Kinematics of Particles

1
Ae1203
1. Kinematics of particles
Ae1203 - 2011
2
Dynamics Ae1203
What is motion?
Brown: fixed
Blue: fixed
Red: fixed
Ae1203 - 2011
3
Dynamics Ae1203
Geocentric
Earth: fixed
Heliocentric
Sun: fixed
Ae1203 - 2011
4
General introduction
Basic concepts
To describe motion of an object we need a way to

measure:
1. The location of the object
2. The time at which that object is at a given location
The location of an object is always measured with respect

to a frame of reference
The motion of any object is always relative to a frame of

reference.
Ae1203 - 2011
5
Dynamics Ae1203
Definitions
Space point: location in space.
Denoted using capital letters: A, B,
Material point: element of negligible dimensions

attached to a material body.
Denoted using capital letters: P, Q,
Ae1203 - 2011
6
Dynamics Ae1203
Definitions
Particle: ideal body of negligible dimensions.
Its mass is assumed to be concentrated at a single point
Rigid body: ideal body such that distance between any two
of its material points is constant.
Ae1203 - 2011
7
Notation
Scalars: italics Vectors: bold-face
Cartesian coordinate system: 1,2,3 (instead of X,Y,Z)
Cartesian unit vectors
Cartesian components of a vector:
Ae1203 - 2011
8
One-dimensional motion Position:
Particle P: at point A at time t
Particle P: at point A at time t+t
Average velocity:
Ae1203 - 2011
9
One-dimensional motion
Instantaneous velocity:
Ae1203 - 2011
10
One-dimensional motion velocity:
Particle P: at point A at time t
Particle P: at point A at time t+t
Average acceleration:
Ae1203 - 2011
11
Instantaneous acceleration:
Ae1203 - 2011
12
Differential relations:
Ae1203 - 2011
13
Integration of differential relations.
Four variables: Position: s
Velocity: v
Acceleration: a
Time: t
Three dependent variables and one independent variable.
Case 1: Usual formulation:
time is taken as the independent variable
Case 2: velocity is taken as the independent variable
Case 3: position is taken as the independent variable
Ae1203 - 2011
14
Case 1: Usual formulation:

time is taken as the independent variable
Use this approach if the acceleration is given as a

function of time
In addition, suppose that the initial velocity and the initial

position are known: at t=0
Ae1203 - 2011
15
Case 1: given
To find the velocity:
Ae1203 - 2011
16
Case 1: given
To find the position:
Ae1203 - 2011
17
Case 1: Example: the acceleration of a rocket is given as

a linear function of time. Its initial velocity is v0 and its initial
position is s0. Find the rockets velocity and position at time t
c: constant
Velocity:
Ae1203 - 2011
18
Case 1: Example: acceleration that varies linearly with time:
Position:
Ae1203 - 2011
19
Case 1: Example: acceleration that varies linearly with time:
Ae1203 - 2011
20
Case 2: velocity is taken as the independent variable

function of velocity

Ae1203 - 2011
21
Case 2: given
To find the position:
Ae1203 - 2011
22
Case 2: given
To find the time:
Ae1203 - 2011
23
Case 2: Example:
The acceleration of a vehicle is given as
c: positive constant
Its initial velocity is v0 and its initial

position is 0:
Find the vehicles acceleration,

velocity and position as a function of
time t
Ae1203 - 2011
24
Case 2: Example:
Position:
Ae1203 - 2011
25
Case 2: Example:
Time:
Ae1203 - 2011
26
Case 2: Example: As a function of velocity:
Relations can be inverted (i.e., solve as a function of time):
Ae1203 - 2011
27
Case 3: position is taken as the independent variable

function of position

Ae1203 - 2011
28
Case 3: given
To find the velocity:
Ae1203 - 2011
29
Case 3: given
To find the time:
Ae1203 - 2011
30
Applications:
Examples will be given in studio classroom session
Ae1203 - 2011
31
Planar motion: Position vector of a particle:
1. Choose a frame of reference
(i.e., rigid body that, by definition, does not move).
2. Choose a reference point O attached to the frame.
(i.e., origin).
Position vector:
Particle P is at point A at time t
Particle P is at point A at time t + t
Ae1203 - 2011
32
Velocity vector of a particle:
Average velocity between t and t + t
Instantaneous velocity of P at time t
Ae1203 - 2011
33
Acceleration vector of a particle:
Average acceleration between t and t + t
Instantaneous acceleration of P at time t
Ae1203 - 2011
34
Position, velocity and
acceleration vectors
Remarks:
1. The position, velocity and acceleration vectors depend

on the choice of a frame of reference
2. The position vector also depends on the choice of the
origin (compare and ). The velocity and the
acceleration do not depend on the choice of the origin.
3. The velocity and the acceleration vectors do not depend
on the choice of a coordinate system (the components
change but the vectors are the same)
Ae1203 - 2011
35
Coordinate systems and frame of reference
We make a distinction between a frame of reference and
a coordinate system
A frame of reference is a rigid body chosen to be fixed
(e.g., the earth, the sun, a table, etc.)
A coordinate system is a system used to locate points
in space by means of scalars (coordinates)
Examples:
Cartesian system,
Polar system, etc.
For a given frame of
reference, we can use
different coordinate
systems.
Each coordinate system is
attached to the frame.
We will not use the concept of a moving coordinate system (instead,

we use another frame of reference)
Ae1203 - 2011
36
Planar motion expressed in Cartesian coordinates
1. Cartesian system: fixed references lines
2. Location of points as a function of time:
Functions and
Ae1203 - 2011
37
3. Unit vectors and : same for all points
4. Position vector:
Ae1203 - 2011
38
3. Unit vectors and : same for all points
4. Position vector:
5. Velocity vector:
6. Acceleration vector:
Integration methods for one-dimensional motion:

Applied to each Cartesian component separately
Ae1203 - 2011
39
Example: Projectile in gravitational field.
Suppose that the acceleration is given as
:constant
Initial position:
Initial velocity: : magnitude and angle
Given initial position and velocity, find
Ae1203 - 2011
40
Cartesian components of the acceleration:
Since
then
Integrate from to
Ae1203 - 2011
41
Cartesian components of the velocity:
Since
then
Integrate from to
Ae1203 - 2011
42
Parabolic path:
Solve for time from first equation
and substitute in second:
Ae1203 - 2011
43
Planar motion expressed in Polar coordinates
1. Polar system: fixed references line
2. Location of points as a function of time:
Functions and
Ae1203 - 2011
44
3. Unit vectors: functions of position (angle )
4. Dependence of unit vectors on angle.
Ae1203 - 2011
45
Unit vectors:
Ae1203 - 2011
46
Position vector:
Dependencies
Coordinates of the line path as a function of time:
Radial unit vector as a function of position:
Explicit dependencies for the position vector:
Ae1203 - 2011
47
Position vector:
Velocity vector:
(Chain rule)
Recall that
Ae1203 - 2011
48
Velocity vector:
Acceleration vector:
(Chain rule)
Recall that:
Ae1203 - 2011
49
Position vector:
Velocity vector:
Ae1203 - 2011
50
Radial and circumferential components:
Ae1203 - 2011
51
Radial and circumferential components: velocity
Components:
Radial velocity:
Circumferential velocity:
Magnitude:
Ae1203 - 2011
52
Radial and circumferential components: acceleration
Components:
Radial acc.:
Circumferential acc.:
Magnitude:
Ae1203 - 2011
53
How to use the expressions in Polar coordinates?
Example 1: Given for a particle P at some instant t:
Acceleration in Cartesian
coordinates:
Find at same instant t:
Ae1203 - 2011
54
Example 1: Magnitude of velocity: use polar components of v
Given acceleration in Cartesian coordinates:
Cartesian unit vector in terms of Polar

unit vectors:
Given acceleration in Polar coordinates:
Ae1203 - 2011
55
Example 1: For and : use polar components of a
Therefore
Ae1203 - 2011
56
When to use the expressions in Polar coordinates?
1. Required by the problem.
2. Typically for circular motion:
Simplified equations.
Constant radius:
Therefore
Ae1203 - 2011
57
Planar motion expressed using path vectors
1. Path: parametrization in terms of arc length s
2. Location of points as a function of arc length:
It determines the location when the shape of the path is

known in advance (e.g., constrained motion)
3. Path unit vectors depend on the shape of the path
Ae1203 - 2011
58
3. Path unit vectors: normal and tangential unit vectors
It can be shown that the unit vectors are
Tangential Normal Radius of curvature:
Ae1203 - 2011
59
3. Path unit vectors: normal and tangential unit vectors
Geometrical interpretation of unit vectors:
Circle of radius : tangent to path at every point
Normal vector pointing towards center of circle
Ae1203 - 2011
60
4. Arc length as a function of time:
5. Position vector as a function of time:
The function measures the value of the arc

length as a function of time
Ae1203 - 2011
61
6. Velocity
Position vector:
Velocity vector:
(Chain rule)
(since )
Ae1203 - 2011
62
7. Acceleration
Velocity vector:
(Chain rule)
(since )
(since )
Tangential Normal
Ae1203 - 2011
63
8. Graphical representation of velocity
Velocity vector:
Magnitude: absolute value of
Remark: the velocity vector is

always tangent to the path
Ae1203 - 2011
64
9. Graphical representation of acceleration
Components:
Magnitude:
Remark: components of the acceleration:
The tangential component measures the

change in magnitude of the velocity
The normal component measures the change

in orientation of the velocity vector.
Ae1203 - 2011
65
When to use the expressions using path vectors?
1. If required by the problem.
2. Typically for problems where the path is known in advance.
Particle constrained to move along a predetermined path
Examples:
Particle moving downhill
Car (particle) moving in a freeway, etc.
Ae1203 - 2011
66
Planar motion: relative velocity and acceleration
A concept introduced in the textbook is the so-called

relative velocity and acceleration of two particles.
To study relative velocity, we actually need two frames of

reference.
Since a frame of reference is a rigid body (i.e., not a single

particle), we will postpone the analysis of relative motion until
the third part of the course.
To solve problems in the first part of the course (particles), we

introduce simple definitions of relative velocity and relative
motion.
A brief geometrical explanation will be given to justify the term

relative
Ae1203 - 2011
67
Consider two particles, A and B, with velocities and and
accelerations and with respect to a common frame of
reference.
Define the relative velocity of

A with respect to B as follows:
Define the relative acceleration

of A with respect to B as follows:
Ae1203 - 2011
68
Interpretation of the term relative:
Suppose that particle B is attached to a rigid body 2 that,
with respect to the frame 1, moves along a straight line.
Suppose that the acceleration of B is constant.
Under these assumptions,

the vector can be
interpreted as the velocity of
particle A measured with
respect to frame 2.
This interpretation is only

valid if the rigid body 2
satisfies the assumptions
listed above. If body 2
rotates w.r.t. 1, then the
interpretation is not valid.
Ae1203 - 2011
69
Interpretation of the term relative for velocities
(similar interpretation for accelerations)
Path w.r.t. frame 1 Path w.r.t. frame 2
Frame: 1 Frame: 2
Rigid body 2 moves Rigid body 1 moves

w.r.t. frame 1 w.r.t. frame 2
Velocity of particle A with Velocity of particle A with
respect to frame 1: respect to frame 2:
Ae1203 - 2011
70
Remark 1: often the paths corresponding to two different

frames of reference are sketched in the same diagram as
shown below.
This can sometimes lead to confusion since the particle
actually occupies the same locations in space.
A better approach is to sketch the paths separately, one per
frame of reference.
Ae1203 - 2011
71
Remark 2: recall that the definitions of the relative velocity

and acceleration of A w.r.t B are
Consequently,
hence, the order of the letters is important.
Ae1203 - 2011
72
Example:
A wheel of radius R = 9 m spins about O at a constant rate
rev/min.
An auto A (modeled as a particle) moves w.r.t. ground with
For the instant when

the line OB forms an
angle rd
with the horizontal,
determine
(Particle B is attached to the wheel)
Ae1203 - 2011
73
Example:
Solution: first observe that
Since the velocity and the acceleration of A are known, then

we only need to find the velocity and acceleration of B at the
given instant.
Choice of coordinate systems:
Particle A: Cartesian
Particle B: Polar
To combine these results,

a conversion from Polar
to Cartesian will be
necessary.
Ae1203 - 2011
74
Example:
Particle B: Polar coordinates: circular motion
Since the particle B is attached

to the wheel, the time rate of
change in angle is
Negative sign: wheel turns in

clockwise direction.
Further, since is constant,
then
Zero circumferential acceleration.
Ae1203 - 2011
75
Example:
Particle B: Polar coordinates: circular motion
Express polar unit vectors in

terms of Cartesian unit vectors:
Evaluate for
Ae1203 - 2011
76
Example:
To compute the solution, choose a common system of

units: (rd, m and s) and perform the required
conversions:
Ae1203 - 2011
77
Example:
Substitute values in equations:
Ae1203 - 2011

Kinematics of Particles

Hochgeladen von

Dokumentinformationen

Originaltitel

Copyright

Verfügbare Formate

Dieses Dokument teilen

Dokument teilen oder einbetten

Freigabeoptionen

Stufen Sie dieses Dokument als nützlich ein?

Sind diese Inhalte unangemessen?

Copyright:

Verfügbare Formate

Kinematics of Particles

Hochgeladen von

Copyright:

Verfügbare Formate

1

To describe motion of an object we need a way to

1. The location of the object

2. The time at which that object is at a given location

The location of an object is always measured with respect

The motion of any object is always relative to a frame of

Material point: element of negligible dimensions

Cartesian unit vectors

Cartesian components of a vector:

Particle P: at point A at time t+t

Particle P: at point A at time t+t

Case 2: velocity is taken as the independent variable

Case 3: position is taken as the independent variable

Case 1: Usual formulation:

Use this approach if the acceleration is given as a

In addition, suppose that the initial velocity and the initial

To find the velocity:

To find the position:

Case 1: Example: the acceleration of a rocket is given as

Case 1: Example: acceleration that varies linearly with time:

Case 1: Example: acceleration that varies linearly with time:

Case 2: velocity is taken as the independent variable

Use this approach if the acceleration is given as a

In addition, suppose that the initial velocity and the initial

To find the position:

To find the time:

Its initial velocity is v0 and its initial

Find the vehicles acceleration,

Case 2: Example: As a function of velocity:

Relations can be inverted (i.e., solve as a function of time):

Case 3: position is taken as the independent variable

Use this approach if the acceleration is given as a

In addition, suppose that the initial velocity and the initial

To find the velocity:

To find the time:

Particle P is at point A at time t

Particle P is at point A at time t + t

Instantaneous velocity of P at time t

Instantaneous acceleration of P at time t

1. The position, velocity and acceleration vectors depend

We will not use the concept of a moving coordinate system (instead,

Integration methods for one-dimensional motion:

Given initial position and velocity, find

and substitute in second:

Radial unit vector as a function of position:

Explicit dependencies for the position vector:

Example 1: Given for a particle P at some instant t:

Find at same instant t:

Given acceleration in Cartesian coordinates:

Cartesian unit vector in terms of Polar

Given acceleration in Polar coordinates:

It determines the location when the shape of the path is

Tangential Normal Radius of curvature:

The function measures the value of the arc

Magnitude: absolute value of

Remark: the velocity vector is

Remark: components of the acceleration:

The tangential component measures the

The normal component measures the change

Car (particle) moving in a freeway, etc.

A concept introduced in the textbook is the so-called

To study relative velocity, we actually need two frames of

Since a frame of reference is a rigid body (i.e., not a single