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Position, Velocity, Acceleration,

and Cartesian Coordinates
Particle Kinematics

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Objectives
y Kinematics studies the geometry of motion without reference
to the causes of motion.
y We will introduce the concepts of position, velocity, and
acceleration.
y We will learn how to express these concepts using Cartesian
Coordinates.

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Concept Alert
As we introduce the definitions of position, velocity, and
acceleration, it is important that we focus attention on the
following fundamental concept:
Position, velocity, and acceleration are vectors!

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A notation for time derivatives

We use a shorthand notation for time derivatives. Let f (t) be a
function of time. Then the time derivative of this function will
be denoted by a dot over the function, i.e.,

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Position Vector
y Given a reference frame with
origin at O, the position of P
relative to O is the vector

y xP and yP are the coordinates of

P.
y The distance between O and P
is

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Trajectory
y The trajectory of a point is
the line traced through
space by the point during
its motion.
y Synonyms for trajectory
are path and space curve.

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Displacement & Average Velocity

y The displacement between
times ti and tj, with tj > ti, is
the change in position, i.e.,

y The average velocity over the

time interval (ti,tj) is the vector

Displacement and average

velocity over the same time
interval are parallel
vectors!

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Displacement & Distance Traveled

y The distance between P(tj) and

P(ti) is the magnitude of the
displacement vector i.e.,

y The distance traveled during

the time interval (ti, tj) is the
length of the yellow curved
In general, the magnitude line shown in the figure.
of the displacement and the
distance traveled over a
given time interval are
different!
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Velocity
y The velocity is defined as

y This definition implies

The velocity vector is the time rate

of change of the position vector.

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Speed
The speed of a point is the magnitude of the points velocity:

y Speed is never negative.

y Velocity is a vector, speed is a scalar.

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Velocity and Path

Points P(t + t/n) are
5 consecutive
Positions of a car
driving around a track.

As t /n goes to zero, the

change of position
vector becomes tangent
to the path. This implies
that

The velocity vector is always tangent to the path!

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Acceleration Vector
y The acceleration is defined as

y In general, the acceleration is not tangent to the path.

y If the path is curved, the direction of the tangent to the path
changes, the velocity changes, and therefore the point is
accelerating!

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Trajectory and Acceleration

Curved path, velocity On a curved path, the

change, point accelerates. acceleration has a
component toward the
concave side of the path.
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Velocity, Speed, & Acceleration in

Cartesian Coordinates
y Given the Cartesian coordinates x(t) and y(t) of a point, we have

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Velocity, Speed, & Acceleration in

Cartesian Coordinates

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Velocity, Speed, & Acceleration in

Cartesian Coordinates
y Given the Cartesian
coordinates x(t) and y(t) of a
point, we have

and

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The objective of these examples is to illustrate the

definitions introduced earlier and to reinforce the idea that
position, velocity, and acceleration are vectors.

EXAMPLES

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Example 2.2
Ship B tracks an unmanned aerial
vehicle P launched from A and
flying parallel to the water. For the
first 8 s of flight, the recorded
motion of P is

where t is in seconds. Determine

a) The trajectory of P for 0 t 5 s.
b) The velocity and the speed of P.
c) The acceleration of P and its orientation relative to the
path.

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Example 2.2Part (a): Path of P

Road Map: We have the motion of P as a function of time. We
can find the path by eliminating time from the motion.
Computation: The components are

Solving x for t3 gives t3 = (x 225)/2.13, which, when

substituted into the expression for y gives

This is the trajectory of P for all time and is a straight line. It

turns out that 225.0 m x 491.2 m for 0 t 5 s.

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Example 2.2Part (b): Velocity and

Speed of P
Road Map: Since is given, we can find the velocity
by differentiating with respect to time. The speed is then
found by computing .
Computation: Differentiating with respect to time

and finding , we obtain

Discussion & Verification: The position is a cubic polynomial

in t, so we see that the velocity is a quadratic polynomial in t.
Also, v(t) is greater than or equal to zero for any possible value
of time, as it should be.
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Example 2.2Part (c): Accel. of P

Road Map: is known, so we can find by
differentiating with respect to time. Since is tangent
to the path, the orientation of relative to the path is the
same as that of relative to .
Computation: Differentiating with respect to time

If is the angle between and , then

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Example 2.2Part (c) cont.

Finding

We already have , so finding , we obtain

Substituting everything into the expression for on the

previous slide, we obtain

The acceleration is tangent to the trajectory at every instant.

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Example 2.3

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Example 2.3

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Example 2.3

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Example 2.3

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Example 2.3

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Example 2.3

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Summary

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Summary

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Homework-1

Problems 1.12, 1.16, 1.23,

2.8, 2.10, 2.16
Due is Friday 5pm, Feb. 13.
Please turn in your homework in hardcopy to
Heavy Engineering Room 135

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