Kinematics

i
i

Dynamics
Th
The study
d off objects
bj
in motion under the
action of forces
Applications:
Determine trajectories
off satellites
t llit
(aerospace)
Highways design:
geometry and speed
limit
2

Links with other subjects

j
and p
professions
Maths, Physics

Statics

Dynamics

Mechanics of Solids

Structural Dynamics
Fluid Dynamics

Structural Analysis,
Geotechnical Engineering
Water Engineering

Design of structures

Kinematics and Kinetics

Kinematics: Branch of dynamics which

describes the motion of bodies without

reference to the forces that cause the motion
concerned
d with
ith the
th geometric
t i aspects
t off motion
ti
-- Geometry of Motion

Kinetics: Study of the relations between forces

and the changes in motion
-- Force, Mass and Acceleration
-- Work and Energy
-- Impulse and Momentum
concerned with the forces causing the motion

Course Objectives & Topics

Introduce the fundamental of dynamics
Kinematics of particles: rectilinear motion and
curvilinear motion
Kinetics
Ki ti off particles,
ti l
fforce, mass and
d acceleration
l ti
Work and energy
Impulse and momentum

Rectilinear motion

Position and displacement

Velocity
Acceleration
Rectilinear motion with
o Constant acceleration
o Variable acceleration

Rectilinear Motion
The simplest
p
motions are those in a straight
g line.
Consider the simplest
p
form with a constant velocity.
y
The next simplest form is constant acceleration.

Speed and Velocity

Speed
p
has onlyy magnitude.
g
Velocityy has a magnitude
g
and direction.
Speed is a scalar, Velocity is a vector.
We will deal with velocity.

Position and Displacement

Consider a particle moving in a straight line.
The change in position of the particle in a given
time is the displacement (s).
Change in position means the final position minus
initial position.

Displacement and Velocity

Displacement in time t is s. Displacement in time
t+t is s+s. Hence in time interval t the
displacement is s.

s = s s
Therefore
e e o e velocity
e oc ty

s
v=
t

As t becomes smaller,
smaller the velocity becomes the
Instantaneous velocity

ds
v=
= s&
dt

Displacement ,Velocity , Acceleration

Similarly acceleration is the rate of change of velocity

dv
a = = v&
dt

ds
d( )
2
d
s
dt
a=
= 2
dt
dt

d 2s
a = 2 = &s&
dt

If the acceleration is uniform, then

v u
a=
t

v = u + at

s=average velocity time

u+v
u + u + at
1 2
s=(
)t = (
)t = ut + at
2
2
2

Displacement ,Velocity , Acceleration

v = u + at
Squaring both sides

1 2
v = u + 2uat + a t = u + 2a(ut + at )
2
2

2 2

v = u + 2as
2

Note: the following statement is true only for

constant acceleration.
acceleration

u+v
vaverage =
2

Displacement ,Velocity , Acceleration

a = v& = &s&
dv dv ds dv
a= = =v
dt ds dt
ds
2

dv d s
dv
a= = 2 =v
dt dt
ds
ds&
a = v& = &s& = s&
ds

Displacement ,Velocity , Acceleration

For a constant acceleration

dv
v& = = a
d
dt
v

dv = a dt

v u = a(T 0)
v = u + aT

[v]

v
u

= a[t]

T
0

Displacement ,Velocity , Acceleration

Relation between s, u, a and T

v = u + aT
v = u + at
S

d
ds
=
(
u
+
at
)
d
dt

0

a 2 2
S 0 = u(T 0) + (T 0 )
2

dds
v = s& = = u + at
dt
T

1 2

[s] = ut + at
2 0

S
0

a 2
S = uT + T
2

Displacement ,Velocity , Acceleration

Relation between s, u, v and a

ddv
v =a
ds
v

vdv
=
a
ds

v u
= aS
2 2
2

2 v

v
S
2 = a[s]0
u

v u = 2aS
2

Displacement ,Velocity , Acceleration

v u = 2aSS
2

v u = 2as

v = u + 2as
2

Caution: one of the frequent mistakes made by

students is the attempt to use the above equations
for problems of variable acceleration.
The above equations derived are only valid for
constant acceleration.
acceleration

Rectilinear Kinematics: Erratic Motion

Given the s-t Graph, Construct the v-t Graph

Rectilinear Kinematics: Erratic Motion

Given the v-t Graph, Construct the a-t Graph

Rectilinear Kinematics: Erratic Motion

Given the v-s Graph, Construct the a-s Graph

EXAMPLE 1
A rocket travel upward at
75m/s. When it is 40m from
the ground,
ground the engine fails
fails.
Determine
1.max
1
max height sB reached by
the rocket (Answer: 327m)
2.its speed just before it hits
the ground
(
(Answer:
-80.1m/s).
80 1 / )

EXAMPLE
Solution:
Coordinate System.
System
Origin O for the position
coordinate at ground level with positive upward.
Maximum Height
Height.
Knowns: 1) vA = +75m/s when t = 0. s = sB when
vB = 0 at max ht.
2) aC = -9.81m/s2 (negative since it act
opposite sense to positive velocity or
positive displacement)
Solve for s (s0=0 in the selected coordinate system)

A
B

0
aC=-9.81m/s2
t = ? aC=-9.81m/s2

v=75m/s
v=0

40
s=?

EXAMPLE

Variable Acceleration
Acceleration is the function of time:

a = f (t)
Similar integration can be carried out to obtain functions
for velocity v and displacement s. Displacement s is
also the function of time
time.

s = f (t)
This can be differentiated to obtain functions for v & a.

Variable Acceleration Example 2

Acceleration a = 4t-30, Determine v and s as function
off time t. Initially
ll at t=0
0, s0 = -5 m and
d v0 = 3 m /s.
/
Solution:

a = 4t 30

dv
v& = a = = 4t 30
dt

v v0 = 2t 30t
2

v = v0 + 2t 30t
2

v0

d = (4t 30)dt
d
dv

t
0

v = v0 30t + 2t

Variable Acceleration Example 2

ds
2
s& = = v = 3 30t + 2t
dt

dv = (3 30t + 2t )dt
2

s0

2 3 t

2
s s0 = 3t 155t + t 0
3

2 3
s = s0 + 3t 15t + t
3
2 3
2
s = 5 + 3t 15t + t
3
2

Curvilinear Motion
Position, displacement, velocity and acceleration
Rectangular
Rectangular components
Motion of a projectile
Polar components
Circular motion

Plane curvilinear motion

This describes the motion of a particle along a curved
Path that lies in a single plane.
plane
Circular motion and Projectiles
Consider the continuous motion of a particle along a
plane
l
curve.

General Curvilinear Motion

Curvilinear motion occurs when the particle moves
along
l
a curved
d path
th
Position. The position of the particle, measured
from a fixed point O, is designated by the position
vector r (a vector is written in boldface).

General Curvilinear Motion

Position.
Suppose P is in a motion relative to the
chosen
h
reference
f
frame,
f
so the
th r is
i a function
f
ti off
time t.
We can express this
motion
ti by
b

r = r(t
()

General Curvilinear Motion

Displacement. Suppose during a small time
interval (t, t+t) the particle moves a distance s
along the curve to a new position P, defined by
r=r(t+t). The displacement r represents the
change in the particles position.

r = r(t + t ) r(t )

General Curvilinear Motion

Velocity. The average
velocity of the particle is
defined as

v avg

r
=
t

The instantaneous
velocity is determined
from this equation by
letting t 0,
0

dr
v=
= r&
dt

General Curvilinear Motion

Direction of v is tangent
t the
to
th curve
Magnitude of v is the
speed, which may be
obtained by noting the
magnitude of the
displacement r is the
length of the straight line
segment from P to P
P..

ds
v=
dt

General Curvilinear Motion

Acceleration. If the particle has a velocity v at time
t and a velocity v
v = v(t + t) at time tt = t + t.
The increment of velocity is v = v(t + t) - v(t).
The average acceleration

a avg

v
v
=
t

The instantaneous
acceleration
2

dv
d r
a=
= v& = 2 = &r&
dt
dt

Curvilinear Motion: Rectangular Components

Position.

Position vector is defined by

r = xi + yj + zk
i j,
i,
j k are unit vectors (independent of time t)
The magnitude of r is always
positive and defined as

r = x2 + y2 + z 2
The direction of r is
specified by the
components of the
unit vector ur = r/r

Curvilinear Motion: Rectangular Components

Velocity.
where

r
r
r
dr
dr
v=
= vx i + v y j + vz k
dt
v x = x& v y = y& v z = z&

The velocity has a

magnitude defined as the
positive value of

v = v x2 + v y2 + v z2
and a direction that is specified by the
components of the unit vector uv=v/v and is
always tangent to the path.

Curvilinear Motion: Rectangular Components

Acceleration.
r
r
r
dv
a=
= axi + a y j + az k
dt
where a x = v& x = &x&
a y = v& y = &y&
a z = v& z = &z&

The acceleration has a magnitude defined as the

positive value of
a = a x2 + a y2 + a z2

Since a represents the time rate of change in

velocity, a will not be tangent to the path.

Projectile motion
An important application of two-dimensional
kinematics theory is the problem of projectile motion

Motion of a Projectile
Free-flight motion studied in terms of rectangular
components since projectiles acceleration
y act verticallyy
always
Consider projectile launched at (x0, y0)
Path defined in the x-y
x y plane
Air resistance neglected
Only force acting on the projectile is its weight,
g in constant downwards acceleration
resulting
ay = g = - 9.81 m/s2

Motion of a Projectile: Horizontal motion

At t = 0:
x = 0 and vx = v0cos 0.
The acceleration
Th
l ti in
i the
th xdirection is zero i.e.

dv x
=0
ax =
dt
Therefore vx is constant and remains equal to its
initial value:

dx
vx =
= v0 cos 0
dt

Motion of a Projectile: Horizontal motion

Integrating

dx = v x dt = v0 cos 0 dt

d =
dx

v 0 cos 0 dt

x = (v 0 cos 0 ) t

Thus, we have determined the position and

Thus
velocity of the projectile in the x-direction
as functions of time w/o considering the
projectiles
p
j
motion in the y
y-direction.

Motion of a Projectile: Vertical motion

At t = 0;
y = 0 and vy = v0sin 0.
The acceleration in the ydirection is ay = - g

ay =
By integrating,
we obtain:
bt i

vy

sin 0

dv y
dt

dv y =

= g
t

0 g dt

dy
vy =
= v 0 sin
i 0 gt
dt

Motion of a Projectile: Vertical motion

Integrating vy yields:
y

dy =

0 ( v 0 sin 0

gt ) dt

1
y = ( v 0 sin 0 ) t gt
2

The vertical motion is independent of the

horizontal motion.

Eliminating time t from

x = (v0 cos 0 ) t ;

1 2
y = (v0 sin 0 ) t gt
2

Parabolic trajectory of the projectile:

g
2
y = (tan 0 ) x 2
x
2
2v0 cos 0

Example
The muzzle
Th
l velocity
l it
of a long-range rifle
att A is
i u=400m/s.
400 /
Determine the two
angles
l off elevation
l
ti
which will permit
th projectile
the
j til tto hit
the mountain target
B (Answer:
B.
(Ans er 80.6
80 6o,
26.1o)

Example

Example

Curvilinear Motion: Polar Coordinates

Polar Coordinates
Specify the location of P
using
1. radial coordinate r,, which
extends outward from the
fixed origin O to the
particle and a
2. traverse coordinate ,
which is the
counterclockwise angle
b t
between
a fifixed
d
reference line and the r
axis

r = x2 + y2

= tan 1 ( y / x)

Curvilinear Motion: Cylindrical Coordinates

Vectors in polar coordinates are defined by uisng
the unit vectors ur and u extends from P
ur : along increasing r,
when is held fixed
u : along increasing
when r is held fixed
Position
Position vector:

r = rur

r r
(or written as : r = rur )

Note that ur and u

change directions as P moves
are perpendicular to each other

Rotating
g Unit Vector
Unit vector e rotating at an angular velocity
d
&
=
dt
Rotation angle during t : = (t + t) - (t)
The time derivative of e
is defined byy

de
e(t + t ) e(t )
= lim
dt t 0
t

Curvilinear Motion: Cylindrical Coordinates

Velocity
Instantaneous velocity v is obtained by the time
derivative of r (using product rule)

d ( ru r )
= r&u r + ru& r
v = r& =
dt

To evaluate u
& r note that
ur changes its direction
w.r.t. time although its
magnitude = 1 (rotating
of a unit vector)

u& r = & u

V
V

Vr

Curvilinear Motion: Cylindrical Coordinates

Instantaneous velocity v

v = vr u r + v u
vr = r&

v = r&
Radical component vr is a measure of the rate
of increase or decrease in the length of the
radial coordinate
Transverse component v is the rate of motion
along the circumference of a circle having a
radius r

Curvilinear Motion: Cylindrical Coordinates

Since vr and v are
mutually perpendicular,
perpendicular the
magnitude of the velocity
or speed is simply the
positive value of

v=

(r& )

2
&
+ (r )

Direction of v is tangent
to the path at P

Curvilinear Motion: Cylindrical Coordinates

Acceleration
d
a = v& = (r&u r + r&u )
dt
= &r&u r + r&u& r + r&& u + r&&u + r& u&

u changes direction w
w.r.t.
r t time

u& = & u& r

Curvilinear Motion: Cylindrical Coordinates

Instant acceleration has two componets
r
r
a = ar u r + a u
a = &r& r& 2
r

a = r&& + 2r&&
The term && = d 2 / dt 2 is called the angular
g
acceleration since it measures the change made
in the angular
g
velocity
y during
g an instant of time

Use unit rad/s2

Curvilinear Motion: Cylindrical Coordinates

Since ar and a are always
perpendicular, the magnitude of
the acceleration is simply the
positive value of
a=

(&r& r )

2
2
&

2
&
&
&
+ (r + 2r& )

Direction is determined
from the vector addition
of its components
Acceleration is not
tangent to the path

Circular Motion
For circular motion, radius r is constant for all .

Coordinate System. Polar coordinates

Velocity and Acceleration
Acceleration. Since r is constant
constant,
r=r

r& = 0 &r& = 0

Circular Motion
Velocity and Acceleration. (r = constant

vr = r& = 0
v = r&

2
2
&
&
&
&
a r = r r = r

v2
=
r
a = r&& + 2r&& = r&&

r& = 0 &r& = 0)

Circular Motion
For circular motion with a constant angular
velocity & (&& = 0)

vr = r& = 0
v = r&

ar = r& 2
v2
=
r
a = 0
Acceleration is towards the centre of the circle

EXAMPLE
Due to the rotation of the
forked rod, ball A travels
across the slotted path, a
portion of which is in the
shape of a cardioids, r =
0.15(1 cos )m where is
in radians. If the balls
velocity is v = 1.2m/s and its
acceleration is 9m/s2 at
sta t = 180,
80 , determine
dete
e
instant
the angular velocity and
angular
a
gu a acce
acceleration
e at o o
of tthe
e
fork.

EXAMPLE

EXAMPLE

Motion of a Projectile
If

x = y = 0 at t = 0
x = (v 0 cos 0 ) t

y = (ta
tan 0 ) x

v y = v 0 sin 0 gt
1
y = ( v 0 sin 0 ) t gt
2

g
2
x
2 v 02 cos 2 0

Curvilinear Motion: Cylindrical Coordinates

Position:
Velocity:

r
r
r = ru r

r
r
r
v = v r u r + v u
v r = r&
v = r &

Acceleration:

r
r
a = a ru r + a u
a = &r& r & 2
r

a = r & & + 2 r& &

V
V

V
r

r
r
rr = rur

r
&
u& r = u
r
r
&
u& = u r
r
r
r
r r
r
&
v = r& = r&u r + ru& r = r&u r + ru
r
r
r r
r
r
r
&
&
&
&
a = v& = &r&u r + r&u& r + r&u + ru + ru&
r
r
r
r
r
&
&
&
&
&
&
= &r&u r + r&u + r&u + ru r (u r )
r
2 r
&
&
&
&
= (&r& r )u r + (r + 2r& )u
a=

(&r& r )

2
2
&

2
&
&
&
+ (r + 2r& )

r
r
r
v = vr u r + v u
vr = r&
v = r&

v=

(r& )

2
&
+ (r )

r
r
a = ar u r + a u
2
&
&
&
a = r r
r

a = r&& + 2r&&