ch2 PDF

Ch.
2: Kinematics of Particles
2.0 Outline
Introduction
Rectilinear Motion
Plane Curvilinear Motion
Rectangular Coordinates (x-y)
Normal and Tangential Coordinates (n-t)
Polar Coordinates (r-θ)
Relative Motion (Translating Axes)
2.0 Outline
Ch. 2: Kinematics of Particles
2.1 Introduction
Kinematics is the study of the motion of bodies with no
consideration to the forces that accompany the motion.
It is an absolute prerequisite to kinetics, which is the
study of the relationships between the motion and the
corresponding forces that cause the motion or are
generated as a result of the motion.
A particle is a body whose physical dimensions are so

small compared with the radius of curvature of its path.
This makes the body rotation effect insignificant and
the motion of the body can be treated as that of the particle.
2.1 Introduction
Position of P
rectangular coordinates x, y, z
cylindrical coordinates r, θ, z
spherical coordinates R, θ, Φ
Motion of P
absolute motion analysis
relative motion analysis
Absolute motion analysis: coordinates measured from
fixed reference axes, e.g. motion of the piston described
by the frame fixed to the ground
Relative motion analysis: coordinates measured from
moving reference axes, e.g. motion of the piston described
by the frame attached to the car
2.1 Introduction
2.2 Rectilinear Motion: motion along a straight line
If change in the position coordinate during Δt is
the displacement Δs ( ± ) , v av = Δs/Δt
ds
(1) __ instantaneous velocity, v = lim Δs/Δt =
Δt → 0
=s
dt
velocity = time rate of change of the position coord., s
If change in the velocity during Δt is Δv, a av = Δv/Δt
dv d 2s
( 2 ) __ instantaneous acceleration, a = Δlim
t →0
Δv/Δt = =v= 2 =s
dt dt
( 3) __ vdv = ads
2.2 Rectilinear Motion

Displacement vs. Distance
displacement: vector quantity involving
initial and ending position
distance: positive scalar quantity
Both velocity and acceleration are vector quantities Æ

generally their changes include 1) change in magnitude
and 2) change in direction
For rectilinear motion, direction is the constant straight

line path Æ algebraic problem
Integration of basic differential relations

s2 t2
∫ ds = ∫ vdt, s
s1 t1
2 − s1 = area under v-t curve
v2 t2
∫ dv = ∫ adt, v
v1 t1
2 − v1 = area under a-t curve
v2 s2
∫ vdv = ∫ ads, ( v 2
2 − v1 ) / 2 = area under a-s curve
2
v1 s1
graphic/numerical
vs. algebraic approach
Relationships among several

motion quantities

d d
kinetic relation
a ( v, s, t ) F ( v, s, t )
dt dt
s v ←
∫ dt ∫ dt
common problems: know a, find s by integration

a) a = constant, e.g. G-force, dry friction force
at the beginning, t = 0, s = s o , v = v o
v t
at time t, ∫ dv = a ∫ dt
vo 0
→ v = v o + at
v s
∫ = ∫ → = o + 2a ( s − s o )
2 2
vdv a ds v v
vo so
s t t
∫ ∫
ds = vdt = (
∫ ov + at ) dt → s = s o + v o t + at 2
/2
so 0 0

b) a = f(t), e.g. synthetic force, piston force
v t t
∫ dv = ∫ f ( t ) dt
vo 0
→ v = v o + ∫ f ( t ) dt
0
s t t t t
∫ ds = ∫ vdt → s = s o + ∫ vdt = s o + v o t + ∫ ∫ f ( t ) dtdt

so 0 0 0 0
or s = f ( t ) with i.c. t o = 0, s o , v o

c) a = f(v), e.g. viscous drag force, damping force
t v
dv inv ∫ dt
[a = dv/dt ] t = ∫ dt = ∫ → v = g(t) → s = h (t)
vo ( )
0
f v
or
v s v
v v
[ vdv = ads] ∫v f ( v ) dv = s∫ ds → s = so + v∫ f ( v ) dv = g ( v )
o o o

d) a = f(s), e.g. spring force, attraction force
v s s
∫ vdv = ∫ f ( s ) ds → v 2
= v o + 2 ∫ f ( s ) ds → v = g ( s )
2
vo so so
s
ds inv
[ v = ds/dt ] t=∫ → s = h (t)
so
g (s)

P. 2/19 Small steel balls fall from rest through the
opening at A at the steady rate of 2 per second.
Find the vertical separation h of two consecutive
balls when the lower one has dropped 3 meters.
Neglect air resistance.

P. 2/19
[a = s] a = g from gravitational force, downward

v = v o + gt and s = s o + v o t + gt 2 / 2
(3-h) m v o = 0 and define s o = 0
∴ s = gt 2 / 2
@ tu
3m lower ball: 3 = gt l2 / 2, t l = 0.782 s
upper ball: t u = t l − 0.5 = 0.282 s
s u = 3 − h = gt 2u / 2 → h = 2.61 m
@ tl

P. 2/20 In traveling a distance of 3 km between points
A and D, a car is driven at 100 km/h from A to B
for t seconds and at 60 km/h from C to D also
for t seconds. If the brakes are applied for 4 s
between B and C to give the car a uniform
deceleration, calculate t and the distance s
between A and B.

a
P. 2/20 t
t sec t sec
4 sec
v
A C D
B
t
sB t/3600
[ v = ds/dt ] ∫ ds = ∫ vdt, s B = t/36

sA 0
sD t/3600
∫ ds = ∫
sC 0
vdt, 3 − s C = t/60
sC 4/3600
∫ ds = ∫
sB 0
vdt = area under v-t curve,
1
s C − s B = × 4 / 3600 × (100 + 60 ) = 4 / 45
2
t = 65.5 sec, s = s B = 1.819 km
P. 2/24 The 350-mm spring is compressed to a 200-mm length, where
it is released from rest and accelerates the sliding block A.
The acceleration has an initial value of 130 m/s2 and then
decreases linearly with the x-movement of the block, reaching
zero when the spring regains its original 350-mm length.
Calculate the time t for the block to go a) 75 mm and b) 150mm.

P. 2/24
v x
[ vdv = ads] ∫ vdv = ∫ ads

0 −0.15
v 2 = −866.7x 2 + 19.5, v = 29.44 0.0225 − x 2 ( assume block move → )

t x
ds
[ v = ds/dt ] ∫ dt = ∫
0 −0.15
v
t = 0.034 {sin −1 ( x/0.15 ) + π / 2}
a
130 @ x = −0.075 m, t = 0.0356 s
@ x = 0 m, t = 0.0534 s
x
-0.15 0 [a = s] x + 866.7x = 0
130
solution of the unforced harmonic equation
a=− x = −866.7x
0.15 x = Asinω t + Bcosω t, ω = 866.7 = 29.44 rad/s
i.c.: t = 0, x = −0.15 m, x = 0 m/s → B = −0.15, A = 0
∴ x = −0.15cos 29.44t

P. 2/26 A train that is traveling at 130 km/h applies its brakes as it
reaches point A and slows down with a constant deceleration.
Its decreased velocity is observed to be 96 km/h as it passes
a point 0.8 km beyond A. A car moving at 80 km/h passes
point B at the same instant that the train reaches point A.
In an unwise effort to beat the train to the crossing, the driver
‘steps on the gas’. Calculate the constant acceleration a that
the car must have in order to beat the train to the crossing by
4 s and find the velocity v of the car as it reaches the crossing.

P. 2/26
const acceleration: v = v o + at, v 2 = v 02 + 2a ( s − s o ) , s = s o + vo t + at 2 / 2

Train: 962 = 1302 + 2a × 0.8, a = −4802.5 km/h 2
1.6 = 130t − 4802.5t 2 / 2, t = 0.0189 h or 68.11 s ( check with v = vo + at )
Car: to beat the train by 4 sec → t = 64.11 s or 0.0178 h
2 = 80 × 0.0178 + a × 0.01782 / 2, a = 3628.3 km/h 2 = 0.28 m/s 2
v = 80 + 3628.3 × 0.0178 = 144.6 km/h = 40.2 m/s

P. 2/40 The horizontal motion of the plunger and shaft is arrested by
the resistance of the attached disk that moves through the
oil bath. If the velocity of the plunger is vo in the position A
where x = 0 and t = 0, and if the deceleration is proportional
to v so that a = -kv, derive expressions for the velocity v
and position coordinate x in terms of the time t. Also express
v in terms of x.

P. 2/40
v t
dv
[a = dv/dt ] ∫ = ∫ dt, v = vo e − kt
vo
−kv 0
x t
[ v = dx/dt ] ∫0 dx = ∫0 o
v e dt, x =
vo
k
(
− kt
1 − e − kt
)
v x
vdv
[ vdv = ads] ∫v −kv = ∫0 ds, v = vo − kx
o

P. 2/44 The electronic throttle control of a model train
is programmed so that the train speed varies
with position as shown in the plot. Determine
the time t required for the train to complete
one lap.

P. 2/44
0 − 2 km: constant velocity, t = Δs/v = 2 / 0.25 = 8 sec
2 − ( 2 + π / 2 ) km: dv/ds = −0.125 / (π / 2 ) = −0.25 / π
[ vdv = ads, a = dv/dt ] v ( dv/ds ) = dv/dt
Δt 0.125
∫ ( −0.25 / π ) dt = ∫
0 0.25
dv/v, Δt = 8.71 sec
lap time = 8 × 2 + 8.71× 4 = 50.84 sec

P. 2/50 A bumper, consisting of a nest of three springs, is used to
arrest the horizontal motion of a large mass that is traveling at
40 m/s as it contacts the bumper. The two outer springs cause
a deceleration proportional to the spring deformation. The
center spring increases the deceleration rate when the
compression exceeds 0.5 m as shown on the graph. Determine
the maximum compression x of the outer spring.

P. 2/50
0
[ vdv = ads] ∫ vdv = area under a-s curve

40
0 − 402
= − × 0.5 ×1000 − × ( x − 0.5 ) × (1000 + 1000 + 4000 ( x − 0.5 ) )
1 1
2 2 2
x = 0.831 m

2.3 Plane Curvilinear Motion: motion along a curved
path that lies in a single plane
Vector quantity is independent of any particular

coordinate system
2.3 Plane Curvilinear Motion

Time derivative of a vector (described in fixed coord.)
change in both magnitude and direction
at time t, the particle is at A located by r

at time t + Δt, the particle moves to B located by r' = r + Δr
displacement (vector) during time Δt is Δr (independent of coordinate system)
distance traveled (scalar) during time Δt is Δs (measured along the path)

average velocity, v av = Δr / Δt
average speed = Δs / Δt
Δr dr
instantaneous velocity, v = lim = =r
Δt →0 Δt dt
v includes the effect of change both in magnitude and direction of r
as Δt → 0, direction of Δr approaches that of the tangent to the path
∴ average velocity → velocity, v av → v
∴ v is always a vector tangent to the path
Consider only the magnitude of the velocity

ds
speed, v = v = = s
dt
as Δt → 0, A → A'
∴ average speed → speed, Δr → Δs, v av → v , and v av → v

Magnitude of the derivative
dr
magnitude of the velocity = = v = r = s = v = speed
dt
Derivative of the magnitude

d r dr
= = r = rate at which the length of position vector r is changing
dt dt
Derivative of the direction
Derivative of the magnitude and Derivative of the direction of the vector

contribute to Derivative of that vector

average acceleration, aav = Δv / Δt
Δv d v
instantaneous acceleration, a = lim = =v
Δt →0 Δt dt
a includes the effect of change both in magnitude and direction of v
Because the magnitude v at any point can be arbitrary, generally

the direction of the acceleration is niether tangent nor normal to the path
but its normal component always points toward
the center of curvature of the path

The acceleration bears the same relation to the velocity

as the velocity bears to the position vector.

Derivatives and Integrations of vectors
dP
= P = Px i + Py j + Pz k
dt
d ( Pu )
= Pu + Pu
dt
d ( PiQ )
= PiQ + P iQ
dt
d (P × Q)
= P×Q + P×Q
dt
if V = V ( x, y, z ) and an element of volume, dτ = dxdydz
∫ Vdτ = i ∫ V ( x, y, z ) dτ + j∫ V ( x, y, z ) dτ + k ∫ V ( x, y, z ) dτ
x y z

Three common coordinate systems for plane curvilinear
motion – rectangular, normal & tangential, and polar
Choose the appropriate coordinate system according

to the manner in which the motion is generated
or by the form in which the data are specified

2.4 Rectangular Coordinates (x-y)
Suit for motions where the x- and y- components

of the acceleration are independently generated
or determined, i.e. x- and y- coordinates at a specific
point are related by the same instant of time only.
It looks like the superposition of two perpendicular
rectilinear motions, in x- and y- directions,
simultaneously. Their combination generate the
curvilinear motion.

r = xi + yj = x ( t ) i + y ( t ) j
v = r = xi + yj = v x i + v y j (v x and v y are independent)
a = v = r = xi + yj = a x i + a y j (a x and a y are independent)
direction of velocity, tanθ = v y / v x = dy / dx
speed, v = v 2x + v 2y
a = a 2x + a 2y
If x = f1 ( t ) and y = f 2 ( t ) , elimination of time t between these two

parametric equations gives the equation of the curved path y = f ( x )

Projectile motion: motion of the thrown object
Neglect aerodynamic drag and the earth’s curvature and

rotation, and assume the altitude range is small enough
a x = 0 and a y = −g

ax = 0 v x = ( v x )o x = x o + ( v x )o t
a y = −g v y = ( v y ) − gt y = y o + ( v y ) t − gt 2 / 2
o o
v 2y = ( v y ) − 2g ( y − y o )
2
x- and y- motions are independent

elimination of time t of x ( t ) and y ( t ) gives the parabolic path

P. 2/73 A particle is ejected from the tube at A with a velocity v at an
angle θwith the vertical y-axis. A strong horizontal wind gives
the particle a constant horizontal acceleration a in the x-direction.
If the particle strikes the ground at a point directly under its
released position, determine the height h of point A. The
downward y-acceleration may be taken as the constant g.

P. 2/73 ax = a
ay = g
since a is constant, the instant formulas can be used

1
a x = a, v x = − vsinθ + at,
x = − vtsinθ + at 2
2
1 2
a y = g, v y = vcosθ + gt, y = vtcosθ + gt
2
when x = 0 & y = h,
0 = t ( at/2 − vsinθ ) , t = 2vsinθ /a
2v 2 ⎛ g ⎞
substitute t into y-coord equation, h = sin θ ⎜ cos θ + sin θ ⎟
a ⎝ a ⎠

P. 2/76 Electrons are emitted at A with a velocity v at the angle θinto
the space between two charged plates. The electric field
between the plates is in the direction E and repels the electrons
approaching the upper plate. The field produces an acceleration
of the electrons in the E-direction of eE/m, where e is the
electron charge and m is its mass. Determine the field strength
E that will permit the electrons to cross one-half of the gap
between the plates. Also find the distance s.

P. 2/76 u
y
eE
ax = 0 ay = −
m
v 2y = v 02 + 2a y ( y − y o ) x
at the peak, y = b/2
ay = -eE/m
eE mu 2
0 = ( usinθ ) − 2 × b/2, E= sin 2 θ
2
m eb
1 eE
x = utcosθ y = utsinθ − × t 2
2 m
s
at ( s, 0 ) : s = utcosθ , t = and substitue into y-equation
ucosθ
⎛ s ⎞ 2b
0 = stanθ ⎜1 − tan θ ⎟ , s = 0,
⎝ 2b ⎠ tanθ

P. 2/78 Water is ejected from the nozzle with a speed vo = 14 m/s.
For what value of the angle θwill the water land closest to
the wall after clearing the top? Neglect the effects of wall
thickness and air resistance. Where does the water land?
(2)
(1)

P. 2/78
Treat water as stream of particles. At one particular particle,
@ just above the wall (19, 1)
⎡⎣ x = ( v x )o t ⎤⎦ 19 = 14t cos θ
⎡ 1 2⎤
⎢⎣ y = y o + ( y )o 2 y ⎥⎦
v t + a t 1 = 0.3 + 14t sin θ −
1 2
2
gt , 0.7 +
1 2
2
gt = 14t sin θ
2
⎛ 1 ⎞
142 t 2 = 192 + ⎜ 0.7 + gt 2 ⎟ , t = 2.14, 1.81 sec and θ = 50.64°, 41.43°
⎝ 2 ⎠
θ = 50.64° makes the water land closest to the wall
water will land at ( x, 0 )
1
0 = 0.3 + 14t sin 50.64 − gt 2 , t = 2.234 sec
2
x = 14t cos 50.64 = 19.835 m
∴ water lands 0.835 m to the right of B

P. 2/94 A projectile is ejected into an experimental fluid at time t = 0.
The initial speed is vo and the angle to the horizontal is θ.
The drag on the projectile results in an acceleration term
a D = −kv , where k is a constant and v is the velocity of the
projectile. Determine the x- and y-components of both the
velocity and displacement as functions of time. What is the
terminal velocity? Include the effects of gravitational acceleration.

P. 2/94 a = − kv = − k ( v x i + v y j )
dv x
a x = − kv x =
dt
vx t
1 dx
∫ dv x = ∫ dt, v x = ( v o cos θ ) e − kt =
vo cosθ
−kv x 0
dt
v o cos θ
t x
∫ ( vo cos θ ) e
− kt
dt = ∫ dx, x =
k
(1 − e − kt )
0 0
dv y
a y = −kv y − g =
dt
vy
⎛ g⎞
t
1 g dy
∫
vo sin θ
−kv y − g
dv y = ∫ dt, v y = ⎜ v o sin θ + ⎟ e − kt − =
0 ⎝ k⎠ k dt
⎧⎛ g ⎞ − kt g ⎫
y
1⎛ g⎞
t
⎟( ) g
∫0 ⎩⎨⎜⎝ o θ ∫ θ − kt
v sin + ⎟ e − ⎬ dt = dy, y = ⎜ o
v sin + 1 − e − t
k⎠ k⎭ 0
k⎝ k⎠ k
terminal velocity: ( v x ) t = 0, ( v y ) = −
g
∞ t∞ k

P. 2/95 A projectile is launched with speed vo from
point A. Determine the launch angle θthat
results in the maximum range R up the incline of
angle α (where 0 ≤ α≤ 90°). Evaluate your
results for α = 0, 30, and 45°.

a x = 0, v x = vo cos θ , x = v o t cos θ
P. 2/95 a y = −g, v y = v o sin θ − gt, y = v o t sin θ − gt 2 / 2
Rcosα
at B, Rcosα = v o t cos θ → t =
v o cos θ
2
⎛ Rcosα ⎞ g ⎛ Rcosα ⎞
Rsinα = v o ⎜ ⎟ sin θ − ⎜ ⎟
⎝ v o cos θ
⎠ 2 ⎝ v o cos θ ⎠
gRcos 2α
sin α = cos α tan θ − 2
2vo cos 2 θ
2vo2 cos 2 θ tan α = 2v o2 sin θ cos θ − gRcosα
dR
change in θ causes change in R, ∴ max R when =0
dθ
−2vo2 tan α ( 2 cos θ sin θ dθ ) = v o2 ( 2 cos 2θ dθ ) − gcosα dR
dR 2vo2
= ( cos 2θ + sin 2θ tan α ) = 0
dθ gcosα
tan 2θ = −1/ tan α
⎛ 1 ⎞ −1 ⎛ 1 ⎞
2θ = tan −1 ⎜ − ⎟ = 180 − tan ⎜ ⎟
⎝ tan α ⎠ ⎝ tan α ⎠
= 180 − ( 90 − α ) = 90 + α
90 + α
θ=
2
P. 2/96 Determine the equation for the envelope a of the parabolic
trajectories of a projectile fired at any angle but with a fixed
muzzle velocity u. (Hint: Substitute m = tanθ, where θis the
firing angle with the horizontal, into the equation of the trajectory.
The two roots m1 and m2 of the equation written as a quadratic
in m give the two firing angles for the two trajectories shown
such that the shells pass through the same point A. Point A
will approach the envelope a as the two roots approach equality.)
Neglect air resistance and assume g is constant.

a x = 0, v x = ucosθ , x = utcosθ
P. 2/96
a y = −g, v y = usinθ − gt, y = utsinθ − gt 2 / 2
eliminate t to get the trajectory equation
g⎛ x2 ⎞
y = xtanθ − ⎜ 2 ⎟
2 ⎝ u cos 2 θ ⎠
given point ( x, y ) , find θ by letting m = tan θ
∵1 + tan 2 θ = sec 2 θ = 1 + m 2
gx 2 m 2 − 2xu 2 m + ( 2yu 2 + gx 2 ) = 0
∵ two roots ∴ point ( x, y ) can be reached from two distinct paths
point ( x, y ) will approach the envelope a as those two paths
approach each other → two distinct roots become two repeated roots
∴ discriminant must be zero
( 2xu )
2 2
− 4gx 2 ( 2yu 2 + gx 2 ) = 0
u 2 gx 2
y= −
2g 2u 2
∴ point ( x, y ) on the envelope must obey this relation → envelope equation

2.5 Normal and Tangential Coordinates (n-t)
It is a moving coordinate system, along the path

with the particle. The +n direction points toward the
center of curvature.
At point A,
e n = unit vector in the n-direction
e t = unit vector in the t-direction
ρ = radius of curvature of the path

position of the particle = ( 0, 0 )

ds ρ dβ
v= =
dt dt
v = ve t = ρβ e t along the t-axis
β > 0 when particle moves along + t direction
dv
a= = ve t + ve t
dt
Determine e t
de t = e t dβ e n = dβ e n → e t = β e n
de t
detour : e n = and e n = − β e t
dβ
∴ a = vβ e n + ve t
v2
a n = vβ = ρβ = 2
ρ
a t = v = s = ρβ + ρβ
vdv = a t ds
v = v x i + v y j = ve t
a = a x i + a y j = a n en + a t et

a n = change in direction of v
dv nvdβ
an = = = vβ = ρβ 2
dt dt
component a n always directed toward the center of curvature
a t = change in magnitude of v
dv t dv
at = = =v=s
dt dt
component a t will be in + t direction if speed v is increasing
component a t will be in − t direction if speed v is decreasing
v has the direction along the motion of the object

a may not have the direction along the motion of the object

P. 2/118 The camshaft drive system of a four-cylinder
automobile engine is shown. As the engine
is revved up, the belt speed v changes
uniformly from 3 m/s to 6 m/s over a 2 second
interval. Calculate the magnitudes of the
accelerations of points P1 and P2 half way
through this time interval.

P. 2/118
dv Δv
uniform speed change → a t = = = ( 6 − 3) / 2 = 1.5 m/s 2
dt Δt
belt speed v = 4.5 m/s at the time half of the interval
( 4.52 / 0.06) + 1.52 = 337.5 m/s2

2
a P1 = a n2 + a 2t =
a P2 = a t = 1.5 m/s 2
∴ the sprocket and the belt must be very strong!

P. 2/120 A baseball player releases a ball with the
initial conditions shown in the figure.
Determine the radius of curvature of the
trajectory (a) just after release and (b) at the
apex. For each case, compute the time rate
of change of the speed.

P. 2/120
t
v = 30 m/s
Just after release:
v2 302
a n = gcos30 = = , ρ = 105.9 m
a=g ρ ρ
n v = a t = −gsin30 = −4.905 m/s 2
t
At the apex:
( 30 cos 30 )
2
v2
v = 30cos30 m/s an = g = = , ρ = 68.8 m
ρ ρ
a=g
v = a t = 0 m/s 2
n

P. 2/125 Pin P in the crank PO engages the horizontal
slot in the guide C and controls its motion on
the fixed vertical rod. Determine the velocity
y and the acceleration y of guide C for a
given value of the angle θ if (a) θ = ω and
θ = 0 and (b) if θ = 0 and θ = α .

P. 2/125
n (a) θ = ω , θ = 0
v = rω t
for pin P: v = rω , a n = rω 2 , a t = 0
θ guide C must have its velocity and acceleration, y and y,
n
a = an = rω2 t transmitted by those of pin P along y direction
θ
∴ y = rω sin θ , y = rω 2 cos θ
n (b) θ = 0, θ = α
v=0 t
for pin P: v = 0, a n = 0, a t = rα
θ guide C must have its velocity and acceleration, y and y,
n
a = at = rα t transmitted by those of pin P along y direction
∴ y = 0, y = rα sin θ
θ

P. 2/128 The pin P is constrained to move in the slotted guides that
move at right angles to one another. At the instant represented,
A has a velocity to the right of 0.2 m/s which is decreasing
at the rate of 0.75 m/s each second. At the same time, B is
moving down with a velocity of 0.15 m/s which is decreasing
at the rate of 0.5 m/s each second. For this instant
determine the radius of curvature ρ of the path followed by P.
Is it possible to determine also the time rate of change of ρ.

P. 2/128
∵ Guides A and B move perpendicular to each other,
∴ motion of guides A and B are independent
y and their motions are imparted to pin P.
at
v = 0.2i − 0.15 j
x a = −0.75i + 0.5j
in n-t description
an n t = 0.8i − 0.6 j, n n ⊥ n t and along a n
v
t a t = ain t = −0.9 m/s 2 , a t = −0.72i + 0.54 j
n
a n = a − a t = −0.03i − 0.04 j
v2 0.252
an = , ρ = = 1.25 m
ρ 0.05
ρ appears only in eq.: a t = v = ρβ + ρβ = ρβ + ρ ( v/ρ )
which has 2 unknowns: ρ and β
∴ ρ cannot be determined until β is known

P. 2/129 As a handling test, a car is driven through the
slalom course shown. It is assumed that the
car path is sinusoidal and that the maximum
lateral acceleration is 0.7g. If the testers wish
to design a slalom through which the maximum
speed is 80 km/h, what cone spacing L
should be used?

P. 2/129
max a n = 0.7g and max speed = 80 km/h
⎛π ⎞
sinusoidal path → y = 3sin ω x = 3sin ⎜ x ⎟
⎝L ⎠
y' = 3ω cos ω x and y'' = −3ω 2 sin ω x
v2
max a n at peak of the wave ∵ a n = and ρ min at peak
ρ
by sense: fast car needs big L → use max speed to find lower bound of L
⎡ ⎡⎣1 + y'2 ⎤⎦ ⎤
3/ 2
⎢ρ = ⎥
⎢ y'' ⎥
⎣ ⎦
At peak, ρ = ρ min = ( 80 × 10 / 36 ) / ( 0.7g ) = 71.9 m
2
ω x = nπ /2, n = ±1, ± 3, … → y' = 0, y'' = ∓3ω 2

1 π
∓71.9 = , ω = 0.0681 = → L = 46.14 m
∓3ω 2 L

P. 2/130 A particle starts from rest at the origin and
moves along the positive branch of the curve
y = 2x3/2 so that the distance s measured from
the origin along the curve varies with the time t
according to s = 2t3, where x, y, and s are in
millimeters and t is in seconds. Find the
magnitude of the total acceleration of the
particle when t = 1 s.

P. 2/130
s = 2t 3 , v = s = 6t 2 , a t = v = 12t
3/ 2
⎡1 + ( y')2 ⎤
a n = v2 / ρ & ρ = ⎣ ⎦
y''
3
y = 2x 3/2 , y' = 3 x , y'' =
2 x
∴ x must be known to determine ρ
∫ ds = ∫ ( dx ) + ( dy ) = ∫ 1 + ( y') dx
2 2 2
t = 0 → 1, s = 0 → 2, x = 0 → x
x
2 = ∫ 1 + 9xdx, x = 0.913 mm y = 1.746 mm
0
At t = 1 s, v = 6 mm/s, a t = 12 mm/s 2 , y' = 2.8665, y'' = 1.57, ρ = 17.8 mm

a n = 62 /17.8 = 2.02 mm/s 2 → a = 12.17 mm/s 2

2.6 Polar Coordinates (r-θ)
The particle is located by the radial distance r from

a fixed pole and by an angle θto fixed radial line.

r = rer
from the figure, de r = eθ dθ and deθ = −e r dθ
∴ er = θ eθ and eθ = −θ e r
v = r = rer + re r = re r + rθ eθ
v r = r due to the stretch of r
vθ = rθ due to the rotation of r
v = v 2r + vθ2

( ) ( ) ( )
a = v = ( rer + re r ) + rθ eθ + rθ eθ + rθ eθ = r − rθ 2 e r + rθ + 2rθ eθ
a r = r − rθ 2
aθ = rθ + 2rθ =
1d 2
r dt
( )
r θ , 2rθ combines two effects
a = a 2r + aθ2
Note: a r ≠ v r and aθ ≠ vθ , i.e. we must also account for the
change in direction of both v r and vθ , which are rθ along eθ
and − rθ 2 along e r , respectively
P. 2/138 The rocket is fired vertically and tracked by
the radar shown. When θreaches 60°,
other corresponding measurements give the
values r = 9 km, r = 21 m/s2, and θ = 0.02 rad/s.
Calculate the magnitudes of the velocity and
acceleration of the rocket at this position.

P. 2/138
30
r
v and a of the rocket is in the vertical direction

vθ = rθ = 180 m/s = vsin30 → v = 360 m/s
v r = r = vcos30 = 311.77 m/s
a r = r − rθ 2 = 17.4 m/s 2 = acos30 → a = 20.09 m/s 2

P. 2/141 Link AB rotates through a limited range of the
angle β, and its end A causes the slotted link
AC to rotate also. For the instant represented
where β= 60°and β = 0.6 rad/s constant,
determine the corresponding values of
r, r, θ , and θ .

P. 2/141
Description of position, velocity, and acceleration of A

r in r-θ when they are given in n-t coordinate system
30
30 v = ρβ = 0.15 × 0.6 = 0.09 m/s along + t-direction
θ t β = 0 → at = 0
a = a n = ρβ 2 = 0.054 m/s 2 along + n-direction
n From geometry, r = 0.15 m and θ = 60°

v = v r + vθ = vcos30e r − vsin30eθ = re r + rθ eθ
r = 0.078 m/s θ = −0.3 rad/s
( ) ( )
a = a r + aθ = −asin30e r − acos30eθ = r − rθ 2 e r + rθ + 2rθ eθ
r = −0.0135 m/s 2 θ = 2.31E-4 rad/s 2

P. 2/149 The slotted arm OA forces the small pin to
move in the fixed spiral guide defined by
r = Kθ. Arm OA starts from rest at θ=π/4
and has a constant counterclockwise angular
acceleration θ = α . Determine the magnitude
of the acceleration of the pin when θ= 3π/4.

P. 2/149
pin is constrained to move in the guide

∴ path of the pin: r = Kθ
and differential relations r = Kθ and r = Kθ hold
θ = π / 4 → 3π / 4, θ = 0 →θ, θ = α = constant
⎡⎣θ 2 = θ o2 + 2θ (θ − θ o ) ⎤⎦
At θ = 3π / 4, θ 2 = πα , θ = α
r = 3Kπ /4, r = K πα , r = Kα
( ) ( )
a = r − rθ 2 e r + rθ + 2rθ eθ
a = 10.753Kα

P. 2/151 The circular disk rotates about its center O with a constant
angular velocity ω = θ and carries the two spring-loaded
plungers shown. The distance b that each plunger protrudes
from the rim of the disk varies according to b = bosin2πnt,
where bo is the maximum protrusion, n is the constant
frequency of oscillation of the plungers in the radial slots,
and t is the time. Determine the maximum magnitudes of the
r- and θ-components of the acceleration of the ends A
of the plungers during their motion.

P. 2/151
location of point A described by ( r, θ )
r = ro + b = ro + b o sin 2π nt
r = 2π nb o cos 2π nt, r = − ( 2π n ) bo sin 2π nt
2
θ = ω, θ = 0
a r = r − rθ 2 = −roω 2 − ( 4π 2 n 2 + ω 2 ) b o sin 2π nt
aθ = rθ + 2rθ = 4π nω b o cos 2π nt
ar max
= roω 2 + ( 4π 2 n 2 + ω 2 ) bo aθ max
= 4π nω b o

P. 2/155 The small block P starts from rest at time t = 0
at point A and moves up the incline with
constant acceleration a. Determine r and θ
as a function of time.

P. 2/155 1 2
block moves with constant acceleration → s = at
2
at 2
by geometry, x = R + scosα = R + cos α , x = atcosα
2
at 2
y = ssinα = sin α , y = atsinα
2
a2 4
r = x + y = R + Rat cos α + t
2 2 2 2 2
2rr = 2Ratcosα + a 2 t 3 , r =
at ( 2Rcos α + at 2
)
a2 4
2 R + Rat cos α + t
2 2
y xy − yx
tan θ = , θ sec 2θ =
x x2
1 r2
sec θ =
2
=
cos 2 θ x 2
xy − yx Ratsinα
θ= =
r 2
a2 4
R + Rat cos α + t
2 2

P. 2/158 The block P slides on the surface shown with
constant speed v = 0.6 m/s and passes point O
at time t = 0. If R = 1.2 m, determine the
following quantities at time t = 2(1+π/3):
r, θ , r, θ , r, and θ

P. 2/158
15 t
θ
30 v
n r
a
15
2(1+π / 3)
⎡ ds ⎤
s
⎢⎣ v =
dt ⎥⎦ ∫ ds = ∫
0 0
vdt, s = 1.2 + 0.4π
0.4π
block P moves up the quarter for = π / 3 = 60°
1.2
at this position, x = R + Rcos30 = 2.239 m y = R − Rsin30 = 0.6
r = x 2 + y 2 = 2.318 m θ = tan −1 ( y/x ) = 15°
v r = vcos45 = r = 0.424 m/s
vθ = vsin45 = rθ , θ = 0.183 rad/s
v2 0.62
at = v = 0 an = = = 0.3 = a
ρ 1.2
a r = −0.3cos 45 = r − rθ 2 , r = −0.134 m/s 2
aθ = 0.3sin 45 = rθ + 2rθ , θ = 0.0245 rad/s 2

P. 2/161 The slotted arm OA oscillates about O within the limits shown
and drives the crank CP through the pin P. For an interval of
the motion, θ = K , a constant. Determine the magnitude of
the corresponding total acceleration of P for any value of θ
within the range for which θ = K . Use polar coordinates r
and θ. Show that the magnitudes of the velocity and
acceleration of P in its circular path are constant.

P. 2/161 b
β
θ
r
bθ
θ =K θ =0
β = 2θ β = 2K β = 0
motion of pin P is the circular path with radius b
v = ρβ = 2bK = constant
a n = v 2 / ρ = 4bK 2 a t = v = 0, a = 4bK 2 = constant

P. 2/163 The earth satellite has a velocity v = 17,970 km/h as it passes
the end of the semiminor axis at A. Gravitational attraction
produces an acceleration a = ar = -1.556 m/s2 as calculated
from the gravitational law. For this position, calculate
the rate v at which the speed of the satellite is changing and
the quantity r .

P. 2/163 r
t v
60°
θ a
n
a t = v = −acos60 = −0.778 m/s 2

a r = a = −1.556 = r − rθ 2 but θ is unknown too
vθ = rθ = vcos30, θ = 2.7E-4 rad/s, r = −0.388 m/s 2

P. 2/164 Pin A moves in a circle of 90 mm radius as
crank AC revolves at the constant rate β =
60 rad/s. The slotted link rotates about point O
as the rod attached to A moves in and out
of the slot. For the position β= 30°,
determine r, r, θ , and θ .

θ t
P. 2/164 30
v
r
r
θ
a
n
r 2 = 3002 + 902 − 2 × 300 × 90 cos 30, r = 226.57 mm
90 r
= , θ = 11.456°
sinθ sin30
v 2A
v A = ρβ = 5.4 m/s and a = a n = = 324 m/s 2
ρ
v r = r = v A cos 48.54 = 3.575 m/s
vθ = rθ = v A sin 48.54, θ = 17.86 rad/s
a r = a n cos 41.456 = r − rθ 2 , r = 315 m/s 2
aθ = −a n sin 41.456 = rθ + 2rθ , θ = −1510 rad/s 2

P. 2/243 If the slotted arm is revolving CCW at the constant rate of
40 rev/min and the cam is revolving clockwise at the constant
rate of 30 rev/min, determine the magnitude of the acceleration
of the center of the roller A when the cam and arm are in the
relative position for which θ= 30°. The limacon has the
dimensions b = 100 mm and c = 75 mm. (Caution: Redefine
the coordinates as necessary after noting that the θin the
expression r = b – ccosθis not the absolute angle appearing
in Eq. 2/14.)

P. 2/243
pin A must always be in the slot → θ = 40 rev/min CCW
if β is the angle the cam is revolving at the rate β = 30 rev/min CW,
then r = b − ccos (θ + β )
π /6
⎡ dθ ⎤
t
⎢⎣ω =
dt ⎥⎦ ∫ dθ = ∫ θ dt,
0 0
t = 0.125 s
β 0.125
∫ dβ = ∫
0 0
β dt, β = 0.3927 rad = 22.5°
θ = 0 and β = 0
r = 0.1 − 0.075cos ( 30 + 22.5 ) = 54.3 mm
( )
r = c θ + β sin (θ + β ) = 0.436
r = c (θ + β ) cos (θ + β ) = 2.453
2
a r = r − rθ 2 = 2.453 − 0.0543 ( 40 × 2π / 60 ) = 1.5 m/s 2

2
aθ = rθ + 2rθ = 2 × 0.436 × ( 40 × 2π / 60 ) = 3.653 m/s 2

a = a 2r + aθ2 = 3.95 m/s 2
2.7 Relative Motion (Translating Axes)
It is in many cases easy and practical to observe

motion of an object w.r.t. a moving reference system.
And its absolute motion can be determined by
combining the relative motion with the absolute
motion of the moving reference frame.
Fixed coordinate system ? has no motion in space

-- earth-ground
-- non-rotating coordinate system with origin on the
earth’s axis of rotation
-- non-rotating coordinate system fixed to the sun

At this moment, we will study the relative plane motion
which employs the pure-translation moving reference
system. That is the relative motion will be observed on
the moving reference frame that has no rotation.
Observe motion of A from point B. Measurements are made

referenced with the pure translating moving coordinate.
Find the absolute motion of A described in fixed coordinate.
Two chosen frames involved:

1. fixed frame X-Y, e.g.
2. pure translating moving frame x-y, e.g.
Note : Coordinates of X-Y and x-y may not parallel to each other
++Separation of the frame, vector, and its description

++Consistency of the description for the vector quantities in a particular equation
++Transformation between two descriptions

rA and rB are measured referenced with the fixed coordinate frame
rA/B is measured referenced with the pure translating moving coordinate frame.
rA = rB + rA/B v A = v B + v A/B a A = a B + a A/B
describe rA/B in a specific pure translating moving frame x-y

rA/B = xi + yj v A/B = xi + yj a A/B = xi + yj
For the relative motion using the pure translating coordinate system
rA/B = −rB/A v A/B = − v B/A a A/B = −a B/A
if the pure-translating moving frame has constant velocity, a B = 0

∴ a A = a A/B → determination of the absolute acceleration can be made
on the inertial system, a pure-translating system
that has no acceleration
→ Newton's 2nd law holds in the inertial as well as
in the fixed reference frame

P. 2/191 The car A has a forward speed of 18 km/h and
is accelerating at 3 m/s2. Determine the
velocity and acceleration of the car relative to
observer B, who rides in a nonrotating chair
on the ferris wheel. The angular rate
ω= 3 rev/min of the ferris wheel is constant.

P. 2/191
observer B rides in a nonrotating chair →
car A is observed through the pure translating moving coord frame
10
[ A B A/B ] A
v = v + v v = 18 × i = 5i m/s
36
v B = ρβ ( cos 45i − sin 45 j) = 2i − 2 j m/s
v A/B = v A − v B = 3i + 2 j m/s
[aA = aB + aA/B ] aA = 3i m/s2
a B = ρβ 2 ( − cos 45i − sin 45 j) = −0.628i − 0.628 j m/s 2
a A/B = a A − a B = 3.628i + 0.628 j m/s 2

P. 2/193 Hockey player A carries the puck on his stick
and moves in the direction shown with a speed
vA = 4 m/s. In passing the puck to his stationary
teammate B, by what shot angle α should the
direction of his shot trail the line of sight if he
launches the puck with a speed of 7 m/s
relative to himself?

P. 2/193
player A saw the puck moves in ( 45 + α ) ° direction

but in fact, the puck moved to stationary player B
which stood in 45° direction
v P = v A + v P/A
7 4
= , α = 23.8°
sin 45 sin α

P. 2/204 The aircraft A with radar detection equipment is flying
horizontally at 12 km and is increasing its speed at the rate of
1.2 m/s each second. Its radar locks onto an aircraft flying
in the same direction and in the same vertical plane at an
altitude of 18 km. If A has a speed of 1000 km/h at the instant
that θ= 30°, determine the values of r and θ at this same
instant if B has a constant speed of 1500 km/h
θ
r

P. 2/204
r = 6000 / sin 30 = 12000 m
10 10
v B = 1500 × = 416.67i m/s v A = 1000 × = 277.78i m/s
36 36
v B/A = v B − v A = 138.89i m/s = rθ eθ + re r
v r = r = v B/A cos 30 → r = 120.28 m/s
vθ = rθ = − v B/A sin 30 → θ = −5.787E-3 rad/s
a B = 0 a A = 1.2i m/s 2
( ) ( )
a B/A = a B − a A = −1.2i m/s 2 = r − rθ 2 e r + rθ + 2rθ eθ
a r = r − rθ 2 = − a B/A cos 30 → r = −0.637 m/s 2
aθ = rθ + 2rθ = a B/A cos 60 → θ = 1.66E-4 rad/s 2

P. 2/205 A batter hits the baseball A with an initial velocity of vo = 30 m/s
directly toward fielder B at an angle of 30°to the horizontal;
the initial position of the ball is 0.9 m above the ground level.
Fielder B requires ¼ s to judge where the ball should be caught
and begins moving to that position with constant speed.
Because of great experience, fielder B chooses his running
speed so that he arrives at the “catch position” simultaneously
with the baseball. The catch position is the field location at
which the ball altitude is 2.1 m. Determine the velocity of the
ball relative to the fielder at the instant the catch is made.

P. 2/205
Ball: a = -gj = constant

⎡⎣ v 2 = v o2 + 2a ( s − s o ) ⎤⎦ v 2y = ( 30sin 30 ) − 2g ( 2.1 − 0.9 )
2
v y = −14.19 j m/s v x = 30 cos 30i = 25.98i m/s ∴ v A = 25.98i − 14.19 j m/s

⎡ 1 2⎤ 1 2
⎢⎣ s = s o + v o t + at ⎥ 2.1 = 0.9 + ( 30sin 30 ) t − gt , t = 2.976 s
2 ⎦ 2
∴ horizontal displacement of the ball = 2.976 × 30 cos 30 = 77.32 m from batter
∴ catcher B must move 77.32 − 65 = 12.32 m to the right,
in 2.976 − 0.25 = 2.726 s → v B = 4.52i m/s
v A/B = v A − v B = 21.46i − 14.19 j m/s

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Ch.

A particle is a body whose physical dimensions are so

2.2 Rectilinear Motion

Both velocity and acceleration are vector quantities Æ

For rectilinear motion, direction is the constant straight

Integration of basic differential relations

2.2 Rectilinear Motion

Relationships among several

2.2 Rectilinear Motion

2.2 Rectilinear Motion

2.2 Rectilinear Motion

∫ ds = ∫ vdt → s = s o + ∫ vdt = s o + v o t + ∫ ∫ f ( t ) dtdt

2.2 Rectilinear Motion

2.2 Rectilinear Motion

2.2 Rectilinear Motion

2.2 Rectilinear Motion

[a = s] a = g from gravitational force, downward

2.2 Rectilinear Motion

2.2 Rectilinear Motion

[ v = ds/dt ] ∫ ds = ∫ vdt, s B = t/36

2.2 Rectilinear Motion

[ vdv = ads] ∫ vdv = ∫ ads

v 2 = −866.7x 2 + 19.5, v = 29.44 0.0225 − x 2 ( assume block move → )

2.2 Rectilinear Motion

2.2 Rectilinear Motion

const acceleration: v = v o + at, v 2 = v 02 + 2a ( s − s o ) , s = s o + vo t + at 2 / 2

2.2 Rectilinear Motion

2.2 Rectilinear Motion

2.2 Rectilinear Motion

2.2 Rectilinear Motion

lap time = 8 × 2 + 8.71× 4 = 50.84 sec

2.2 Rectilinear Motion

2.2 Rectilinear Motion

[ vdv = ads] ∫ vdv = area under a-s curve

2.2 Rectilinear Motion

Vector quantity is independent of any particular

2.3 Plane Curvilinear Motion

at time t, the particle is at A located by r

2.3 Plane Curvilinear Motion

Consider only the magnitude of the velocity

2.3 Plane Curvilinear Motion

Derivative of the magnitude

Derivative of the direction

Derivative of the magnitude and Derivative of the direction of the vector

2.3 Plane Curvilinear Motion

a includes the effect of change both in magnitude and direction of v

Because the magnitude v at any point can be arbitrary, generally

2.3 Plane Curvilinear Motion

The acceleration bears the same relation to the velocity

2.3 Plane Curvilinear Motion

if V = V ( x, y, z ) and an element of volume, dτ = dxdydz

2.3 Plane Curvilinear Motion

Choose the appropriate coordinate system according

2.3 Plane Curvilinear Motion

Suit for motions where the x- and y- components

2.4 Rectangular Coordinates (x-y)

If x = f1 ( t ) and y = f 2 ( t ) , elimination of time t between these two

2.4 Rectangular Coordinates (x-y)

Neglect aerodynamic drag and the earth’s curvature and

2.4 Rectangular Coordinates (x-y)

x- and y- motions are independent

2.4 Rectangular Coordinates (x-y)

2.4 Rectangular Coordinates (x-y)