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Kinematics of particles is the study about the motion of particles determine their d i sp I a c e m e nt, v e I o c ity and a c c e I e r at i o n.
specifically to
o Displacement: position relative to a reference point or coordinate. o velocity: rate of change of displacement with respect to time. o Acceleration: rate of change of velocity with respect to time.
Motion
:
The motion of a parlicle may take place in two main forms, namely rectilinear motion and c urv il ine ar mot i o n.
o c
Rectilinear motion:
The particle moves in a straight line. The particle moves at random and rotation.
Curvilinear motion:
in terms x or !,
Motion inX-direction
Displacement:
Velocity:
Acceleration
:
v*= i ar= t
Motion in l-direction
Displacement
Velocity:
Acceleration
:
v, = j' an= !
Curvilinear Motion In this motion, displacement, velocity and acceleration are measured by means of
Cartesian coordinates (x-y) or Polar coordinates (r-0). Cartesian coordinates
The displacement of the particle is resolved into two components, i.e. one along the OX axis and the other along the OIaxis, as shown on the right.
lr= x
vv =
j'
*utr
"o='1
o*= i
A-.: i
yJ
o?:
o1
* al
Polar coordinates
The velocity of the particle is expressed in terms of a rqdial comPonent and a transverse component, as shown below.
lr=f
ar= i -
'62
oe= r0 + 2i0
azp: a? +
a3
Displacement:
right that
xY=
Also:
f=
r.cos0
r. sin 0
*'+y'
:V tan 'zx
And
e-
Velocity:
p, (
o ),
o o
eitherthe Cartesiancomponents:
the Polar components
v*
and
v, ,
or
: v, and v,
:
o r, : o
ve
vr.cosO + vr.sinO
*.cos0 + y.cos0
y.sinO
(1) (2)
vr.cos0
- vr.sin0 =
:
- *.sinO
x = r.cosO and
.lz
= r.sin0
* &
will produce
(l)
= =
( r.sin0
r.cos0.O
r.sinO.cosO
e)
Acceleration:
:
" o
eitherthe Cartesiancomponents:
the Polar components
o,
and
a, ,
or
: a, antd au
will be identical to the diagram for the
(3) (4)
The diagram for these acceleration components velocities above. Therefore, it will be seen that :
o a, = o ao =
ar.cosO + ar.sinO
i.cosO +
&
(iii)
(iv)
Substituting (iii) and (iv) into equations (3) and (a) for accelerations, and simpliSing,
will produce
o o,=i;-162 o ao=16+2i6
(3)
g)
Summary
The polar components for the velocity and acceleration in curvilinear motion may be
o o
lr=r
o o
vo=,6
Special Cases
Linear Motion:
When the motion is linear, angle 0 remains constant, giving 0 = the equations above will reduce to :
0 and 6 = 0. Hence
ovr=r o Vg=0
o o
ar=f ae=0
Circular Motion:
When the motion is circular, radius the equations above will reduce to :
= 0 and
= 0. Hence
o o
vr=0
vo
o o
o, =
ae
-'6' or - ra2
or ra
= ,6
= rd