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12.01Kinematics of a Particle
12.02Kinematics of a Particle
Chapter Objectives
To introduce the concepts of position, displacement, velocity,
and acceleration
To study particle motion along a straight line and represent this
motion graphically
To investigate particle motion along a curved path using
different coordinate systems
To present an analysis of dependent motion of two particles.
To examine the principles of relative motion of two particles
using translating axes
12.03Kinematics of a Particle
1. Introduction
- Mechanics: the study how body react to the forces acting on
them
- Branches of mechanics
12.04Kinematics of a Particle
1. Introduction
- Brief history of dynamics
Major contributors include
Galileo Galilei (15641642): pendulums, falling bodies
Sir Isaac Newton (16421727): laws of motion, law of
universal gravitation
Others include: Kepler, Huygens, Euler, Lagrange, Laplace,
DAlembert and many others
Galileo Galilei
Leonard Euler
12.05Kinematics of a Particle
2. Rectilinear
12.06Kinematics of a Particle
- Position
12.07Kinematics of a Particle
2. Rectilinear
2. Rectilinear
12.08Kinematics of a Particle
- Velocity
Average velocity
Instantaneous velocity
displacement,
time interval,
2. Rectilinear
12.09Kinematics of a Particle
- Speed
traveled distance,
elapsed time,
12.10Kinematics of a Particle
2. Rectilinear
Average acceleration
Instantaneous acceleration
velocity,
time interval,
2. Rectilinear
12.12Kinematics of a Particle
2. Rectilinear
12.13Kinematics of a Particle
2. Rectilinear
2. Rectilinear
12.14Kinematics of a Particle
Solution
Coordinate system
Position
2. Rectilinear
12.15Kinematics of a Particle
Velocity
2. Rectilinear
12.16Kinematics of a Particle
2. Rectilinear
12.17Kinematics of a Particle
Solution
Velocity
Time
At ,
12.18Kinematics of a Particle
2. Rectilinear
Note: ,
Distance traveled in
2. Rectilinear
12.19Kinematics of a Particle
12.20Kinematics of a Particle
Fundamental
Problems
- F12.1 Initially, the car travels along a straight road with a speed
of . If the brakes are applied and the speed of the car is
reduced to in determine the constant deceleration of the car
Solution
12.21Kinematics of a Particle
Fundamental
Problems
- F12.2 A ball is thrown vertically upward with a speed of .
Determine the time of flight when it returns to its original
position
Solution
12.22Kinematics of a Particle
Fundamental
Problems
- F12.3 A particle travels along a straight line with a velocity of .
Determine the position of the particle when . Given
Solution
12.23Kinematics of a Particle
Fundamental
Problems
- F12.4 A particle travels along a straight line with a speed .
Determine the acceleration of the particle when
12.24Kinematics of a Particle
Fundamental
Problems
- F12.5 The position of the particle is given by . Determine the
time when the velocity of the particle is zero, and the total
distance traveled by the particle when
12.25Kinematics of a Particle
Fundamental
Problems
- F12.6 A particle travels along a straight line with an
acceleration of . Determine the velocity of the particle when if
at
12.26Kinematics of a Particle
Fundamental
Problems
- F12.7 A particle moves along a straight line such that its
acceleration is . When , the particle is located to the left of the
origin, and when , it is to the left of the origin. Determine the
position of the particle when
12.27Kinematics of a Particle
Fundamental
Problems
- F12.8 A particle travels along a straight line with a velocity of .
Determine the acceleration of the particle at
Solution
3. Rectilinear
12.28Kinematics of a Particle
- The graph
Plots of can be used to find the
curves by finding the slope of the
line tangent to the motion curve at
any point
3. Rectilinear
12.29Kinematics of a Particle
- The graph
Plots of can be used to find the
curves by finding the slope of the
line tangent to the velocity curve at
any point
3. Rectilinear
12.30Kinematics of a Particle
- The graph
The graph can be constructed from an
graph if the initial velocity of the particle
is given
3. Rectilinear
12.31Kinematics of a Particle
- The graph
The graph can be constructed from an
graph if the initial position of the particle
is given
3. Rectilinear
12.32Kinematics of a Particle
- The graph
Acceleration at one point can be
obtained by reading the velocity at this
point on the curve and multiplying it by
the slope of the curve () at this same
point
acceleration = velocity slope of graph
3. Rectilinear
12.33Kinematics of a Particle
- The graph
The area under the acceleration versus
position curve represents the change in
velocity
12.34Kinematics of a Particle
3. Rectilinear
Solution
graph
:
:
3. Rectilinear
12.35Kinematics of a Particle
graph
:
:
graph
:
12.36Kinematics of a Particle
3. Rectilinear
3. Rectilinear
12.37Kinematics of a Particle
graph
:
:
:
3. Rectilinear
12.38Kinematics of a Particle
graph
:
:
:
3. Rectilinear
12.39Kinematics of a Particle
Solution
graph
:
3. Rectilinear
12.40Kinematics of a Particle
12.41Kinematics of a Particle
Fundamental
Problems
- F12.9 The particle travels along a straight track such that its
position is described by the graph. Construct the graph for the
same time interval
12.41Kinematics of a Particle
Fundamental
Problems
- F12.9 The particle travels along a straight track such that its
position is described by the graph. Construct the graph for the
same time interval
Solution
12.42Kinematics of a Particle
Fundamental
Problems
- F12.10 A van travels along a straight road with a velocity
described by the graph. Construct the and graphs during the
same period. Given
12.43Kinematics of a Particle
Fundamental
Problems
- F12.11 A bicycle travels along a straight road where its
velocity is described by the graph. Construct the graph for the
same time interval
12.44Kinematics of a Particle
Fundamental
Problems
- F12.12 The sports car travels along a straight road such that
its position is described by the graph. Construct the and
graphs for the time interval
12.45Kinematics of a Particle
Fundamental
Problems
- F12.13 The dragster starts from rest and has an acceleration
described by the graph. Construct the graph for the time
interval , where is the time for the car to come to rest
12.46Kinematics of a Particle
Fundamental
Problems
- F12.14 The dragster starts from rest and has a velocity
described by the graph. Construct the graph during the time
interval . Also, determine the total distance traveled during this
time interval
12.47Kinematics of a Particle
4. General
Curvilinear Motion
- Curvilinear motion: particle moves along a curved path
- Position
particle located at a point on a space curve defined by the
path function
position measured from a fixed point
determined by position vector
- Displacement
the change in the particles position
determined by vector subtraction
4. General
12.48Kinematics of a Particle
Curvilinear Motion
- Velocity
average velocity
instantaneous velocity
displacement,
time interval,
4. General
12.49Kinematics of a Particle
Curvilinear Motion
- Speed
speed: magnitude of
:
speed can be obtained by differentiating the path function
with respect to time
12.50Kinematics of a Particle
4. General
Curvilinear Motion
- Acceleration
average acceleration
instantaneous acceleration
4. General
12.51Kinematics of a Particle
Curvilinear Motion
- Note
Acceleration acts tangential to the hodograph, but generally
not tangential to the path of motion
Velocity is always tangential to the path of motion, whereas
acceleration is always tangential to the hodograph
5. Curvilinear
12.52Kinematics of a Particle
5. Curvilinear
12.53Kinematics of a Particle
5. Curvilinear
12.54Kinematics of a Particle
5. Curvilinear
12.55Kinematics of a Particle
Solution
Velocity
5. Curvilinear
12.55Kinematics of a Particle
12.57Kinematics of a Particle
5. Curvilinear
Velocity
5. Curvilinear
12.58Kinematics of a Particle
Acceleration
with
The magnitude of the acceleration
12.59Kinematics of a Particle
6. Motion of a Projectile
- What is a Projectile?
An object projected into the air at an angle, and once projected
continues in motion by its own inertia and is influenced only by
the downward force of gravity
HCM City Univ. of Technology, Faculty of Mechanical Engineering
6. Motion
12.60Kinematics of a Particle
of a Projectile
Ex: release the balls and each
picture in this sequence is taken
after the same time interval
Red
ball:
falls from rest
Yellow
ball:
12.61Kinematics of a Particle
6. Motion of a Projectile
- History
Niccolo Tartaglia (1500 1557), realized that
projectiles actually follow a curved path
Yet no one knew what that path was
6. Motion
12.62Kinematics of a Particle
of a Projectile
Analysis
6. Motion
12.63Kinematics of a Particle
of a Projectile
- Vertical motion
The exponent of the time term confirms the parabolic shape of the
trajectory
12.64Kinematics of a Particle
6. Motion
of a Projectile
- Ex.12.11 A sack slides off the ramp with a horizontal velocity of
. If the height of the ramp is from the floor, determine the time
needed for the sack to strike the floor and the range where
sacks begin to pile up
Solution
Coordinate system
Horizontal motion
6. Motion
12.65Kinematics of a Particle
of a Projectile
Ex.12.12 The
chipping
machine is designed to eject
wood chips at . If the tube is
oriented
at
from
the
horizontal, determine how
high, , the chips strike the
pile if at this instant they land
on the pile from the tube
Solution
Coordinate system
6. Motion
12.66Kinematics of a Particle
of a Projectile
Horizontal motion
Vertical motion
12.67Kinematics of a Particle
6. Motion
of a Projectile
- Ex.12.13 The track for this racing event was designed so that
riders jump off the slope at , from a height of . During a race it
was observed that the rider remained in mid air for . Determine
the speed at which he was traveling off the ramp, the horizontal
distance he travels before striking the ground, and the
maximum height he attains. Neglect the size of the bike and
rider
Solution
Coordinate system
Vertical motion
12.68Kinematics of a Particle
6. Motion
of a Projectile
Coordinate system
Vertical motion
Horizontal motion
12.69Kinematics of a Particle
Fundamental
Problems
- F12.15 If the and components of a particle's velocity are
and , determine the equation of the path . and
Solution
12.70Kinematics of a Particle
Fundamental
Problems
- F12.16 A particle is traveling along the straight path. If its
position along the axis is , determine its speed when
Solution
The position of the particle along the axis
The velocity of the particle along the axis
12.71Kinematics of a Particle
Fundamental
Problems
- F12.17 A particle is constrained to travel along the path. If ,
determine the magnitude of the particle's velocity and
acceleration when
Solution
12.72Kinematics of a Particle
Fundamental
Problems
- F12.18 A particle travels along a straight-line path . If the
component of the particle's velocity is , determine the
magnitude of the particle's velocity and acceleration when
12.73Kinematics of a Particle
Fundamental
Problems
- F12.19 A particle is traveling along the parabolic path . If ,
determine the magnitude of the particle's velocity and
acceleration when
12.74Kinematics of a Particle
Fundamental
Problems
- F12.20 The position of a box sliding down the spiral can be
described by . Determine the velocity and acceleration of the
box when
12.75Kinematics of a Particle
Fundamental
Problems
- F12.21 The ball is kicked from point with the initial velocity .
Determine the maximum height it reaches
12.76Kinematics of a Particle
Fundamental
Problems
- F12.22 The ball is kicked from point with the initial velocity .
Determine the range , and the speed when the ball strikes the
ground
12.77Kinematics of a Particle
Fundamental
Problems
- F12.23 Determine the speed at which the basketball at must
be thrown at the angle of so that it makes it to the basket at
12.78Kinematics of a Particle
Fundamental
Problems
- F12.24 Water is sprayed at an angle of from the slope at .
Determine the range
12.79Kinematics of a Particle
Fundamental
Problems
- F12.25 A ball is thrown from . If it is required to clear the wall
at , determine the minimum magnitude of its initial velocity
12.80Kinematics of a Particle
Fundamental
Problems
- F12.26 A projectile is fired with an initial velocity of off the
roof of the building. Determine the range where it strikes the
ground at
12.81Kinematics of a Particle
7. Curvilinear
If ,
7. Curvilinear
12.82Kinematics of a Particle
- Velocity
Direction: always tangential to the path
Magnitude
12.83Kinematics of a Particle
7. Curvilinear
12.84Kinematics of a Particle
7. Curvilinear
Magnitude of acceleration
or
12.85Kinematics of a Particle
7. Curvilinear
12.86Kinematics of a Particle
7. Curvilinear
tangent axis
principal normal axis
binormal axis
osculating plane (mt tip)
12.87Kinematics of a Particle
7. Curvilinear
Therefore
7. Curvilinear
12.88Kinematics of a Particle
Acceleration
Therefore
7. Curvilinear
12.89Kinematics of a Particle
- Ex.12.15
A race car travels around the horizontal circular track that has a
radius of . If the car increases its speed at a constant rate of ,
starting from rest, determine the time needed for it to reach an
acceleration of . What is its speed at this instant?
Solution
Coordinate system
7. Curvilinear
12.90Kinematics of a Particle
Acceleration
Velocity
12.91Kinematics of a Particle
7. Curvilinear
7. Curvilinear
12.92Kinematics of a Particle
Acceleration
At ,
The magnitude of
12.93Kinematics of a Particle
Fundamental
Problems
- F12.27 The boat is traveling along the circular path with a
speed of . Determine the magnitude of its acceleration when
12.94Kinematics of a Particle
Fundamental
Problems
- F12.28 The car is traveling along the road with a speed of .
Determine the magnitude of its acceleration when if at
12.95Kinematics of a Particle
Fundamental
Problems
- F12.29 If the car decelerates uniformly along the curved road
from at to at , determine the acceleration of the car at
12.96Kinematics of a Particle
Fundamental
Problems
- F12.30 When , the crate has a speed of which is increasing
at . Determine the direction of the crate's velocity and the
magnitude of the crate's acceleration at this instant
12.97Kinematics of a Particle
Fundamental
Problems
- F12.31 If the motorcycle has a deceleration of and its speed
at position is , determine the magnitude of its acceleration
when it passes point
12.98Kinematics of a Particle
Fundamental
Problems
- F12.32 The car travels up the hill with a speed of , measured
from . Determine the magnitude of its acceleration when it is at
point , where
12.99Kinematics of a Particle
12.100
Kinematics of a Particle
8. Curvilinear
8. Curvilinear
12.101
Kinematics of a Particle
- Velocity
The instantaneous velocity
During the time interval
a change will not cause a change i the direction of
a change will cause to become :
8. Curvilinear
12.104
Kinematics of a Particle
12.103
Kinematics of a Particle
8. Curvilinear
8. Curvilinear
12.104
Kinematics of a Particle
:
radial component of acceleration
:
transverse component of acceleration
Magnitude of acceleration
12.105
Kinematics of a Particle
8. Curvilinear
8. Curvilinear
12.106
Kinematics of a Particle
Time derivative
The above equations require ,,,. Two types of problems
generally occur
+Given the time parametric equations: ,
the time derivatives can be found directly
+Given the path:
using the chain rule of calculus to find the relation
between and and between and
8. Curvilinear
12.107
Kinematics of a Particle
Solution
Coordinate system: polar coordinate
,
Acceleration
Velocity
8. Curvilinear
12.108
Kinematics of a Particle
Solution
Coordinate system: polar coordinate
Time derivative of and at
8. Curvilinear
12.109
Kinematics of a Particle
,
Acceleration
12.110
Kinematics of a Particle
8. Curvilinear
8. Curvilinear
12.111
Kinematics of a Particle
At ,
Velocity
Acceleration
8. Curvilinear
12.112
Kinematics of a Particle
Solution
Coordinate system: polar coordinate
Time derivative of and
At : ,
8. Curvilinear
12.113
Kinematics of a Particle
12.114
Kinematics of a Particle
Fundamental
Problems
- F12.33 The car has a speed of . Determine the angular
velocity of the radial line at this instant
12.115
Kinematics of a Particle
Fundamental
Problems
- F12.34 The platform is rotating about the vertical axis such
that at any instant its angular position is . A ball rolls outward
along the radial groove so that its position is . Determine the
magnitudes of the velocity and acceleration of the ball when
,
HCM City Univ. of Technology, Faculty of Mechanical Engineering
12.116
Kinematics of a Particle
Fundamental
Problems
- F12.35 Peg is driven by the fork link along the curved path
described by . At the instant , the angular velocity and angular
acceleration of the link are and . Determine the magnitude of
the pegs acceleration at this instant
,
HCM City Univ. of Technology, Faculty of Mechanical Engineering
12.117
Kinematics of a Particle
Fundamental
Problems
- F12.36 Peg is driven by the forked link along the path
described by . When , the link has an angular velocity and
angular acceleration of and . Determine the radial and
transverse components of the pegs acceleration at this instant
,
HCM City Univ. of Technology, Faculty of Mechanical Engineering
12.118
Kinematics of a Particle
Fundamental
Problems
- F12.37 The collars are pin-connected at and are free to
move along rod and the curved guide having the shape of a
cardioid, . At , the angular velocity of is . Determine the
magnitudes of the velocity of the collars at this point
12.119
Kinematics of a Particle
Fundamental
Problems
- F12.38 At the instant , the athlete is running with a constant
speed of . Determine the angular velocity at which the camera
must turn in order to follow the motion
12.120
Kinematics of a Particle
9. Absolute
9. Absolute
12.121
Kinematics of a Particle
9. Absolute
12.122
Kinematics of a Particle
9. Absolute
12.123
Kinematics of a Particle
if
Solution
Position coordinate equation
Time derivative
9. Absolute
12.124
Kinematics of a Particle
if
Solution
Position coordinate equations
Time derivatives
9. Absolute
12.125
Kinematics of a Particle
Solution
Position coordinate equations
Time derivatives
12.126
Kinematics of a Particle
9. Absolute
Time derivatives
9. Absolute
12.127
Kinematics of a Particle
12.128
Kinematics of a Particle
10.
10.
12.129
Kinematics of a Particle
,:
:
absolute velocity
relative velocity
- Acceleration
,:
:
absolute acceleration
relative acceleration
12.130
Kinematics of a Particle
10.
The direction of
10.
12.131
Kinematics of a Particle
Resolving each
components
:
:
vector
into
its
and
12.132
Kinematics of a Particle
10.
10.
12.133
Kinematics of a Particle
10.
12.134
Kinematics of a Particle
10.
12.135
Kinematics of a Particle
12.136
Kinematics of a Particle
Fundamental
Problems
- F12.39 Determine the speed of block if end of the rope is
pulled down with a speed of
Solution
Coordinate
The length of rope
12.137
Kinematics of a Particle
Fundamental
Problems
- F12.40 Determine the speed of block if end of the rope is
pulled down with a speed of
Solution
Coordinate
12.138
Kinematics of a Particle
Fundamental
Problems
- F12.41 Determine the speed of block if end of the rope is
pulled down with a speed of
12.139
Kinematics of a Particle
Fundamental
Problems
- F12.42 Determine the speed of block if end of the rope is
pulled down with a speed of
12.140
Kinematics of a Particle
Fundamental
Problems
- F12.43 Determine the speed of car if point on the cable has
a speed of when the motor winds the cable in
12.141
Kinematics of a Particle
Fundamental
Problems
- F12.44 Determine the speed of cylinder if cylinder moves
downward with a speed of
12.142
Kinematics of a Particle
Fundamental
Problems
- F12.45 Car is traveling with a constant speed of due north,
while car is traveling with a constant speed of due east.
Determine the velocity of car relative to car
12.143
Kinematics of a Particle
Fundamental
Problems
- F12.46 Two planes and are traveling with the constant
velocities shown. Determine the magnitude and direction of the
velocity of plane relative to plane
12.144
Kinematics of a Particle
Fundamental
Problems
- F12.47 The boats and travel with constant speeds of and
when they leave the pier at at the same time. Determine the
distance between them when
12.145
Kinematics of a Particle
Fundamental
Problems
- F12.48 At the instant shown, cars and are traveling at the
speeds shown. If is accelerating at while maintains a constant
speed, determine the velocity and acceleration of with respect
to