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3. Motion in 2- & 3-D

1.
2.
3.
4.
5.
6.

Vectors
Velocity & Acceleration Vectors
Constant Acceleration
Projectile Motion
Uniform Circular Motion
Relative Motion

At what angle should this penguin leave the

45

water to maximize the range of its jump?

Multiplication by scalar.

3.1. Vectors

B A

2A
z

Vectors:

Coordinate system.

1.Physics: Quantities with both magnitude & direction.

Scalars: Quantities with only magnitude.

(Free vectors)

Cartesian coordinate system.

Az k = Az

y
k
j

A
Displacement

r r

Ay j = Ay

r r

Ax = Ax i

A Ax A y Az

Vector components:

1.Commutative: A + B = B + A

Unit vectors:

r r r r

Vector addition:

Ay = Ay j

Position vector

Ax i = Ax

A Ax A y

A Ax i Ay j Ax i Ay j

Ax A cos

Ay A sin

A2 Ax2 Ay2

tan

2. Associative: (A + B) + C = A +( B + C )

A Ax i Ay j Az k
Ax i Ay j Az k

Ay
Ax

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Motion in two dimensions

Vector Arithmetic with Unit Vectors

A Ax i Ay j

Ax , Ay

B Bx i By j

Bx , By

Kinematic variables
Position:
Velocity:
Acceleration:

AB

Ax Bx & Ay By

A B Ax Bx i Ay By j Ax Bx , Ay By

in one dimension
x(t) m
v(t) m/s
a(t) m/s2

Kinematic variables in three dimensions

Position:
r (t ) xi yj zk m

v (t ) v x i v y j v z k m/s
Velocity:

Acceleration: a (t ) a x i a y j a z k m/s2

i
x

In one dimension
x x2 (t 2 ) x1 (t1 )
x1 (t1) = - 3.0 m, x2 (t2) = + 1.0 m
x = +1.0 m + 3.0 m = +4.0 m

Example 3.1. Taking a Drive

Position and Displacement

All are vectors: have direction and

magnitudes

You drive to city 160 km from home, going 35 N of E.

Express your new position in unit vector notation, using an E-W / N-S coordinate system.

r r2 r1

r rx i ry j
y (N)

In two dimensions
Position: the position of an object is

described by its position vector r (t )

always points to particle from origin.

Displacement: r r2 r1

r ( x2i y2 j ) ( x1i y1 j )
( x2 x1 )i ( y2 y1 ) j

rx r cos 160 km cos35

city

160 0.81915

km 131.06

km 131 km

r = 160 km

ry r sin 160 km sin 35

= 35

x (E)
home

160 0.57357

km

91.77

km 92 km

r 131 i 92 j km

xi yj
September 22, 2008

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3.2.1. Average & Instantaneous Velocity

y
r rf ri
final

Displacement :

rf

Average Velocity :

v avg r / t

3.3. Average & Instantaneous Acceleration

v (t t )
Acceleration is the rate of

change of velocity :
v (t )
time t t

dv
time t
a
dt
path
of
particle

v
v
lim
a
t 0 t
t

vavg

ri

(a vector parallel to r )

initial

x
Instantaneous Velocity :

v dr / dt

is tangent to the
path of the particle

v (t )

v (t t )

r
x

Average & Instantaneous Acceleration

Average & Instantaneous Velocity

Average velocity v

avg

r
t

x y
vavg
i
j vavg , x i vavg , y j
t
t

v
aavg
t

v y

v
j aavg, xi aavg, y j
aavg x i
t
t

Instantaneous velocity

r dr
v lim vavg lim

t 0
t 0 t
dt

dr dx dy
v
i
j vx i v y j
dt dt
dt

Average acceleration

Instantaneous acceleration

v dv
a lim aavg lim

t 0
t 0 t
dt

dv dvx dv y
a

i
j axi a y j
dt
dt
dt

The magnitude of the velocity (the speed) can change

The direction of the velocity can change, even though the
magnitude is constant
Both the magnitude and the direction can change

v is tangent to the path in x-y graph;

September 22, 2008

September 22, 2008

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Example 3.2. Windsurfing

Youre windsurfing at 7.3 m/s when a wind gust accelerates you

Velocity & Acceleration in 1-D

1
x x0 vx 0 t ax t 2
2
1
y y0 v y 0 t a y t 2
2

at 0.82 m/s2 at 60 to your original direction.

If the gust lasts 8.7 s, what is your net displacement?

r0 0 , 0 m

v changes object under acceleration

Average acceleration = a

v
t

Instantaneous acceleration = a lim

t 0

v0 7.3 , 0 m / s
2
a 0.82 cos 60 , sin 60 m / s 2 0.41 , 0.71 m / s

a m / s 2

Speeds up

1
x 7.3 t 0.41 t 2
2
1
y 0.71 t 2
2

net displacement

dv
v

dt
t

Slows down

x 79.0 m
y 26.9 m

x 2 y 2 84 m

Velocity & Acceleration in 2-D

Mixed units: A car goes from 0 to 100 km/h in 10s :

a

100 km / h
10 s

10 km / h / s

3.5. Projectile Motion

a v circular motion

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3.5. Projectile Motion

Summary Projectile motion

Components of motion in the x- and y-directions can be
treated independently.
In projectile motion, the acceleration is g.
If the launch angle is zero, the initial velocity has only an xcomponent.
The path followed by a projectile is a parabola.
The range is the horizontal distance the projectile travels.

3.5. Motion with Constant Acceleration

Projectile motion sets

xo = 0 and yo = 0, and

a 0 , g

then obtains the specific results

x = (vocoso)t
y = (vosino)t 1/2gt2
vx = vocoso
vy = vosino gt

3.5. Motion with Constant Acceleration

2-D motion under constant gravitational acceleration ax 0; a y g
x x0 vx 0 t
vx v0 x
1
y ~ x2
y y0 v y 0 t g t 2
v y v0 y g t
2
parabola

Copyright 2008 Pearson Education Inc., publishing as Pearson Addison-Wesley

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3.5. Projectile Motion

Trajectory of Projectile
v0 x v0 cos 0 ; v0 y v0 sin 0 ;

v0 y
v0 x

tan 0

ax 0; a y g

x 0 v0 xt

vx v0 x ; vy v0 y gt
x(t ) x0 v0 xt ;

x
;
v0 x

Initial conditions (t = 0): x0 = 0, y0 = 0

v0x = v0 cos0 and v0y = v0 sin0
Horizontal motion:

Vertical motion:

x
v0 x

y 0 v0 y t 12 gt 2

y(t ) y0 v0 yt gt
1
2

x g x

y v0 y
v0 x 2 v0 x

y x tan 0

x 1 x v0 y g 2
y ( x) v0 y
2 g

x 2 x
v0 x
v0 x v0 x 2v0 x

2
g
y ( x) tan 0 x 2
x
2
2v0 cos 0 This is the equation
for a parabola.

g
x2
2
2v0 cos 2 0

Parabola;

0 = 0 and 0 = 90 ?

September 22, 2008

Copyright 2008 Pearson Education Inc., publishing as Pearson Addison-Wesley

Trajectory of Projectile
v0 x v0 cos 0 ; v0 y v0 sin 0 ;

v0 y

Horizontal Range and Vertical Height

tan 0

v0 x

ax 0; ay g

y y0 x x0 tan 0

2v0 cos 0 v0 sin 0 v0 sin 2 0

g
g
2
t
gt
2
h y y0 v0 y th 12 gth v0 y
2 2 2
2
v sin 2 0
h 0
2g
2

R x x0 v0 xt

g
2
x x0
2 v cos 2 0
2
0

2v sin 0
t
0
g
g
2v0 y

x x0
v0 cos 0

x x0 1 x x0
y y0 v0 sin 0
g

v0 cos 0 2 v0 cos 0

0 0 v0 yt 12 gt 2

x 0 v0 xt

1
x x0 vx 0 t ax t 2 x v cos t
0
0
0
2
1 2
1
y y0 v y 0 t a y t 2 y0 v0 sin 0 t g t
2
2

Initial conditions (t = 0): x0 = 0, y0 = 0

v0x = v0 cos0 and v0x = v0 sin0, then

v y v0 y gt v0 y g
Projectile trajectory:
parabola

2v0 y
g

v0 y

Horizontal

Vertical

vx v0 x

v y v0 y gt

x x0 v0 xt

y y0 v0 y t 12 gt 2

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The Range of a Projectile

y y0 x x0 tan 0

g
2
x x0
2 v02 cos 2 0

Horizontal range y = y0 :

g
2
0 x x0 tan 0 2
x x0
2 v0 cos2 0

x x0

2 v2
v2
2 v2
x x0 0 cos 2 0 tan 0 0 cos 0 sin 0 0 sin 2 0
g
g
g

Projectile Motion with Different initial and final heights

v0 x v0 cos 0 ; v0 y v0 sin 0 ;

Horizontal Range of a Projectile

0 v0 yT 12 gT 2 ; T 0

v0 x

tan 0

ax 0; a y g

vx v0 x ; vy v0 y gt
x(t ) x0 v0 xt ;

t
Longest range at 0 = 45 = /4.

v0 y

x
;
v0 x

y(t ) y0 v0 yt 12 gt 2
2

x 1 x v0 y g 2
y ( x) v0 y
2 g

x 2 x
v0 x
v0 x v0 x 2v0 x

2
g
y ( x) tan 0 x 2
x
2
2v0 cos 0 This is the equation
for a parabola.

The effects of wind resistance

v0 y 12 gT 0
T

2v0 y
g

2v0
sin 0
g

2v
v2
R v0 xT v0 cos 0 0 sin 0 0 2sin 0 cos 0
g
g

Cumulative effects can be

large.
Peak heights and distance fall.
Trajectories cease to be
parabolic.

2sin 0 cos 0 sin 20

R

v0 2
sin 2 0
g
R is maximum when o=45o,
so that sin 2o = 1.

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Example 3.3. : A Cap in the Air

Example 3.4. Cliff Diving

A physics graduate throws her cap into the air with an

initial velocity of 24.5 m/s at a 36.9 angle with the

A diver drops from 10-m- high cliff.

horizontal. The cap is later caught by another student.

1. At what speed does he enter water?

[Neglect air resistance ; Sin(36.9) = 3/5; Cos(36.9) =

1
v0 v t
2
1
x x0 v0 t a t 2
2
2
2
v v0 2a x x0
x x0

2. How long is he in the air?

4/ ].
5

y0 10 m,

(a) Find the total time the cap is in the air.

y0m

v0 0

(b) Find the total horizontal distance traveled.

a g 9.8 m / s 2

y(t ) v0 yt 12 gt 2

v2 v02 2 g y y0 2 9.8 m / s 2 10 m

When y 0, t (v0 y 12 gt ) 0, so t1 =0 and t 2 =2v0 y / g

196 m / s

v0 y v0 sin 0

v 14 m / s

t2 =2v0 sin 0 / g 2(24.5 m/s)(sin 36.9) /(9.81 m/s 2 ) 3.00 s

t

x v0 xt2 v0 cos 0t2 (24.5 m/s)(cos36.9)(3.00 s) 58.8 m

Example 3.5. Tossing a Ball

Toss ball up at 7.3 m / s. Leaves
hand at 1.5 m above floor.
1. When does ball hit floor?
2. Maximum height of ball.
3. Its speed passing hand
on way down.

v v0 a t

y0 1.5 m,
v0 7.3 m / s,

1
x x0 v0 v t
2
1
x x0 v0 t a t 2
2
2
2
v v0 2a x x0

vT 0

a g 9.8 m / s 2

1
yF 0 y0 v0 t g t 2
2
1
t
v0 v02 2 g y0
g

1
7.3
9.8 m / s 2

You toss a ball from your window 8.0 m above

the ground. When the ball leaves your hand,it
is moving at 10.0 m/s at an angle of 20 below
the horizontal. How far horizontally from your

y(t ) v0 yt 12 gt 2

v0 y v0 sin 0

7.32 2 9.8 1.5 m / s

1.7 s
t
0.18 s

vT2 0 v02 2 g yT y0 7.32 2 9.8 yT 1.5

yT 4.2 m
vh2 v02 2 g y0 y0

s 1.4 s

window will hit the ball ground?

1.428

Example 3.6. : Different initial and final heights

v v0 a t

yF 0

14 m / s
v v0

9.8 m / s 2
g

v 14 m / s

vh v0

1
2

gt 2 v0 y t y

v0 y v02y 2 gy

x v0 xt

v0 x v0 cos 0

x v0 xt (v0 cos 0 )t 9.2 m

t 1.70 s and t 0.98 s

Copyright 2008 Pearson Education Inc., publishing as Pearson Addison-Wesley

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vx v0 x

Example 3.7. Washout

v y v0 y g t

A section of highway was washed away by flood, creating a gash 1.7 m deep.

x x0 vx 0 t

A car moving at 31 m/s goes over the edge.

1
y y0 v y 0 t g t 2
2

How far from the edge does it land?

vx 0 31 m / s

x0 0

vy 0 0

y0 1.7 m

y0

1.7
s
4.9

After a short engine firing, a rocket reaches 4.6 km/s.

If the rocket is to land within 50 km from its launch site,
whats the maximum allowable deviation from a vertical trajectory?

1
9.8 m / s 2 t 2
2

y y0 x x0 tan 0

Short engine firing y 0, v0 = 4.6 km/s.

0 x tan 0

x 31 m / s t
0 1.7 m

Example 3.8. Probing the Atmosphere

g
x2
2 v02 cos2 0

x2

g
2
x x0
2 v02 cos 2 0

v2
v02
sin 0 cos 0 0 sin 2 0
g
g

4.6 km / s sin 2
0
9.8 103 km / s 2
2

50 km

0.589 s

sin 20 0.0232

x 31 0.589 m 18 m

1.33
2 0
180 1.33

0.67
90 0.67

maximum allowable deviation from a vertical trajectory is 0.67.

Zero Launch Angle

Example 3.9. Out of the Hole

A construction worker stands in a 2.6 m deep hole, 3.1 m from edge of hole. He tosses a
hammer to a companion outside the hole. Let the hammer leave his hand 1.0 m above hole
bottom at an angle of 35.

In the zero launch angle case, the initial velocity in the y-direction is zero.
Here are the equations of motion, with x0 = 0 and y0 = h:

1.Whats the minimum speed for it to clear the edge?

2. How far from the edge does it land?

y y0 x x0 tan 0
x0 0
y0 1.0 m

x 3.1 m
y 2.6 m

1.6 3.1tan 35
minimum speed

1.6 x tan 35
x

9.8
2 11 cos 35
2

1
0.70 0.33
0.12

x2

g
2
x x0
2 v02 cos 2 0

0 35

9.8
2
3.1
2 v02 cos2 35
v0 11 m / s

2
0.060 x 0.70 x 1.6 0

8.7 m

3.1 m

Lands at 5.5 m from edge.

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Zero-Launch Trajectory

Zero Launch Angle

Eliminating t and solving for y as a function of x:

This is the trajectory of a projectile launched horizontally. It is a

parabola.

This has the form y = a + bx2, which is the equation of a parabola.

The landing point can be found by setting y = 0 and solving for x:

3.6. Uniform Circular Motion

3.6. Uniform Circular Motion

Uniform circular motion: circular trajectory, constant speed .

Examples:
Satellite orbit.
Planetary orbits (almost).
Earths rotation.
Uniform circular motion

Motors.
Electrons in magnetic

Constant speed, or,

constant magnitude of velocity

Motion along a circle:

Changing direction of velocity

field.

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3.6. Uniform Circular Motion

3.6. Uniform Circular Motion

Magnitude: constant v

The direction of the velocity is tangent to

the circle

ac v

Velocity:

ac

Acceleration:

ac

v
r

v2
r

Magnitude:

directed toward the center of the circle of

motion

Period:

time interval required for one complete

revolution of the particle

Centripetal acceleration

v r
vr

so, v
v
r
r
v r v v 2

t t r
r
v v 2
a r lim

t 0 t
r

2r
v

vi
A

v
vi f

v = vf - vi
y
r

ri

vf

R
rf

Direction: Centripetal

Example 3.10. Space Shuttle Orbit

v2
r
r

Example 3.11. Engineering a Road

Orbit of space shuttle is circular at altitude 250 km, where g is 93% of its surface value.
Consider a flat, horizontal road with 80 km/h (22.2 m/s) speed limit.

Find its orbital period.

If the max vehicle acceleration is 1.5 m/s2,

2 r
v

2 r
T
ar

r
a

whats the min safe radius for curves on this road.

v2
r

a
2

v2
r

2
22.2 m / s 329 m
vmax

amax
1.5 m / s 2
2

6.37 103 km 250 km

0.93 9.8 103 km / s 2

rmin
5355 s

89 min

(low orbits)

ISS: r ~ 350 km
15.7 orbits a day

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GOT IT? 3.4.

Nonuniform Circular Motion

Nonuniform Circular Motion: trajectory circular, speed nonuniform
a non-radial but ar = v2 / r

Arbitrary motion:
a r = v2 / r

r = radius of curvature

v
at
ar
If v1 = v4 , & v2 = v3 , rank ak.
a
Ans: a2 > a3 > a4 > a1

3.7. Relative Motion

3.7. Relative Motion
Every measurement must be made with respect to a reference
frame. Usually, speed is relative to the Earth.

The speed of the passenger with respect to the ground depends on

the relative directions of the passengers and trains speeds:

vgnd = 16.2 m/s

vgnd = 13.8 m/s

If a person walks towards the front of a train at 5 km/h (with

respect to the train floor) & the train is moving 80 km/h with
respect to the ground.
The persons speed, relative to the ground is 85 km/h.

12

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3.7. Relative Motion

3.7. Relative Motion

The position depends on the frame. A set of position observations

This also works in two dimensions:

in one frame can be transformed to get equivalent observations in

another frame.

r r ' R r ' Vt;

r ' r R r Vt ;
x x ' Vxt; x ' x Vxt ;
y y ' Vy t ;

y ' y Vy t ;

Example 3.13. Navigating a Jetliner

Example 3.12: Flying a Plane
Jet flies at 960 km / h wrt air, trying to reach airport 1290 km northward.

A pilot wishes to fly a plane due north relative to the ground.

The airspeed of the plane is 200 km/h, and the wind is
blowing from west to east at 90 km/h.
(a) In which direction should the plane head?
(b) What will be the ground speed of the plane?

Assuming wind blows steadly eastward at 190 km / h.

1.What direction should the plane fly?
2.How long will the trip takes?
Desired velocity
Wind velocity

v pG v pA vAG
arcsin

vAG
(90 km/h)
arcsin
26.7 west of north
v pA
(200 km/h)

2
v pG v 2pA vAG
(200 km/h)2 (90 km/h)2 179 km/h

Jet velocity

190
km/h

960
km/h

v 960 km / h

cos i sin j

960 cos , 960 sin

v v V

v v y j 0 , v y
V 190 km / h i 190 , 0

0 , v 960 cos 190 , 960 sin

y

v
190
cos
960

v y 960 sin
Trip time

1290 km
941 km / h

190
101.4
960

cos1
941 km / h

1.4 h

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Example 3.14: Crossing a River

You are riding in a boat with a speed relative to
the water of vbw = 6.1 m/s. The boat points at an
angle of = 25 upstream on a river flowing at
vwg = 1.4 m/s.
(a) What is your speed vbg and angle qbg relative
to the ground?

vbg vbw vwg

vwg (1.4 m/s) y
vbw (6.1 m/s) cos 25 x (6.1 m/s)sin 25 y
(5.5 m/s) x (2.6 m/s) y

vbg (5.5 m/s) x (2.6 m/s 1.4 m/s) y

(5.5 m/s) x (1.2 m/s) y

vbg (5.5 m/s)2 (1.2 m/s)2 5.6 m/s

bg tan 1 (1.2 m/s) / (5.5 m/s) 12

14