitudes of these vectors
are found from the Pythagorean theorem and their
directions from the components of their unit
vectors.
EXAMPLE 12.9
At any instant the horizontal

position of the weather balloon
is defined by x = (9t) m, where
t is in second. If the equation
of the path is y = x2/30,
determine the distance of the
balloon from the station at A,
the magnitude and direction of
the both the velocity and
acceleration when t = 2 s.
EXAMPLE 12.9
Solution:
Position. When t = 2 s, x = 9(2) m = 18 m and
y = (18)2/30 = 10.8 m
The straight-line distance from A to B is
r
Velocity.
18 10.8
2
21 m
d
v x x 9t 9m / s
dt
d 2
v y y
x / 30 10.8m / s
dt
EXAMPLE 12.9
When t = 2 s, the magnitude of velocity is

v
9 10.8
2
14.1m / s
The direction is tangent to the path, where

v
1 y
v tan
50.2
vx
Acceleration.
a x vx 0
a y v y 5.4m / s 2
EXAMPLE 12.9
0 5.4
2
5 .4 m / s 2
The direction of a is
5.4
a tan
90
0
1
EXAMPLE 12.10
The motion of box B is defined

by the position vector r =
{0.5sin(2t)i + 0.5cos(2t)j
0.2tk} m, where t is in seconds
and the arguments for sine and
cosine are in radians ( rad =
180). Determine the location
of box when t = 0.75 s and the
magnitude of its velocity and
acceleration at his instant.
EXAMPLE 12.10
Solution:
Position. Evaluating r when t = 0.75 s yields
r t 0.75 s {0.5 sin(1.5rad )i 0.5 cos(1.5rad ) j 0.2(0.75)k } m
{0.499i 0.0354 j 0.150k } m
The distance of the box from the origin is

r (0.499) 2 (0.0354) 2 (0.150) 2 0.522m
EXAMPLE 12.10
The direction of r is obtained from the components

of the unit vector,
r 0.499 0.0352 0.150

ur
i
j
k
r 0.522
0.522
0.522
0.955i 0.0678 j 0.287 k

cos 1 (0.955) 17.2
86.1
107
EXAMPLE 12.10
Velocity.
dr
v
{1 cos(2t )i 1sin(2t ) j 0.2k }m / s
dt
Hence at t = 0.75 s, the magnitude of velocity, is

v v x2 v y2 v z2 1.02m / s
Acceleration.
to the path.
The acceleration is not tangent
dv
a
{2 sin( 2t )i 2 cos(2t ) j }m / s 2
dt
At t = 0.75 s, a = 2 m/s2
Free-flight motion studied in terms of rectangular
components since projectiles acceleration always
act vertically
Consider projectile launched at (x0, y0)
Path defined in the x-y plane
Air resistance neglected
Only force acting on the projectile is its weight,
resulting in constant downwards acceleration
ac = g = 9.81 m/s2
Horizontal Motion

v v0 ac t ;
1 2
x x0 v0t ac t ;
2
v 2 v02 2ac ( s s0 );
Since ax = 0,
v x (v0 ) x
x x0 (v0 ) x t
v x (v0 ) x
Horizontal component of velocity remain constant

during the motion
Vertical.
ay = - g
Positive y axis is directed upward, then
v v0 ac t ;
v y (v0 ) y gt
1 2
y y0 v0t ac t ;
2
v 2 v02 2ac ( y y0 );
1 2
y y0 (v0 ) y t gt
2
v x (v0 ) 2y 2 g ( y y0 )
Problems involving the motion of a projectile have
at most three unknowns since only three
independent equations can be written:
- one in the horizontal direction
- two in the vertical direction
Velocity in the horizontal and vertical direction are
used to obtain the resultant velocity
Resultant velocity is always tangent to the path
Coordinate System
Establish the fixed x, y, z axes and sketch the
trajectory of the particle
Specify the three unknowns and data between
any two points on the path
Acceleration of gravity always acts downwards
Express the particle initial and final velocities in
the x, y components
Positive and negative position, velocity and
acceleration components always act in accordance
with their associated coordinate directions
Kinematics Equations
Decide on the equations to be applied between
the two points on the path for the most direct
solution
Horizontal Motion
Velocity in the horizontal or x directions is
constant (vx) = (vo)x
x = xo + (vo)x t
Vertical Motion
Only two of the following three equations should
be used
v y (v0 ) y gt
1 2
y y0 (v0 ) y t gt
2
v x (v0 ) 2y 2 g ( y y0 )
Eg: if final velocity is not needed, first and third of

the equations would not be needed
EXAMPLE 12.11
A sack slides off the
ramp with a horizontal
velocity of 12 m/s. If the
height of the ramp is 6 m
from the floor, determine
the time needed for the
sack to strike the floor
and the range R where
the sacks begin to pile
up.
EXAMPLE 12.11
Coordinate System. Origin of the coordinates is
established at the beginning of the path, point A.
Initial velocity of a sack has components (vA)x = 12
m/s and (vA)y = 0
Acceleration between point A and B ay = -9.81 m/s2
Since (vB)x = (vA)x = 12 m/s, the three unknown are
(vB)y, R and the time of flight tAB
EXAMPLE 12.11
Vertical Motion. Vertical distance from A to B is
known
1 2
y y0 (v0 ) y t AB ac t AB ;
2
t AB 1.11s
The above calculations also indicate that if a sack

is released from rest at A, it would take the same
amount of time to strike the floor at C
EXAMPLE 12.11
Horizontal Motion.
x x0 (v0 ) x t AB
R 13.3m
EXAMPLE 12.12
The chipping machine is designed to eject wood at
chips vO = 7.5 m/s. If the tube is oriented at 30
from the horizontal, determine how high, h, the
chips strike the pile if they land on the pile 6 m
from the tube.
EXAMPLE 12.12
Coordinate System. Three unknown h, time of
flight, tOA and the vertical component of velocity
(vB)y. Taking origin at O, for initial velocity of a chip,
(vO ) x (7.5 cos 30 ) 6.5m / s
(vO ) y (7.5 sin 30 ) 3.75m / s
(vA)x = (vO)x = 6.5 m/s and ay = -9.81 m/s2
EXAMPLE 12.12
Horizontal Motion.
x A x0 (v0 ) x tOA
tOA 0.9231s
Vertical Motion.
Relating tOA to initial and final elevation of the chips,
1 2
y A h 2.1 yO (v0 ) y tOA ac tOA
2
h 1.38m
EXAMPLE 12.13
The track for this racing event
was designed so that the
riders jump off the slope at
30, from a height of 1m.
During the race, it was
observed that the rider
remained in mid air for 1.5 s.
Determine the speed at which he was traveling off
the slope, the horizontal distance he travels before
striking the ground, and the maximum height he
attains. Neglect the size of the bike and rider.
EXAMPLE 12.13
Coordinate System. Origin is established at point

A. Three unknown are initial speed vA, range R and
the vertical component of velocity vB.
Vertical Motion. Since time of flight and the vertical
distance between the ends of the paths are known,
1
2
( s B ) y ( s A ) y (v A ) y t AB aC t AB
2
v A 13.4m / s
EXAMPLE 12.13
Horizontal Motion
( sB ) x ( s A ) x (v A )t AB
R 0 13.38 cos 30 (1.5)

17.4m
For maximum height h, we consider path AC
Three unknown are time of flight, tAC, horizontal
distance from A to C and the height h
At maximum height (vC)y = 0
EXAMPLE 12.13
Since vA known, determine h using the following
equations
(vc )2y (vA)2y 2ac[(sC ) y (sA) y ]
2
(0) (13.38sin30 ) 2(9.81)[(h 1) 0]

2
h 3.28m
Show that the bike will strike the ground at B with

velocity having components of
(vB )x 11.6m/ s , (vB ) y 8.02m/ s
Curvilinear Motion: Normal and Tangential Components
When the path of motion of a particle is known,

describe the path using n and t coordinates which
act normal and tangent to the path
Consider origin located at the particle
Planar Motion
Consider particle P which is moving in a plane
along a fixed curve, such that at a given instant it
is at position s, measured from point O
Consider a coordinate
system that has origin at a
fixed point on the curve on
the curve, and at the instant,
considered this origin
happen to coincide with the
location of the particle
t axis is tangent to the curve at P and is positive in
the direction of increasing s
Designate this positive position direction with unit

vector ut
For normal axis, note that geometrically, the curve
is constructed from series differential arc segments
Each segment ds is
formed from the arc of an
associated circle having
a radius of curvature
(rho) and center of
curvature O
Normal axis n is perpendicular to the t axis and is

directed from P towards the center of curvature O
Positive direction is always on the concave side of
the curve, designed by un
Plane containing both the n and t axes is known
as the oscillating plane and is fixed on the plane of
motion
Velocity.
Since the particle is moving, s is a function of time
Particles velocity v has direction that is always
tangent to the path and a magnitude that is
determined by taking the time derivative of the path
function s = s(t)
v vut
where
v s
Acceleration
Acceleration of the particle is the time rate of
change of velocity
a v vut vut
As the particle moves along the arc ds in time dt,

ut preserves its magnitude of unity
When particle changes direction, it becomes ut
ut = ut + dut
dut stretches between the arrowhead of ut and
ut, which lie on an infinitesimal arc of radius ut = 1
s
v
ut un un un
where
a at ut anun
at v
and
at ds vdv
an
v2
Magnitude of acceleration is the positive value

of
a at2 an2
Consider two special cases of motion

If the particle moves along a straight line, then
and an = 0. Thus a at v , we can
conclude that the tangential component of
acceleration represents the time rate of change in
the magnitude of velocity.
If the particle moves along the curve with a
2
constant speed, then at v 0 and a an v /
Normal component of acceleration represents the

time rate of change in the direction of the velocity.
Since an always acts towards the center of
curvature, this component is sometimes referred to
as the centripetal acceleration
As a result, a particle moving along the curved
path will have accelerations directed as shown
Three Dimensional Motion

If the particle is moving along a space curve, at a
given instant, t axis is completely unique
An infinite number of straight lines can be
constructed normal to tangent axis at P
For planar motion,

- choose positive n axis directed from P towards
paths center of curvature O
- The above axis also referred as principle normal
to curve at P
-ut and un are always perpendicular to one another
and lies in the osculating plane
For spatial motion,

a third unit vector ub, defines a binormal axis b
which is perpendicular to ut and un
Three unit vectors are related by vector cross
product
ub = ut X un
un is always on the concave side

Coordinate System
When path of the particle is known, establish a
set of n and t coordinates having a fixed origin
which is coincident with the particle at the instant
Positive tangent axis acts in the direction of the
motion and the positive normal axis id directed
toward the paths center of curvature
n and t axes are advantageous for studying the
velocity and acceleration of the particle
Velocity
Particles velocity is always tangent to the path
Magnitude of the velocity is found from the
derivative of the path function
v s
Tangential Acceleration
Tangential component of acceleration is the result
of the time rate of change in the magnitude of
velocity
Tangential component acts in the positive s

direction if the particles speed is increasing and in
the opposite direction if the seed is decreasing
For rectilinear motion,
at v
at ds vdv
If at is constant,
1
2
s s0 v0t (ac )c t
2
v v0 (ac )c t
v 2 v02 2(ac )c ( s s0 )
Normal Acceleration
Normal component of acceleration is the result of
the time rate of change in the direction of the
particles velocity
Normal component is always directed towards the
center of curvature of the path along the positive n
axis
For magnitude of the normal component,
an
v2
If the path is expressed as y = f(x), the radius of

the curvature at any point on the path is
determined from
[1 (dy / dx) 2 ]3 / 2
d 2 y / dx 2
EXAMPLE 12.14
When the skier reaches the
point A along the parabolic
path, he has a speed of 6m/s
which is increasing at 2m/s2.
Determine the direction of his
velocity and the direction and
magnitude of this
acceleration at this instant.
Neglect the size of the skier
in the calculation.
EXAMPLE 12.14
Coordinate System. Establish the origin of the n,
t axes at the fixed point A on the path and
determine the components of v and a along these
axes.
Velocity.
path.
The velocity is directed tangent to the

1 2 dy
y x ,
1
dx x 10
20
v make an angle of = tan-1 = 45 with the x axis
v A 6m / s
EXAMPLE 12.14
2
Acceleration.
Determined from a vut (v / )un
2 3/ 2
[1 (dy / dx) ]
28
.
28
m
d 2 y / dx 2
The acceleration becomes
a A vut
v2
un
{2ut 1.273un }m / s 2
EXAMPLE 12.14
2 1.237 2.37m / s 2
2
2
tan
57.5
1.327
1
Thus, 57.5 45 = 12.5

a = 2.37 m/s2
EXAMPLE 12.15
Race car C travels round the horizontal circular
track that has a radius of 90 m. If the car increases
its speed at a constant rate of 2.1 m/s2, starting
from rest, determine the time needed for it to reach
an acceleration of 2.4 m/s2. What is its speed at
this instant?
EXAMPLE 12.15
Coordinate System. The origin of the n and t
axes is coincident with the car at the instant. The t
axis is in the direction of the motion, and the
positive n axis is directed toward the center of the
circle.
Acceleration.
The magnitude of acceleration
can be related to its components using a at2 an2
v v0 (at )c t
2.1t
EXAMPLE 12.15
Thus,
an
0.049t 2m / s 2
The time needed for the acceleration to reach

2.4m/s2 is
2
2
a at an
Solving for t = 4.87 s
Velocity.
The speed at time t = 4.87 s is
v 2.1t 10.2m / s
EXAMPLE 12.16
The boxes travels alone

the industrial conveyor. If
a box starts from rest at A
and increases its speed
such that at = (0.2t) m/s2,
determine the magnitude
of its acceleration when it
arrives at point B.
EXAMPLE 12.16
Coordinate System. The position of the box at

any instant is defined by s, from the fixed point A.
The acceleration is to be determined at B, so the
origin of the n, t axes is at this point.
Acceleration.
Since vA when t = 0
at v 0.2t
v
(1)
0 dv 0 0.2t dt
v 0.1t 2
(2)
EXAMPLE 12.16
The time needed for the box to reach point B can
be determined by realizing that the position of B is
sB = 3 + 2(2)/4 = 6.142 m, since sA = 0 when t = 0
ds
2
v 0.1t
dt
6.142
ds 0.1t 2dt
t B 5.690 s
tB
EXAMPLE 12.16
Substituting into eqn (1) and (2),
2
(aB )t vB 0.2(5.690) 1.138m / s
vB 0.1(5.69) 3.238m / s
2
At B, B = 2 m,
(aB ) n
vB2
5.242m / s 2
aB (1.138) (5.242)
2
5.36m / s 2

If motion is restricted to the plane, polar
coordinates r and are used
Polar Coordinates
Specify the location of P using both the radial
coordinate r, which extends outward from the fixed
origin O to the particle and a traverse coordinate ,
which is the counterclockwise angle between a
fixed reference line and the r axis

Angle usually measured in
degrees or radians, where 1 rad
= 180
Positive directions of the r and
coordinates are defined by
the unit vectors ur and u
ur extends from P along
increasing r, when is held
fixed

u extends from P in the direction that occurs
when r is held fixed and is increased
Note these directions are perpendicular to each
other
Position
At any instant, position of the particle defined by
the position vector
r rur

Velocity
Instantaneous velocity v is obtained by the time
derivative of r
v r rur rur
To evaluate ur , note that ur changes only its

direction with respect to time since magnitude of
this vector = 1
During time t, a change r will not cause a
change in the direction of u

However, a change will cause ur to become ur
where
ur = ur + ur
Time change is ur
For small angles , vector has a magnitude of 1
and acts in the u direction
ur

lim
ur lim
u
t 0 t
t 0 t
ur u
v vr ur v u
vr r
where
v r
Radical component vr is a measure of the rate of
increase or decrease in the length of the radial
coordinate
Transverse component v is the rate of motion
along the circumference of a circle having a radius
r

Angular velocity d / dt indicates the rate of
change of the angle
Since vr and v are mutually perpendicular, the
magnitude of the velocity or speed is simply the
positive value of
2
2
v r r
Direction of v is tangent
to the path at P

Acceleration
Taking the time derivatives, for the instant
acceleration,
a v rur rur ru ru ru
During the time t, a change r will not change
the direction u although a change in will cause
u to become u
For small angles, this vector has a magnitude =
1 and acts in the ur direction
u= - ur
where
a ar ur a u
ar r r 2
a r 2r
The term d 2 / dt 2 is called the angular

acceleration since it measures the change made
in the angular velocity during an instant of time
Use unit rad/s2

Since ar and a are always perpendicular, the
magnitude of the acceleration is simply the positive
value of
2
2
2
a r r
r 2r
Direction is determined from the vector addition

of its components
Acceleration is not tangent to the path
Cylindrical Coordinates
If the particle P moves along
a space, then its location may
be specified by the three
cylindrical coordinates r, , z
z coordinate is similar to that
used for rectangular
coordinates

Since the unit vector defining its direction, uz, is
constant, the time derivatives of this vector are
zero
Position, velocity, acceleration of the particle can
be written in cylindrical coordinates as shown
rp ru r zu z
v rur ru zu z
a (r r )ur (r 2r )u zu z

Time Derivatives
Two types of problems usually occur
1) If the coordinates are specified as time
parametric equations, r = r(t) and = (t), then
the time derivative can be formed directly.
2) If the time parametric equations are not given, it
is necessary to specify the path r = f() and find
the relationship between the time derivatives
using the chain rule of calculus.

Coordinate System
Polar coordinate are used to solve problem
involving angular motion of the radial coordinate r,
used to describe the particles motion
To use polar coordinates, the origin is established
at a fixed point and the radial line r is directed to
the particle
The transverse coordinate is measured from a
fixed reference line to radial line

Velocity and Acceleration
Once r and the four time derivatives r,r,, have
been evaluated at the instant considered, their
values can be used to obtain the radial and
transverse components of v and a
Use chain rule of calculus to find the time
derivatives of r = f()
Motion in 3D requires a simple extension of the
above procedure to find
EXAMPLE 12.17
The amusement park consists of a chair that is
rotating in a horizontal circular path of radius r such
that the arm OB has an angular velocity and
angular acceleration. Determine the radial and
transverse components of velocity and acceleration
of the passenger.
EXAMPLE 12.17
Coordinate System. Since the angular motion of
the arm is reported, polar coordinates are chosen
for the solution. is not related to r, since radius is
constant for all .
Velocity and Acceleration.
rr
Since r is constant,
r 0 r 0
EXAMPLE 12.17
vr r 0
v r
2
2
ar r r r
a r 2r r
This special case of circular motion happen to be

collinear with r and axes
EXAMPLE 12.18
The rob OA is rotating in the horizontal plane such
that = (t3) rad. At the same time, the collar B is
sliding outwards along OA so that r = (100t2)mm. If
in both cases, t is in seconds, determine the
velocity and acceleration of the collar when t = 1s.
EXAMPLE 12.18
Coordinate System. Since time-parametric
equations of the particle is given, it is not
necessary to relate r to .
r 100t
r 200t
r 200
t 1s
t 1 s
t 1 s
100mm t
3
t 1 s
200mm / s 3t
200mm / s
6t
1rad 5.73
t 1 s
t 1 s
2rad / s
6rad / s
EXAMPLE 12.18
v rur ru
{200ur 300u }mm / s

The magnitude of v is
v 200 300 361mm / s

2
1 300
56
.
3
200
tan
57.3 114
EXAMPLE 12.18
a (r r )ur (r 2r )u
2
{700ur 1800u }mm / s
The magnitude of a is
a 700 1800 1930mm / s

2
1 1800
68
.
7
700
tan
(180 ) 57.3 169

EXAMPLE 12.19
The searchlight casts a spot of light along the face
of a wall that is located 100m from the searchlight.
Determine the magnitudes of the velocity and
acceleration at which the spot appears to travel
across the wall at the instant = 45. The
searchlight is rotating at a constant rate of 4 rad/s
EXAMPLE 12.19
Coordinate System. Polar coordinates will be
used since the angular rate of the searchlight is
given. To find the time derivatives, it is necessary to
relate r to .
r = 100/cos = 100sec
r 100(sec tan )
2
2
3
r 100 sec tan 100 sec 100(sec tan )

2
EXAMPLE 12.19
Since = 4 rad/s = constant, = 0, when = 45,
r 141.4
r 565.7
r 6788.2
v rur ru
{565.7ur 565.7u }m / s
v 800m / s
EXAMPLE 12.19
a (r r )ur (r 2r )u
{4525.5ur 4525.5u }mm / s 2

a 6400mm / s 2
EXAMPLE 12.20
Due to the rotation of the
forked rod, ball A travels
across the slotted path, a
portion of which is in the shape
of a cardioids, r = 0.15(1 cos
)m where is in radians. If
the balls velocity is v = 1.2m/s
and its acceleration is 9m/s2 at
instant = 180, determine the
angular velocity and angular
acceleration of the fork.
EXAMPLE 12.20
Coordinate System.
polar coordinates.
For this unusual path, use

r 0.15(1 cos )
r 0.15(sin )
r 0.15(cos )() 0.15(sin )
Evaluating these results at = 180
r 0.3m r 0 r 0.15 2
EXAMPLE 12.20
Since v = 1.2 m/s
2
v r
4rad / s
2
2 2
2
a (r r ) (r 2r )
2
18rad / s
Absolute Dependent Motion Analysis of

Two Particles
Motion of one particle will depend on the
corresponding motion of another particle
Dependency occur when particles are
interconnected by the inextensible cords which are
wrapped around pulleys
For example, the movement of block A downward
along the inclined plane will cause a corresponding
movement of block B up the other incline
Specify the locations of the blocks using position
coordinate sA and sB

Two Particles
Note each of the coordinate axes is (1)
referenced from a fixed point (O) or fixed datum
line, (2) measured along each inclined plane in the
direction of motion of block A and block B and (3)
has a positive sense from C to A and D to B
If total cord length is lT, the position coordinate
are elated by the equation
s A lCD sB lT

Two Particles
Here lCD is the length passing over arc CD
Taking time derivative of this expression, realizing
that lCD and lT remain constant, while sA and sB
measure the lengths of the changing segments of
the cord
ds A dsB
0
or vB v A
dt
dt
The negative sign indicates that when block A has
a velocity downward in the direction of position sA, it
causes a corresponding upward velocity of block B;
B moving in the negative sB direction

Two Particles
Time differentiation of the velocities yields the
relation between accelerations
aB = - aA
For example involving
dependent motion of two blocks
Position of block A is specified
by sA, and the position of the end
of the cord which block B is
suspended is defined by sB

Two Particles
Chose coordinate axes which are (1) referenced
from fixed points and datums, (2) measured in the
direction of motion of each block, (3) positive to the
right (sA) and positive downward (sB)
During the motion, the red colored segments of
the cord remain constant
If l represents the total length of the cord minus
these segments, then the position coordinates can
be related by
2 sB h 2 s A l

Two Particles
Since l and h are constant during the motion, the
two time derivatives yields
2vB v A
2aB a A
When B moves downward
(+sB), A moves to left (-sA) with
two times the motion
This example can also be
worked by defining the position
of block B from the center of the
bottom pulley ( a fixed point)

Two Particles
2(h sB ) h s A l
Time differentiation yields
2vB v A
2a B a A

Two Particles
Position-Coordinate Equation
Establish position coordinates which have their
origin located at a fixed point or datum
The coordinates are directed along the path of
motion and extend to a point having the same
motion as each of the particles
It is not necessary that the origin be the same for
each of the coordinates; however, it is important
that each coordinate axis selected be directed
along the path of motion of the particle

Two Particles
Using geometry or trigonometry, relate the
coordinates to the total length of the cod, lT, or to
that portion of cord, l, which excludes the segments
that do not change length as the particle move
such as arc segments wrapped over pulleys
For problem involving a system of two or more
cords wrapped over pulleys, then the position of a
point on one cord must be related to the position of
a point on another cord using the above procedure
Separate equations must be written for a fixed
length of each cord of the system.

Two Particles
Time Derivatives
Two successive time derivatives of the positioncoordinates equations yield the required velocity
and acceleration equations which relate motions of
the particles
The signs of the terms in these equations will be
consistent with those that specify the positive and
negative sense of the position coordinates
EXAMPLE 12.21
Determine the speed of block A if block B has an
upward speed of 2 m/s.
EXAMPLE 12.21
Position Coordinate System. There is one cord in
this system having segments which are changing
length. Position coordinates sA and sB will be used
since each is measured from a fixed point (C or D)
and extends along each blocks path of motion. In
particular, sB is directed to point E since motion of
B and E is the same. The red colored segments of
the cords remain at a constant length and do not
have to be considered as the block move.
EXAMPLE 12.21
The remaining length of the cord, l, is also
considered and is related to the changing position
coordinates sA and sB by the equation
s A 3sB l
Time Derivative.
yields
Taking the time derivative
v A 3vB 0
so that when vB = -2m/s (upward)

vA = 6m/s
EXAMPLE 12.22
Determine the speed of block A if block B has an
upward speed of 2m/s.
EXAMPLE 12.22
Position Coordinate Equation.
Positions of A
and B are defined using coordinates sA and sB.
Since the system has two cords which change
length, it is necessary to use a third coordinate sC
in order to relate sA to sB. Length of the cords can
be expressed in terms of sA and sC, and the length
of the other cord can be expressed in terms of sB
and sC. The red colored segments are not
considered in this analysis.
EXAMPLE 12.22
For the remaining cord length,
s A 2 sC l1
sB ( sB sC ) l2
Eliminating sC yields,
s A 4 sB 2l2 l1
Time Derivative.
The time derivative gives

v A 4v B 0
so that vB = -2m/s (upward)
vB 8m / s 8m / s
EXAMPLE 12.23
Determine the speed with which block B rises if the
end of the cord at A is pulled down with a speed of
2m/s.
EXAMPLE 12.23
Position-Coordinate Equation.
The position of
A is defined by sA, and the position of block B is
specified by sB since point E on the pulley will have
the same motion as the block. Both coordinates are
measured from a horizontal datum passing through
the fixed pin at pulley D. Since the system consists
of two cords, the coordinates sA and sB cannot be
related directly. By establishing a third position
coordinate, sC, and the length of the other cord in
terms of sA, sB and sC.
EXAMPLE 12.23
Excluding the red colored segments of the cords,
the remaining constant cord lengths l1 and l2 (along
the hook and link dimensions) can be expressed as
sC sB l1
s A sC sB sC sB l2
Eliminating sC yields
sC 4 sB l2 2l1
EXAMPLE 12.23
Time Derivative.
The time derivative give

v A 4v B 0
when vA = 2m/s (downward)
vB 0.5m / s 0.5m / s
EXAMPLE 12.24
A man at A s hoisting a safe
S by walking to the right
with a constant velocity vA =
0.5m/s. Determine the
velocity and acceleration of
the safe when it reaches the
elevation at E. The rope is
30m long and passes over
a small pulley at D.
EXAMPLE 12.24
Position Coordinate System.

Rope segment
DA changes both direction and magnitude.
However, the ends of the rope, which define the
position of S and A, are specified by means of the x
and y coordinates measured from a fixed point and
directed along the paths of motion of the ends of
the rope. The x and y coordinates may be related
since the rope has a fixed length l = 30m, which at
all times is equal to the length of the segment DA
plus CD.
EXAMPLE 12.24
Using Pythagorean Theorem,
I DA
15 x
2
I CD 15 y
l lDA lCD
30
15 x 15 y
2
y 225 x 2 15
(1)
EXAMPLE 12.24
Time Derivative.
Taking time derivative,
using the chain rule where, vS = dy/dt and vA =
dx/dt
dx
2x
dy 1
vS
2
dt 2 225 x dt
x
225 x
vA
(2)
At y = 10 m, x = 20 m, vA = 0.5 m/s, vS =
400mm/s
EXAMPLE 12.24
The acceleration is determined by taking the time
derivative of eqn (2),
x(dx / dt )
dx
1
aS 2
xv
v
A
A
2 3/ 2
2
dt
225 x dt
(225 x )
d2y
dv A
1
225v 2A
3/ 2
2
2
dt
225 x
225 x
At x = 20 m, with vA = 0.5 m/s,
aS 3.6mm / s 2

There are many cases where the path of the
motion for a particle is complicated, so that it may
be feasible to analyze the motions in parts by using
two or more frames of reference
For example, motion of an particle located at the
tip of an airplane propeller while the plane is in
flight, is more easily described if one observes first
the motion of the airplane from a fixed reference
and then superimposes (vectorially) the circular
motion of the particle measured from a reference
attached to the airplane

Position.
Consider particle A and B,
which moves along the
arbitrary paths aa and bb,
respectively
The absolute position of
each particle rA and rB, is
measured from the common
origin O of the fixed x, y, z
reference frame

Origin of the second frame of reference x, y and
z is attached to and moves with particle A
Axes of this frame only permitted to translate
relative to fixed frame
Relative position of B with respect to A is
designated by a relative-position vector rB/A
Using vector addition

rB rA rB / A

Velocity.
By time derivatives,
vB v A vB / A
Here vB drB / dt and v A drA / dt refer to absolute

velocities, since they are observed from the fixed
frame
Relative velocity vB / A drB / A / dt is observed from

the translating frame

Since the x, y and z axes translate,
the components of rB/A will not change
direction and therefore time derivative
o this vector components will only
have to account for the change in the
vector magnitude
Velocity of B is equal to the velocity
of A plus (vectorially) the relative
velocity of B relative to A as
measured by the translating observer
fixed in the x, y and z reference

Acceleration.
The time derivative yields a similar relationship
between the absolute and relative accelerations of
the particles A and B
aB a A aB / A
Here aB/A is the acceleration of B as seen by the
observer located at A and translating with the x, y
and z reference frame

When applying the relative position equations, rB
= rA + rB/A, it is necessary to specify the location of
the fixed x, y , z and translating x, y and z
Usually, the origin A of the translating axes is
located at a point having a known position rA
A graphical representation of the vector addition
can be shown, and both the known and unknown
quantities labeled on this sketch

Since vector addition forms a triangle, there can
be at most two unknowns, represented by the
magnitudes and/or directions of the vector
quantities
These unknown can be solved for either
graphically, using trigonometry, or resolving each of
the three vectors rA, rB and rB/A into rectangular or
Cartesian components, thereby generating a set of
scalar equations

The relative motion equations vB = vA + vB/A and
aB = aA + aB/A are applied in the same manner as
explained above, except in this case, origin O of
the fixed axes x, y, z axes does not have to be
specified
EXAMPLE 12.25
A train, traveling at a constant speed of 90km/h,
crosses over a road. If automobile A is traveling t
67.5km/h along the road, determine the magnitude
and direction of relative velocity of the train with
respect to the automobile
EXAMPLE 12.25
Vector Analysis.
The relative velocity is
measured from the translating x, y axes attached
to the automobile. Since vT and vA are known in
both magnitude and direction, the unknowns
become the x and y components of vT/A. Using the
x, y axes and a Cartesian vector analysis,
vT v A vT / A
~
~
~
90 i (67.5 cos 45 i 67.5 sin 45 j ) vT / A
v
{42.3~
i 47.7 ~j )km / h
T/A
EXAMPLE 12.25
The magnitude of vT/A is
vT / A (42.3 47.7 ) 63.8km / h

2
2 2
The direction of vT/A defined from the x axis is
vT / A y 47.7
tan
vT / A x 42.3
48.40
EXAMPLE 12.26
Plane A is flying along a straight-line path, while
plane B is flying along a circular path having a
radius of curvature of B = 400 km. Determine the
velocity and acceleration of B as measured by the
pilot of A.
EXAMPLE 12.26
Velocity.
The x, y axes are located at an
arbitrary fixed point. Since the motion relative to
plane A is to be determined, the translating frame
of reference x. y is attached to it. Applying the
relative-velocity equation in scalar form since the
velocity vectors of both plane are parallel at the
instant shown,
( ) v B v A v B / A
600 700 vB / A
vB / A 100km / h 100km / h
EXAMPLE 12.26
Acceleration.
Plane B has both tangential
and normal components of acceleration, since it is
flying along a curved path. Magnitude of normal
acceleration,
2
vB
aB n 900km / h 2
Applying the relative-acceleration equation,

aB a A aB / A
i 100 ~j 50 ~j a
900~
B/ A
aB / A 900~
i 150 ~j km / h 2
EXAMPLE 12.26
From the figure shown, the magnitude and direction
of aB / A
2
1 150
aB / A 912km / h
tan
9.46
900
EXAMPLE 12.27
At the instant, car A and B
are traveling with the speed
of 18 m/s and 12 m/s
respectively. Also at this
instant, A has a decrease in
speed of 2 m/s2, and B has
an increase in speed of 3
m/s2. Determine the velocity
and acceleration of B with
respect to A.
EXAMPLE 12.27
Velocity. The fixed x, y axes are established at a

point on the ground and the translating x, y axes
are attached to car A. Using Cartesian vector
analysis,
vB v A vB / A
~
~
~
12 j 18 cos 60 i 18 sin 60 j vB / A
v
9~
i 3.588 ~j m / s
B/ A
Thus,
vB / A 9 3.588 9.69m / s
2
EXAMPLE 12.27
Its direction is
vB / A y 3.588
tan
vB / A x
9
21.7
Acceleration.
component is
The magnitude of the normal
aB n
vB2
1.440m / s 2
EXAMPLE 12.27
Applying the equation for relative acceleration
yields
aB a A aB / A
~
~
~
~
1.440 i 3 j 2 cos 60 i 2 sin 60 j aB / A
~
~
2
a
2.440 i 4.732 j m / s
B/ A
Magnitude and direction is

aB / A 5.32m / s
62.7
Chapter Review
Rectilinear Kinematics.
Rectilinear
kinematics refers to motion along a straight line. A
position coordinate s specifies the location of the
particle on the line and the displacement s is the
change in this position.
The average velocity is a vector quantity, defined
as the displacement divided by the time interval.
vavg
Chapter Review
This is the different than the average speed, which
is a scalar and is the total distance traveled divided
by the time of travel.
sT
vsp avg t
The time, position, instantaneous velocity and
instantaneous acceleration are related by the
differential equations
v ds / dt
a dv / dt
a ds v dv
Chapter Review
If the acceleration is known to be constant, then the
integration of these equations yields
v v0 a c t
1 2
s s0 v0t act
2
2
2
v v0 2 a c s s 0
Chapter Review
Graphical Solutions. If the motion is erratic, then
it can be described by a graph. If one of these
graphs is given, then the others can be established
using the differential relations, v = ds/dt, a = dv/dt,
or a ds = v dv.
Curvilinear Motion, x, y, z. For this case, motion
along the path is resolved into rectilinear motion
along the x, y, z axes. The equation of the path is
used to relate the motion along each axis.
Chapter Review
Projectile Motion.
Free flight motion of a
projectile follows a parabolic path. It has a constant
velocity in the horizontal direction and constant
acceleration of g = 9.81 m/s2 in the vertical
direction. Any two of the three equations for
constant acceleration apply in the vertical direction,
and in the horizontal direction only
x x0 (v0 ) x t
Chapter Review
Curvilinear Motion n, t.
If normal and tangential
axes are used for the analysis, then v is always in
the positive t direction. The acceleration has two
components. The tangential components, at,
accounts for the change in the magnitude of the
velocity; a slowing down is in the negative t direction,
and a speeding up is in the positive t direction. The
normal component, an accounts for the change in the
direction of velocity. The component is always in the
positive n direction.
Chapter Review
Curvilinear Motion r, , z. If the path of motion is
expressed in polar coordinates, then the velocity
and acceleration components can be written as
vr r
ar r r 2
v r
a r 2r
To apply these equations, it is necessary to determine
r , r, r,,
at the instant considered. If the path r
= f() is given, then the chain rule of calculus must be
used to obtain the time derivatives.
Chapter Review
Once the data is substituted into the equations,
then the algebraic sign of the results will indicate
the direction of components of v or a along each
axis.
Absolute Dependent Motion of Two Particles.
The dependent motion of blocks that are
suspended from pulleys and cables can be related
by the geometry of the system.
Chapter Review
This is done by first establishing position
coordinates, measured from a fixed origin to each
block so that they are directed along the line of
motion of the blocks. Using geometry and/or
trigonometry, the coordinates are then related to
the cable length in order to formulate a position
coordinate equation. The first time derivative of this
equation gives a relationship between the velocities
of the blocks, and a second time derivative gives
the relationship between their accelerations.
Chapter Review
Relative Motion Analysis Using Translating Axes.
If two particles A and B undergo independent
motions, then these motions can be related to their
relative motion. Using a translating set axes
attached to one of the particles (A), the velocity and
acceleration equations become
vB v A vB / A
aB a A aB / A
Chapter Review
For planar motion, each of these equations
produces two scalar equations, one in the x, and
the other in the y direction. For solution, the vectors
can be expressed in Cartesian form or the x and y
scalar components can be written directly.

Dynamics CH12

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Chapter 12 : Kinematics Of A Particle

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Continuous

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Continuous Motion

Note : - Magnitude of s = Dist from O to P

Rectilinear Kinematics: Continuous Motion

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Continuous Motion

s is +ve if particles position is right of its initial

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Continuous Motion

Instantaneous velocity is defined as

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Continuous Motion

Velocity is +ve = particle moving to the right

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Continuous Motion

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Continuous Motion

v represents difference in the velocity

Rectilinear Kinematics: Continuous Motion

Rectilinear Kinematics: Continuous Motion

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Continuous Motion

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Continuous Motion

s0ds 0v0 act dt

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Continuous Motion

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Continuous Motion

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Continuous Motion

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Continuous Motion

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Continuous Motion

2007 Pearson Education South Asia Pte Ltd

2007 Pearson Education South Asia Pte Ltd

2007 Pearson Education South Asia Pte Ltd

2007 Pearson Education South Asia Pte Ltd

2007 Pearson Education South Asia Pte Ltd

2007 Pearson Education South Asia Pte Ltd

2007 Pearson Education South Asia Pte Ltd

2007 Pearson Education South Asia Pte Ltd

2007 Pearson Education South Asia Pte Ltd

2007 Pearson Education South Asia Pte Ltd

2007 Pearson Education South Asia Pte Ltd

The negative root was chosen since the rocket is

2007 Pearson Education South Asia Pte Ltd

2007 Pearson Education South Asia Pte Ltd

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

2007 Pearson Education South Asia Pte Ltd

2007 Pearson Education South Asia Pte Ltd

View Free Body Diagram

2007 Pearson Education South Asia Pte Ltd

2007 Pearson Education South Asia Pte Ltd

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

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Erratic Motion

2007 Pearson Education South Asia Pte Ltd

Rectilinear Kinematics: Erratic Motion

Given the s-t Graph, construct the v-t Graph