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1. Kinematics of particles
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Dynamics Ae1203
What is motion?
Brown: fixed
Blue: fixed
Red: fixed
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Dynamics Ae1203
Geocentric
Earth: fixed
Heliocentric
Sun: fixed
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General introduction
Basic concepts
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Dynamics Ae1203
Definitions
Space point: location in space.
Denoted using capital letters: A, B,
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Dynamics Ae1203
Definitions
Particle: ideal body of negligible dimensions.
Its mass is assumed to be concentrated at a single point
Rigid body: ideal body such that distance between any two
of its material points is constant.
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Notation
Scalars: italics Vectors: bold-face
Cartesian coordinate system: 1,2,3 (instead of X,Y,Z)
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One-dimensional motion Position:
Particle P: at point A at time t
Average velocity:
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One-dimensional motion
Instantaneous velocity:
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One-dimensional motion velocity:
Particle P: at point A at time t
Average acceleration:
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One-dimensional motion
Instantaneous acceleration:
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One-dimensional motion
Differential relations:
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One-dimensional motion
Integration of differential relations.
Four variables: Position: s
Velocity: v
Acceleration: a
Time: t
Three dependent variables and one independent variable.
Case 1: Usual formulation:
time is taken as the independent variable
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One-dimensional motion
Integration of differential relations.
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One-dimensional motion
Integration of differential relations.
Case 1: given
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One-dimensional motion
Integration of differential relations.
Case 1: given
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One-dimensional motion
Integration of differential relations.
c: constant
Velocity:
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One-dimensional motion
Integration of differential relations.
Position:
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One-dimensional motion
Integration of differential relations.
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One-dimensional motion
Integration of differential relations.
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One-dimensional motion
Integration of differential relations.
Case 2: given
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One-dimensional motion
Integration of differential relations.
Case 2: given
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One-dimensional motion
Integration of differential relations.
Case 2: Example:
The acceleration of a vehicle is given as
c: positive constant
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One-dimensional motion
Integration of differential relations.
Case 2: Example:
The acceleration of a vehicle is given as
c: positive constant
Position:
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One-dimensional motion
Integration of differential relations.
Case 2: Example:
The acceleration of a vehicle is given as
c: positive constant
Time:
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One-dimensional motion
Integration of differential relations.
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One-dimensional motion
Integration of differential relations.
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One-dimensional motion
Integration of differential relations.
Case 3: given
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One-dimensional motion
Integration of differential relations.
Case 3: given
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One-dimensional motion
Integration of differential relations.
Applications:
Examples will be given in studio classroom session
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Planar motion: Position vector of a particle:
1. Choose a frame of reference
(i.e., rigid body that, by definition, does not move).
2. Choose a reference point O attached to the frame.
(i.e., origin).
Position vector:
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Velocity vector of a particle:
Average velocity between t and t + t
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Acceleration vector of a particle:
Average acceleration between t and t + t
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Position, velocity and
acceleration vectors
Remarks:
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Coordinate systems and frame of reference
We make a distinction between a frame of reference and
a coordinate system
A frame of reference is a rigid body chosen to be fixed
(e.g., the earth, the sun, a table, etc.)
A coordinate system is a system used to locate points
in space by means of scalars (coordinates)
Examples:
Cartesian system,
Polar system, etc.
For a given frame of
reference, we can use
different coordinate
systems.
Each coordinate system is
attached to the frame.
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Planar motion expressed in Cartesian coordinates
1. Cartesian system: fixed references lines
2. Location of points as a function of time:
Functions and
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Planar motion expressed in Cartesian coordinates
3. Unit vectors and : same for all points
4. Position vector:
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Planar motion expressed in Cartesian coordinates
3. Unit vectors and : same for all points
4. Position vector:
5. Velocity vector:
6. Acceleration vector:
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Example: Projectile in gravitational field.
Suppose that the acceleration is given as
:constant
Initial position:
Initial velocity: : magnitude and angle
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Example: Projectile in gravitational field.
Cartesian components of the acceleration:
Since
then
Integrate from to
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Example: Projectile in gravitational field.
Cartesian components of the velocity:
Since
then
Integrate from to
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Example: Projectile in gravitational field.
Parabolic path:
Solve for time from first equation
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Planar motion expressed in Polar coordinates
1. Polar system: fixed references line
2. Location of points as a function of time:
Functions and
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Planar motion expressed in Polar coordinates
3. Unit vectors: functions of position (angle )
4. Dependence of unit vectors on angle.
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Planar motion expressed in Polar coordinates
Unit vectors:
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Planar motion expressed in Polar coordinates
Position vector:
Dependencies
Coordinates of the line path as a function of time:
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Planar motion expressed in Polar coordinates
Position vector:
Velocity vector:
(Chain rule)
Recall that
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Planar motion expressed in Polar coordinates
Velocity vector:
Acceleration vector:
(Chain rule)
Recall that:
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Planar motion expressed in Polar coordinates
Position vector:
Velocity vector:
Acceleration vector:
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Planar motion expressed in Polar coordinates
Radial and circumferential components:
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Planar motion expressed in Polar coordinates
Radial and circumferential components: velocity
Components:
Radial velocity:
Circumferential velocity:
Magnitude:
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Planar motion expressed in Polar coordinates
Radial and circumferential components: acceleration
Components:
Radial acc.:
Circumferential acc.:
Magnitude:
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Planar motion expressed in Polar coordinates
How to use the expressions in Polar coordinates?
Acceleration in Cartesian
coordinates:
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Planar motion expressed in Polar coordinates
How to use the expressions in Polar coordinates?
Example 1: Magnitude of velocity: use polar components of v
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Planar motion expressed in Polar coordinates
How to use the expressions in Polar coordinates?
Example 1: For and : use polar components of a
Therefore
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Planar motion expressed in Polar coordinates
When to use the expressions in Polar coordinates?
1. Required by the problem.
2. Typically for circular motion:
Simplified equations.
Constant radius:
Therefore
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Planar motion expressed using path vectors
1. Path: parametrization in terms of arc length s
2. Location of points as a function of arc length:
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Planar motion expressed using path vectors
3. Path unit vectors: normal and tangential unit vectors
It can be shown that the unit vectors are
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Planar motion expressed using path vectors
3. Path unit vectors: normal and tangential unit vectors
Geometrical interpretation of unit vectors:
Circle of radius : tangent to path at every point
Normal vector pointing towards center of circle
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Planar motion expressed using path vectors
4. Arc length as a function of time:
5. Position vector as a function of time:
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Planar motion expressed using path vectors
6. Velocity
Position vector:
Velocity vector:
(Chain rule)
(since )
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Planar motion expressed using path vectors
7. Acceleration
Velocity vector:
Acceleration vector:
(Chain rule)
(since )
(since )
Tangential Normal
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Planar motion expressed using path vectors
8. Graphical representation of velocity
Velocity vector:
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Planar motion expressed using path vectors
9. Graphical representation of acceleration
Acceleration vector:
Components:
Magnitude:
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Planar motion expressed using path vectors
When to use the expressions using path vectors?
1. If required by the problem.
2. Typically for problems where the path is known in advance.
Particle constrained to move along a predetermined path
Examples:
Particle moving downhill
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Planar motion: relative velocity and acceleration
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Planar motion: relative velocity and acceleration
Consider two particles, A and B, with velocities and and
accelerations and with respect to a common frame of
reference.
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Planar motion: relative velocity and acceleration
Interpretation of the term relative:
Suppose that particle B is attached to a rigid body 2 that,
with respect to the frame 1, moves along a straight line.
Suppose that the acceleration of B is constant.
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Planar motion: relative velocity and acceleration
Interpretation of the term relative for velocities
(similar interpretation for accelerations)
Frame: 1 Frame: 2
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Planar motion: relative velocity and acceleration
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Planar motion: relative velocity and acceleration
Consequently,
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Example:
A wheel of radius R = 9 m spins about O at a constant rate
rev/min.
An auto A (modeled as a particle) moves w.r.t. ground with
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Example:
Solution: first observe that
Particle A: Cartesian
Particle B: Polar
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Example:
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Example:
Evaluate for
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Example:
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Example:
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