GNG1105 1505 Fall2023 Lec 20 - Fin

01/01/2020
Engineering Mechanics Mécanique pour Ingénieurs
Ch-D1: Dynamics-Kinematics of Particles Dynamique- Cinématique desParticules
GNG 1105 /1505 | Presented by: Dr. M. YANDOUZI
uOttawa.ca
uOttawa.ca
LEC. 20
uOttawa.ca
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• OUTLINE / SOMMAIRE
D1/1-Kinematics of particles / C’est quoi la Cinématique de particules?
D1/2- Rectilinear Motion / Mouvement Rectiligne

a- Distance, Velocity & Acceleration / Distance, Vitesse et Accélération
* UNIFORM RECTILINEAR MOVEMENT / MOUVEMENT RECTILIGNE UNIFORME
** UNIFORMLY ACCEL. RECTILINEAR MOTION / MOUV. RECTILIGNE UNIF. ACCÉLÉRÉ
b- Movement of several particles / Mouvement de plusieurs particules

* RELATIVE MOTION / MOUVEMENT RELATIF
** CONSTRAINED MOTION / MOUVEMENT DÉPENDANT
D1/3- Curvilinear Motion / Mouvement Curviligne

a- PROJECTILE TRAJECTORIES / LES TRAJECTOIRES BALISTIQUES
b- CIRCULAR TRAJECTORIES / LES TRAJECTOIRES CIRCULAIRES
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Curvilinear motion occurs when a particle moves along a curve.

Un mouvement curviligne se produit quand une particule se déplace le long d'une courbe.
More specifically, we are going to study projectile movements (ballistics) and circular movements
in the plane.
Plus spécifiquement, nous allons étudier les mouvements de projectiles (balistique) et les
mouvements circulaires dans le plan.
Instantaneous Velocity,
Velocity is always tangent to the

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(Displacement) Δs (Distance)
path in the direction of motion.
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Average Acceleration,
Instantaneous Acceleration,
Acceleration, in general, is neither tangent to the path nor normal

to the path.
Acceleration vectors will be tangent to the path

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Rectangular Coordinates (x-y)

Rectangular coordinates are particularly useful for describing
motions where the x- and y-components of acceleration are
independently generated or determined.
Les coordonnées rectangulaires sont particulièrement utiles pour
décrire les mouvements où les composantes x et y de l'accélération
sont générées ou déterminées indépendamment.
Vector Relationships of Interest
Scalar Relationships of Interest
Note that the time derivatives of the unit vectors i and j are zero because the unit vectors always have the
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same magnitude and always point in the same directions.
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Sample Problem / Exemple
An object travels from the origin along a curved

path as shown. If its horizon velocity is Vx = 8t m/s,
where t is in seconds, determine the magnitudes of
its velocity, acceleration, and distance from the
origin at t=2 s
Un objet se déplace depuis l'origine le long d'une

trajectoire curvilinéaire, comme illustré. Si sa
vitesse à l'horizon est Vx = 8t m/s, où t est en
secondes, déterminer les grandeurs de sa vitesse, de
son accélération et de sa distance à l'origine à t=2 s
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Solution
Vx = dx /dt = 8t => x = 4t2
=> y = (1/4) x3/2 = 2t3
r(t) = xi +yj = (4t2)i +(2t3)j

v(t) = dr / dt = xi +yj = (8t)i +(6t2)j
a(t) = dv / dt = (8)i +(12t)j
@ t=2 s; r= (16)i +(16)j m v= (16)i +(24)j m/s a= (8)i +(24)j m/s2
r= 22.63 m
v= 28.8 m/s
a= 25.3 m/s2
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Dans le cas de ces trajectoires paraboliques, les

composantes rectangulaires du mouvement (c.à.d. le long
de x et y) sont considérées comme indépendantes.
In the case of these parabolic trajectories, the rectangular
components of the motion (i.e., along x and y) are
considered independent.
vx est indépendante de vy & ax est indépendante de ay
Assumptions:
Hypothèses:
o Ignore Aerodynamic Drag o Ignorer la traînée aérodynamique
o Ignore Curvature of the Earth o Ignorer la courbure de la Terre
o Ignore Rotation of the Earth o Ignorer la rotation de la Terre
o Constant Acceleration: ax = 0 and ay = −g o Accélération constante: ax = 0 et ay = −g
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D1/2- Rectilinear Motion / Mouvement Rectiligne

UNIFORM RECTILINEAR MOVEMENT /
MOUVEMENT RECTILIGNE UNIFORME
Eq.1 s = V.t + s0 Eq.4
Eq.2
UNIFORMLY ACCEL. RECTILINEAR MOTION /
MOUV. RECTILIGNE UNIF. ACCÉLÉRÉ
Eq.3
V(t) = a t + V0 Eq.5
s(t) = ½ a t2 + V0 t + s0 Eq.6
V2 = V02 + 2a . (s – s0) Eq.7
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Le mouvement le long de x est défini comme Mouvement Rectiligne Uniforme: (v= constante)
The motion along x is defined as Uniform Rectilinear Motion: (v = Constant)
x(t) = x0 + v0x t & vx = v0x
Le mouvement le long de y est défini comme Mouvement uniformément accéléré (a= constante)
The motion along y is defined as Uniformly Accelerated Motion (a = constant)
y(t) = y0 + v0y t + ½ (-g) t2 & vy = v0y + (-g) t (vy) 2 = (v0y) 2 - 2g (y-y0)
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Sample Problem / Exemple
Vo = 180 m/s
y g
 = 30 deg
150m
x
X
Un projectile est tiré d’une falaise. On vous demande de trouver:
a) La distance X à l’impact .
b) La hauteur maximale du projectile. A projectile is fired from a cliff. We ask you to find:
c) Vitesse du projectile à l’impact. a) The distance X at impact.
b) The maximum height of the projectile.
c) Projectile velocity on impact.
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Solution
Initial position: y0 = 150 m
Initial speed: V0y = V0 Sin = 180 . Sin30 = 90m/s
V0y = V0 Cos = 180 . Cos30 = 155.88m/s
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Solution
y0 = 150 m V0y = 90m/s V0y = 155.88m/s
a) La distance X à l’impact . => y = 0 m
=> y = y0 + V0yt + ½ (-9.81) t2 = 0

=> ½ (-9.81) t2 + 90t + 150 = 0
=> t = -90  [902 -4 (-9.81/2) 150]½ / 2 (-9.81/2)
=> t = 19.9 s
! Le long de x, le mouvement est Rect. Unif. :

=> x = x0 + V0xt
=> x= 180 Cos(30) x (19.9s)
=> x = 3100 m
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Solution
b) La hauteur Max. => vy = 0 m/s
 vy = V0y + at
 vy = 180 Sin(30) -9.81 t = 0
=> t = 9.17s
ymax = y (9.17sec) => ymax = 150 + 90 (9.17) + ½ (-9.81) (9.17)2 => ymax = 563 m
c) La vitesse à l’impact : De la question (a) nous savons que t =19.9s.
vx = v0x = 180 Cos(30) => Vx = 155.88 m/s
vy = v0y + (-9.81) (19.9) => Vy = -105.22 m/s = 105.22 m/s
=> V = (Vx2 + Vy2) 1/2 => V = 188 m/s
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=>  = tan-1(Vy/ Vx ) =>  = 34 deg.
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• Pour des particules se déplaçant dans des trajectoires circulaires, utilisant un système de
coordonnées rectangulaires devient compliqué parce que l'accélération ax & ay sont dépendantes!
 For particles moving in circular paths, using a rectangular coordinate system becomes complicated
because the acceleration ax and ay are dependent!
Ex. A satellite revolves around the earth along an orbit

Un satellite tourne autour de la terre le long d’un orbite
=> Very difficult to describe the movement using x and y coordinates.

y g
(you must use ax = -g cos & ay = -g sin )
=> Très difficile de décrire le mouvement en utilisant les coordonnées
6300 km x et y. (il faut utiliser ax = -g cos & ay = -g sin )
x
=> Using integrals for this kind of equation of motion is complicated!
=> Utilisation des intégrales pour ce genre d’équation du mouvement
est compliqué!
=> Solution: normal & tangent coordinates (n-t) “osculating plane”

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=>Solution: composantes normale & tangent à la trajectoire
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Normal and Tangential Coordinates (n-t)

Coordonnées intrinsèques (n-t)
Path Coordinates
o The t-axis is tangent to the path and is positive in the direction of motion.
o The n-axis is perpendicular to the path and is positive toward the center of curvature of the path.
It can shift from one side of the path to the other if the curvature changes.
o Because the coordinates travel with the particle, there is no utility in writing a position vector.
o These coordinates provide a very natural description for curvilinear motion and are often the
most direct and convenient coordinates to use.
Coordonnées de trajectoire
o L'axe t est tangent à la trajectoire et est positif dans la direction du mouvement.
o L'axe n est perpendiculaire par report a la trajectoire et est positif vers le centre de courbure
du chemin. Il peut passer d'un côté du chemin à l'autre si la trajectoire change.
o Étant donné que les coordonnées voyagent avec la particule, il n'y a aucune utilité pour écrire
un vecteur de position.
o Ces coordonnées fournissent une description très naturelle du mouvement curviligne et sont
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souvent les coordonnées les plus directes et pratiques à utiliser.
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• Unit Vectors, et and en
• Center of Curvature, C
• Radius of Curvature, ρ
• Differential Angle, dβ
• Arclength, ds = ρ dβ
• Velocity,
• Acceleration,
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 Final Expression for Velocity & Acceleration
 Scalar Expressions of Interest
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Circular Motion in n-t Coordinates

Special Case of Curvilinear Motion
o Radius of Curvature is a Constant Radius, ρ → r
o Angle β is replaced by the angle θ, β → θ
o New Expressions
• Conversions – Always Work in Radians!

o To convert from deg/s to rad/s (or deg/sec to rad/sec) multiply the degrees by π/180°
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Sample Problem / Exemple (10)
To anticipate the dip and hump in the road, the driver of a car applies her brakes to produce a uniform
deceleration. Her speed is 100 km/h at the bottom A of the dip and 50 km/h at the top C of the hump,
which is 120 m along the road from A. If the passengers experience a total acceleration of 3
m/s2 at A and if the radius of curvature of the hump at C is 150 m, calculate (a) the radius of
curvature ρ at A, (b) the acceleration at the inflection point B, and (c) the total acceleration at C.
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Solution
Velocities & Acceleration
The dimensions of the car are small compared with those of
the path, so we will treat the car as a particle.
The velocities are:
We find the constant deceleration along the path from
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Condition at A Solution
With the total acceleration given (3m/s2)
and at determined (-2.41m/s2),
we can easily compute an and hence 𝜌 from
Condition at B
Since the radius of curvature is infinite at the inflection point,
an = 0 and
Condition at C
The normal acceleration becomes
With unit vectors en and et in the n- and t-directions,
the acceleration may be written
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where the magnitude of a is
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A certain rocket maintains a horizontal attitude of its axis during the powered phase of its
flight at high altitudes. The thrust imparts a horizontal component of acceleration of 6m/s2,
and the downward acceleration component is the acceleration due to gravity at that altitude,
which is g = 9m/s2. At the instant represented, the velocity of the mass center G of the
rocket along the 15°direction of its trajectory is 20,000 km/h. For this position determine
(a) the radius of curvature of the flight trajectory, (b) the rate at which the speed v is
increasing, (c) the angular rate ⋅dβ/dt⋅ of the radial line from G to the center of curvature C,
and (d) the vector expression for the total acceleration a of the rocket.
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Solution
The n- and t-components of the total acceleration are obtained
by resolving the given horizontal and vertical accelerations into
their n- and t-components and then combining.
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Solution
The n- and t-components of the total acceleration are obtained
by resolving the given horizontal and vertical accelerations into
their n- and t-components and then combining.
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• ANNOCEMENTS / LES ANNONCES
READING / LECTURE
J.L. MERIAM, L.G. KRAIGE, J.N. BOLTON,
Engineering Mechanics: Statics & Dynamics, 9th Ed.
Mécanique pour Ingénieurs, Statique & Dynamique 8 -ème éd.,
M. DUBE et al. (traduction)
[Ch. D2: 2.1 - 2.5, 2.7 - 2.9]
PROBLEMS / PROBLÈMES SUGGÉRÉS

2-13 / 2-17 / 2-4 / 2-62 / 2-68 / 6-73 / 2-210 / 2-188 / 2-192
TUT-10 :
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GNG1105 1505 Fall2023 Lec 20 - Fin

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01/01/2020

Engineering Mechanics Mécanique pour Ingénieurs

Ch-D1: Dynamics-Kinematics of Particles Dynamique- Cinématique desParticules

GNG 1105 /1505 | Presented by: Dr. M. YANDOUZI

D1/1-Kinematics of particles / C’est quoi la Cinématique de particules?

D1/2- Rectilinear Motion / Mouvement Rectiligne

b- Movement of several particles / Mouvement de plusieurs particules

D1/3- Curvilinear Motion / Mouvement Curviligne

D1/3- Curvilinear Motion / Mouvement Curviligne

Curvilinear motion occurs when a particle moves along a curve.

Velocity is always tangent to the

D1/3- Curvilinear Motion / Mouvement Curviligne

Acceleration, in general, is neither tangent to the path nor normal

Acceleration vectors will be tangent to the path

D1/3- Curvilinear Motion / Mouvement Curviligne

Rectangular Coordinates (x-y)

Vector Relationships of Interest

Scalar Relationships of Interest

D1/3- Curvilinear Motion / Mouvement Curviligne

Sample Problem / Exemple

An object travels from the origin along a curved

Un objet se déplace depuis l'origine le long d'une

D1/3- Curvilinear Motion / Mouvement Curviligne

r(t) = xi +yj = (4t2)i +(2t3)j

D1/3- Curvilinear Motion / Mouvement Curviligne

a- PROJECTILE TRAJECTORIES / LES TRAJECTOIRES BALISTIQUES

Dans le cas de ces trajectoires paraboliques, les

vx est indépendante de vy & ax est indépendante de ay

D1/2- Rectilinear Motion / Mouvement Rectiligne

Eq.1 s = V.t + s0 Eq.4

V2 = V02 + 2a . (s – s0) Eq.7

D1/3- Curvilinear Motion / Mouvement Curviligne

a- PROJECTILE TRAJECTORIES / LES TRAJECTOIRES BALISTIQUES

x(t) = x0 + v0x t & vx = v0x

y(t) = y0 + v0y t + ½ (-g) t2 & vy = v0y + (-g) t (vy) 2 = (v0y) 2 - 2g (y-y0)

D1/3- Curvilinear Motion / Mouvement Curviligne

a- PROJECTILE TRAJECTORIES / LES TRAJECTOIRES BALISTIQUES

Sample Problem / Exemple

D1/3- Curvilinear Motion / Mouvement Curviligne

a- PROJECTILE TRAJECTORIES / LES TRAJECTOIRES BALISTIQUES

Initial position: y0 = 150 m

Initial speed: V0y = V0 Sin = 180 . Sin30 = 90m/s

V0y = V0 Cos = 180 . Cos30 = 155.88m/s

D1/3- Curvilinear Motion / Mouvement Curviligne

a- PROJECTILE TRAJECTORIES / LES TRAJECTOIRES BALISTIQUES

a) La distance X à l’impact . => y = 0 m

=> y = y0 + V0yt + ½ (-9.81) t2 = 0

=> t = -90  [902 -4 (-9.81/2) 150]½ / 2 (-9.81/2)

! Le long de x, le mouvement est Rect. Unif. :

=> x= 180 Cos(30) x (19.9s)

D1/3- Curvilinear Motion / Mouvement Curviligne

a- PROJECTILE TRAJECTORIES / LES TRAJECTOIRES BALISTIQUES

c) La vitesse à l’impact : De la question (a) nous savons que t =19.9s.

vx = v0x = 180 Cos(30) => Vx = 155.88 m/s

vy = v0y + (-9.81) (19.9) => Vy = -105.22 m/s = 105.22 m/s

=> V = (Vx2 + Vy2) 1/2 => V = 188 m/s

D1/3- Curvilinear Motion / Mouvement Curviligne

b- CIRCULAR TRAJECTORIES / LES TRAJECTOIRES CIRCULAIRES

Ex. A satellite revolves around the earth along an orbit

=> Very difficult to describe the movement using x and y coordinates.

=> Solution: normal & tangent coordinates (n-t) “osculating plane”

D1/3- Curvilinear Motion / Mouvement Curviligne

b- CIRCULAR TRAJECTORIES / LES TRAJECTOIRES CIRCULAIRES