DYN-03 Kinematics of A Particle WK 1 2016 - Color

ENGINEERING
MECHANICS –
DYNAMICS
2016 - 1
Engr. Mech. for ISE - 03
2016 - 2
Dynamics
Engr. Mech. for ISE - 03 2016 - 3

2016 - 4
2016 - 5
2016 - 6
Learning Objectives - Dynamics
I. Particle Kinematics
A. Rectilinear Motion
– Continuous Motion
– Erratic Motion
B. Curvilinear Motion
1. Cartesian Coordinates
2. Projectile Motion
3. Normal and Tangential Components
4. Cylindrical Coordinates
C. Relative Motion
II. Particle Kinetics
A. Plane Motion
B. Impulse and Momentum
C. Work and Energy
III. Planar Kinematics of a Rigid Body
IV. Planar Kinetics of a Rigid Body – Force and Acceleration
V. Planar Kinetics of a Rigid Body – Work and Energy
VI. Planar Kinetics of a Rigid Body – Impulse and Momentum
Learning Objectives –
Models of Dynamic Systems
I. Lumped Parameter Models
A. Spring-Mass-Damper
– Equations of Motion
– Solution of the ODE
B. Dynamic System Analogs
1. Electrical Systems
2. Fluids (Hydraulic/Pneumatic) Systems
II. General Non-linear Models
2016 - 8
Learning Objectives - Vibrations
I. Vibrations
A. Free undamped motion of 1 DOF
systems
B. Damped free motion of 1 DOF
systems
C. Forced motion of 1 DOF systems
II. Two DOF systems
2016 - 9
Learning Objectives - Robotics
I. Robot Kinematics
A. Forward Kinematics
– Denavit-Hartenberg Formulation
B. Inverse Kinematics
– Singularities
II. Robot Kinetics

– Jacobian
2016 - 10
Dynamics

Common Nomenclature
t = time t [=] s
s, r = position s, r [=] m
v = velocity v [=] m/s
a = acceleration a
m
an = normal acceleration an [=]
s2
at = tangential acceleration at
q = angle q [=] rad
w = angular velocity w [=] rad/s
rad
a = angular acceleration a [=] s2

Common Nomenclature
W = angular velocity of the x, y, z reference system

Wሶ = angular acceleration of the reference system
rA/B = relative position of “A” with respect to “B”

vA/B = relative velocity of “A” wrt “B”
aA/B = relative acceleration of “A” wrt “B”
Today’s Learning Objectives
1. Fundamental Kinematics Concepts
A. Position
Particle Kinematics
B. Displacement
C. Velocity
D. Acceleration
2. Rectilinear Particle Motion
A. Continuous Motion
B. Erratic Motion
3. Curvilinear Particle Motion
A. Cartesian Coordinates
B. Projectile Motion
C. Path Coordinates (Normal and Tangential Components)
D. Cylindrical Coordinates (Polar Coordinates) 2016 - 14
Kinematics
Kinematics =df. That subject area of
mechanics concerned with the study of the
motion of particles and rigid bodies without
consideration of what caused the motion.
Kinematics is about position, displacement,

velocity, and acceleration;
not forces.
2016 - 15
Kinematic quantities are vectors

• Position, r

 dr
• Velocity, v 
dt
  2
 dv d  dr  d r
• Acceleration, a     2
dt dt  dt  dt
2016 - 16
Kinematics of a Particle
Differentiation of a vector with respect to
(wrt) time.
A) Rectilinear Motion
B) Rectangular Coordinates
C) Path Variables
D) Cylindrical Coordinates
2016 - 17
Particle
A particle has a mass but negligible size and shape.
We will limit application to those objects that have
dimensions that are of no consequence in the
analysis of the motion.
In most problems, we will be interested in bodies of
finite size, such as rockets, projectiles, or vehicles.
Each of these objects can be considered as a particle,
as long as the motion is characterized by the motion
of its mass center and any rotation of the body is
neglected.
2016 - 18
Rectilinear Kinematics
Direction is given by +/-

s (positive or negative
from the Origin.)
Ds = s′ – s
2016 - 19
∆𝑠
Average Velocity 𝑣𝑎𝑣𝑔 =
∆𝑡
Instantaneous 𝑑𝑠
Ds = s′ – s
𝑣=
Velocity 𝑑𝑡
2016 - 20
∆𝑠
Average Velocity 𝑣𝑎𝑣𝑔 =
∆𝑡
Instantaneous 𝑑𝑠
𝑣=
Velocity 𝑑𝑡
Ds = s′
–s
Average Speed
𝑠𝑇 ∆𝑠 + 2𝑠′ s'
𝑣𝑠𝑝(𝑎𝑣𝑔) = =
∆𝑡 ∆𝑡
sT = total distance along the path
2016 - 21
∆𝑣
Average Acceleration 𝑎𝑎𝑣𝑔 = ∆𝑡
𝑑𝑠
𝑣=
𝑑𝑡
Instantaneous 𝑑𝑣
𝑎=
𝑑 𝑑𝑠 𝑑2 𝑠
= 2
𝑎=
Acceleration 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑠 𝑑𝑣
𝑣= 𝑎=
𝑑𝑡 𝑑𝑡
𝑑𝑠 𝑑𝑣 𝑑𝑠 𝑑𝑣
𝑑𝑡 = 𝑑𝑡 = = a ds = v dv
𝑣 𝑎 𝑣 𝑎
2016 - 22
– Constant Acceleration 𝑎 = 𝑎𝑐
𝑑𝑣
Velocity as a Function of Time 𝑎𝑐 = v = v0 when t = 0
𝑑𝑣 = 𝑎𝑐 𝑑𝑡 𝑑𝑡
𝑣 𝑡
න 𝑑𝑣 = 𝑎𝑐 න 𝑑𝑡 v – v0 = ac(t – 0) v = v0 + act
𝑣0 0
𝑑𝑠
Position as a Function of Time 𝑣= s = s0 when t = 0
𝑠 𝑡 𝑡
𝑑𝑡
1
න 𝑑𝑠 = න 𝑣𝑑𝑡 = න v0 + act 𝑑𝑡 = 𝑣𝑜 𝑡 + 𝑎𝑐 𝑡 2
𝑠0 0 0 2
1
𝑠 − 𝑠0 = 𝑣𝑜 𝑡 + 𝑎𝑐 𝑡 2
2
1
𝑠 = 𝑠0 + 𝑣𝑜 𝑡 + 𝑎𝑐 𝑡 2
Engr. Mech. for ISE - 03 2 2016 - 23
– Constant Acceleration 𝑎 = 𝑎𝑐
Velocity as a Function of Position v dv = ac ds v = v0 when s = s0

𝑣 𝑠
න 𝑣𝑑𝑣 = 𝑎𝑐 න 𝑑𝑠
𝑣0 𝑠0
1 2 𝑣=𝑣 𝑠=𝑠
𝑣 ቤ 𝑣 = 𝑣 = 𝑎𝑐 𝑠ቚ 𝑠 = 𝑠
2 0 0
1 2
(v - v02 ) = ac(s – s0)
2
v2 - v02 = 2ac(s – s0)
v2 = v02 +2ac(s – s0)

2016 - 24
These equations apply
only when the
acceleration is constant
and the initial conditions
are:
s = s0 and v = v0
when t = 0.
2016 - 25
Example
m/s,
2016 - 26
m/s,
Given: 𝑣 = 3𝑡 2 + 2𝑡
when t = 0 :
s0 = 0
Find: s at t = 3 s.
a at t = 3 s.
Approach: 𝑣=𝑓 𝑡 ∴𝑎=𝑓 𝑡

This is rectilinear motion.
Acceleration is a function of time, therefore, it is not
constant acceleration. We must use the general equations for
the kinematic quantities.
𝑑𝑠
First solve for s by integrating 𝑣 =
𝑑𝑡 𝑑𝑣
Then solve for a by taking the derivative 𝑎 =
𝑑𝑡
2016 - 27
𝑣 = 3𝑡 2 + 2𝑡
Solution: m/s,
𝑑𝑠
𝑣= s at t = 3 s.
𝑑𝑡
Find s: 𝑠 = 𝑣𝑑𝑡
𝑠 𝑡
න 𝑑𝑠 = න 𝑣𝑑𝑡
𝑠0 𝑡0
𝑠 3
න 𝑑𝑠 = න 3𝑡 2 + 2𝑡 𝑑𝑡
0 0
𝑠 3
𝑠ȁ = 𝑡 3 + 𝑡 2 ቤ
0 0
(s – 0)= (33 + 32) – 0

s = 36 m
Solution 𝑣 = 3𝑡 2 + 2𝑡 m/s,
Find a: a at t = 3 s.
𝑑𝑣
𝑎=
𝑑𝑡
𝑑 3𝑡 2 + 2𝑡
𝑎=
𝑑𝑡
a = 6t + 2
a at t = 3 s.
m
a = 6(3) + 2 = 20 2
s

s = 𝑡3 + 𝑡2 m
Exercise
𝑣 = 3𝑡 2 + 2𝑡 m/s
m
a = 6t + 2
s2
How fast is the car going after 3 seconds?

Give the answer in km/h.
Take 3 minutes
2016 - 30
Exercise s = 𝑡3 + 𝑡2 m
𝑣 = 3𝑡 2 + 2𝑡 m/s
m
a = 6t + 2
s2
How fast is the car going after 3 seconds in km/h?

Find velocity in m/s t=3s
𝑣 = 3 32 + 2 3 = 33 m/s
Convert to km/h
𝑚 𝑘𝑚 60 𝑠 60 𝑚𝑖𝑛
33 = 120 km/h
𝑠 1000 𝑚 𝑚𝑖𝑛 ℎ
Conversion factor: 1 m/s = 3.6 km/h
Reality check: Is there an existing “commercial” car that can do this?
Common automobile manufacturer data is for a0 = 0.
Our data is for a0 = 7.2 km/h. Engineering approximation, let a0 = 0.
2016 - 31
What “commercial” cars can do this?

How do we determine the time for this
vehicle to reach 97 km/h?
s = 𝑡3 + 𝑡2 m when t = 0 :
𝑣 = 3𝑡 2 + 2𝑡 m/s s0 = 0, v0 = 0, a0 = 0
𝑘𝑚 1000 𝑚 1ℎ
97 = 27 m/s
ℎ 𝑘𝑚 3600 𝑠
27 = 3𝑡 2 + 2𝑡 0 = 3𝑡 2 + 2𝑡 − 27
−𝑏 ± 𝑏 2 − 4𝑎𝑐 −2± 22 −4 3 −27
𝑡= =
2𝑎 2 3
t = – 3.35, 2.69 s
2016 - 33
t = 2.69 s

t = 2.69 s
USD
Porsche 911 Turbo S
$188,100
A. Position
Particle Kinematics
B. Displacement
C. Velocity
D. Acceleration
B. Erratic Motion
Erratic Motion
Erratic motion can be analyzed using graphs.
Graphs of the kinematic quantities versus (as a

“function” of) time: s-t, v-t, and a-t graphs can be
used. For example, digitizing the
position of an object in a video
recording, or using data collected by
an accelerometer.
Graphs versus (as a “function” of)

position: v-s, and a-s graphs can also
be used: motion capture (Mo-Cap).
2016 - 37
Erratic Motion – Kinematic Graphs
Graphs versus (as a function of) time: s-t, v-t, and
𝑠
a-t Graphs
𝑡
න 𝑑𝑠 = න 𝑣 𝑑𝑡
s-t, Position v. Time 𝑠0 0
𝑑𝑠 𝑣 𝑡
v-t, Velocity v. Time 𝑣=
𝑑𝑡 න 𝑑𝑣 = න 𝑎 𝑑𝑡
𝑣0 0
𝑑𝑣
a-t, Acceleration v. Time 𝑎=
𝑑𝑡
j-t, Jerk v. Time 𝑗=
𝑑𝑎
𝑑𝑡
Graphs versus (as a function of) position: v-s, and a-s Graphs
v-s, Velocity v. Position

a-s, Acceleration v. Position a ds = v dv
2016 - 38
Rectilinear Kinematics: Erratic Motion
s-t, v-t, and a-t Graphs
Position v. Time, s-t, Graph
(m)
(s)
2016 - 39
𝑑𝑠
𝑣=
𝑑𝑡
The slope of the s-t graph for each

time is the velocity
Velocity v. Time, v-t, Graph

𝑑𝑣0
𝑎0 =
𝑑𝑣 𝑑𝑡
𝑎= 𝑑𝑣1
𝑑𝑡 𝑎1 =
𝑑𝑡
𝑑𝑣2
The slope of the v-t graph for each 𝑎2 =
𝑑𝑡
time is the acceleration
a
Acceleration v. Time, a-t, Graph

Dv = v1 – v0

Ds = s1 – s0

Rectilinear Kinematics: Erratic Motion
Position: v-s and a-s Graphs
v
Velocity v. Position, v-s, Graph
(m/s)
s
(m)
2016 - 44
Acceleration v. Position,
a-s, Graph
v dv= a ds
𝑣1 𝑠1
න 𝑣𝑑𝑣 = න 𝑎 𝑑𝑠
𝑣0 𝑠0
1
(v12 - v0 2 ) =
2
Given v0 and
using the graph,
v1 can be
determined.

Velocity v. Position,
v-s, Graph
a ds = v dv
𝑑𝑣
a=v
ds

Example
The scooter starts from rest and
travels along a straight track such
that it accelerates at 10 m/s2 for
10 s, and then decelerates at
2 m/s2. Draw the v-t and s-t
graphs and determine the time t′
when the scooter stops. How far
has the scooter traveled?
2016 - 47
Given: s0 = 0, v0 = 0
a1 = 10 m/s2 for 10 s
a2 = – 2 m/s2
Find: (1) the v-t graph

(2) the s-t graph
(3) find the time, t′, when the
scooter stops
(4) find the distance, Ds, the 𝑣 𝑡
scooter travels න 𝑑𝑣 = 𝑎𝑐 න 𝑑𝑡
0 𝑡
Approach: constant acceleration followed by constant deceleration

(1) the v-t graph 𝑠 𝑡
(2) the s-t graph න 𝑑𝑠 = න 𝑣𝑑𝑡

0 𝑡
(3) find t′ from the v-t graph
(4) Ds, the scooter travels from the s-t graph
2016 - 48
Solution: The v-t graph
𝑣 𝑡 Notice that this is in
the form of an
න 𝑑𝑣 = 𝑎𝑐 න 𝑑𝑡 equation of a straight
0 𝑡
line (y = mx +b) of
slope m = ac.
m
0 < t < 10 s 𝑎𝑐1 = 10 2
s
𝑣
m 𝑡
න 𝑑𝑣 = 10 2 න 𝑑𝑡 m m
0 s 0 𝑣10 = 10 2 10 s = 100
s s
𝑣 = 10 𝑡
m This is also in the form of an equation
10 < t < t′ s 𝑎𝑐2 = −2 2 of a straight line (y = mx +b) of slope
s m = -2 m/s2 and b = 120
𝑣𝑡
m 𝑡 m m
න 𝑑𝑣 = −2 2 න 𝑑𝑡 𝑣𝑡 − 100 s = −2 2 𝑡 − 10 s
100
𝑚 s 10 s
𝑠
𝑣 = −2𝑡 + 120
Engr. Mech. for ISE - 03 2016 - 49 𝑣𝑡′ = 0 𝑡 ′ = 60 s
a (m/s2)
The a-t graph
𝑡 ′ = 60 s
An equation of a straight line

(v = 10t +0).
b = 0, v(10) = 100 m/s
The v-t graph
b = 120, v(60) = 0 m/s
Find: (3) find the time, t′, when the scooter stops is 𝑡 ′ = 60 s
2016 - 50
a (m/s2)
The s-t graph The a-t graph

𝑠 𝑡
න 𝑑𝑠 = න 𝑣 𝑑𝑡
𝑠0 0 The v-t graph
Integrating the velocity equations will give the
s-t equations.
0 < t < 10 s
𝑠 10
10𝑡 2
න 𝑑𝑠 = න (10𝑡) 𝑑𝑡 𝑠= = 5𝑡 2 @ t = 10 s, s = 500 m
0 0 2
10 < t < t′ s 𝑣 = −2𝑡 + 120
𝑠 𝑡 −2(𝑡)2 𝑡
න 𝑑𝑠 = න (−2𝑡 + 120) 𝑑𝑡 𝑠 − 500 = + 120𝑡 ቮ
2
500 10 1100 10
𝑠 − 500 = −𝑡 2 + 120𝑡 − −102 + 120 10
𝑠 = −𝑡 2 + 120𝑡 − 600 @ t = 60 s, s = 3000 m
2016 - 51
The s-t graph
0 < t < 10 s s(t’) = 3000 m

𝑠 = 5𝑡 2
10 < t < t′ s
𝑠 = −𝑡 2 + 120𝑡 − 600
t (s)
𝑡 ′ = 60 s
2016 - 52
a (m/s2)
The a-t graph
0 < t < 10 s
m
𝑎𝑐 = 10
s2
The v-t graph
𝑣 = 10𝑡
𝑠 = 5𝑡 2
𝑡 ′ = 60 s
10 < t < t′ s The s-t graph

m
𝑎𝑐 = −2 2
s
𝑣 = −2𝑡 + 120 s(t’) = 3000 m
𝑠 = −𝑡 2 + 120𝑡 − 600
Note: the time it takes to stop the scooter is (60-10)s = 50 s.

the distance it takes to stop the scooter is (3000-500) m = 2500 m
2016 - 53
A. Position
Particle Kinematics
B. Displacement
C. Velocity
D. Acceleration
B. Erratic Motion
General Curvilinear Motion
z
Path
Ds
Position

r t  Dr 
r t  Dt  y
O Position
x Displacement
2016 - 56
  z
 dr  Dr 
v  lim  
dt Dt 0  Dt  Ds
 
r t  Dr y
 Dr Ds 
 lim   x 
r t  Dt 
Dt 0  Ds Dt 
As D t approaches zero,

Dr is the unit vector and  Ds  ds
tangent to the path lim   
Ds  Dt 0  Dt  dt
at position r(t),  t

 dr ds 
v   t
dt dt
2016 - 57
Summary of Equations – General 3-D Motion
 ds 
v  t
dt

 dv d  ds  
a   t 
dt dt  dt 
2016 - 58
z
B) Rectangular Coordinates 
r t 
Position:
iˆiˆ k̂k̂ y
x

r t   xt  iˆ  y t  ˆj  z t kˆ ĵ ĵ
Velocity: 
 dr xt  ˆ y t  ˆ z t  ˆ
v (t )   i j k
dt dt dt dt
 x t iˆ  y t  ˆj  z t kˆ
2016 - 59
Rectangular Coordinates (cont.)
Acceleration:
 2
 d v (t ) d r
a (t )   2
dt dt
 xt iˆ  yt  ˆj  zt kˆ
2016 - 60
Therefore, when the

acceleration function is known,
integrating once gives velocity
and integrating velocity gives
position.

Given: a (t )  
xt  ˆ
i  
yt  ˆ
j  
zt kˆ
v x (t )   xt dt  C1
where C1 is the constant of integration.
2016 - 61
v x (t )   xt dt  C1
Then position can be found:
 
x(t )    xt dt  C1 dt  C2
   xt dt  dt  C t  C
1 2
where C2 is the second constant of

integration.
2016 - 62
Rectangular Coordinates (cont.) z

The same procedure can be r t 
followed for the remaining y

x
two coordinate directions:
v y (t )   yt dt  C3 and y (t )    yt dt dt  C t  C
3 4
and
v z (t )   zt dt  C5 and z (t ) 
  zt dt dt  C t  C
5 6
where C3, C4, C5 , and C6 are constants of

integration.
2016 - 63
Summary of Equations – Rectangular Coordinates

r t   xt  iˆ  y t  ˆj  z t kˆ

 dr xt  ˆ y t  ˆ z t  ˆ
v (t )   i j k
dt dt dt dt
 d xt  ˆ d y t  ˆ d z t  ˆ
2 2 2
a (t )  2
i 2
j 2
k
dt dt dt
2016 - 64
Example
For a short time, the path of the plane
is described by y = (0.00lx2) m. If the
plane is rising with a constant velocity
of 10 m/s, determine the magnitudes of
the velocity and acceleration of the
plane when it is at y = 100 m.
Given: y(x) = (0.00l x2) m

vy = 10 m/s, therefore, ay = 0
Find: vP and aP
at y = 100 m.
Approach:
Find t at y = 100 m
Find x at y = 100 m
Use chain rule to find y(t) and take
first and second derivatives.
2016 - 65
Solution vy = 10 m/s
At y = 100 m y(x) = (0.00l x2) m

100  0.001x 2 316.2 m
100
x  316.2 m
0.001 vy = 10 m/s
dy dy 100 m
vy  dt   m
 10 s v x  15.81 ms
dt vy 10 s
dy dy  dx 
vy      10 ms v y  0.002 x v x  10 ms
dt dx  dt 
dx 10 ms 10
 vx vx    15.81 ms
dt 0.002 x 0.002316.2 
dy d
 
0.001x 2  0.002 x 
dx dx v  v x2  v y2  15.82  102  18.7 ms
 10 
q v  tan 
1
  32.3
o
 15.8 
Solution
At y = 100 m
v y  0.002 x v x  10 ms
316.2 m
v y  0.002 x v x
v  18.7 ms
dv y vy = 10 m/s q v  32.3o
ay 
dt v x  15.81 ms
dv y d 0.002 xvx 
ay   What does that mean?
dt dt

Solution
At y = 100 m
v y  0.002 x v x  10 ms
316.2 m
v y  0.002 x v x
v  18.7 ms
vy = 10 m/s q v  32.3o
dv y
ay  Product Rule
dt v x  15.81 ms
d 0.002 xvx  d 0.002 x  dv x ax
  v x  0.002 x 
dt dt dt
0.002 vx
d 0.002 x   dx  dx
  v x  0.002 xa x  dt
 vx
dx  dt 
Chain Rule
a y  0.002v x2  0.002 xa x
Solution vy = 10 m/s
ay = 0 m/s2
a y  0.002v x2  0.002 xa x
At x = 316.2 m
316.2 m
v x  15.81 m
s
vy = 10 m/s Constant v  18.7 ms
vy = 10 m/s q v  32.3o
ay = 0 m/s2
v x  15.81 ms
0  0.00215.81  0.002316.2 a x ax= 0.791 m/s2
2
 15.81
2
m
ax   0.791 2
316.2 s

Exercise
At any instant the horizontal position of the
weather balloon is defined by x = (8t) m,
where t is in seconds. If the equation of the
path is y = x2/10, determine the magnitude and
direction of the velocity when t = 2 s.
5 Minutes
2016 - 70
Exercise
At any instant the horizontal position of the
weather balloon is defined by x = (8t) m,
where t is in seconds. If the equation of the
path is y = x2/10, determine the magnitude and
direction of the velocity when t = 2 s.
Given: x = 8t
y = x2/10
Find: v and qv when t = 2 s m

 dr dx
Approach: v  vx 
dt dt
dy
vy 
dt
Chain Rule dy dy  dx 
  
dt dx  dt 
2016 - 71
Solution Given: x = 8t
y = x2/10
dx Find: v and qv when t = 2 s
vx 
dt
dx d 8t 
  8 ms
dt dt
dy
vy 
dt
dy dy  dx 2  x m
   
dx dx  10  5
v y x  
8x
5
v  v x2  v y2  82  25.62  26.8 ms
816 
v y 16    25.6 ms
 vy 
5
q v  tan 
1   tan 1  25.6   72.6 o
  8 
 vy 
2016 - 72
A. Position
Particle Kinematics
B. Displacement
C. Velocity
D. Acceleration
B. Erratic Motion
Projectile Motion
g = 9.81 m/s2
g = 32.2 ft/s2
2016 - 74
2016 - 76
Example
with a horizontal
y Given: h = 6 m
vA = 12 m/s
A
x Find: tfall and R
Approach: Projectile Motion
Assign a coordinate system
Knowns: g = 9.81 m/s2
vAy = 0 m/s
2016 - 78
1 2
𝑦𝐵 = 𝑦𝐴𝑥 + 𝑣𝐴𝑦 𝑡 − 𝑔𝑡
2
t = 1.11 s.
R = xA + (vAx)(t)
= 0 + (12 m/s)(1.11 s)
= 13.3 m
2016 - 79
2016 - 80

DYN-03 Kinematics of A Particle WK 1 2016 - Color

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ENGINEERING

Engr. Mech. for ISE - 03 2016 - 3

II. General Non-linear Models

II. Robot Kinetics

Engr. Mech. for ISE - 03 2016 - 11

Engr. Mech. for ISE - 03 2016 - 12

W = angular velocity of the x, y, z reference system

rA/B = relative position of “A” with respect to “B”

Kinematics is about position, displacement,

Direction is given by +/-

Velocity as a Function of Position v dv = ac ds v = v0 when s = s0

v2 - v02 = 2ac(s – s0)

v2 = v02 +2ac(s – s0)

Approach: 𝑣=𝑓 𝑡 ∴𝑎=𝑓 𝑡

(s – 0)= (33 + 32) – 0

Engr. Mech. for ISE - 03 2016 - 29

How fast is the car going after 3 seconds?

How fast is the car going after 3 seconds in km/h?

Engr. Mech. for ISE - 03 2016 - 32

Engr. Mech. for ISE - 03 2016 - 34

Porsche 911 Turbo S

Graphs of the kinematic quantities versus (as a

Graphs versus (as a “function” of)

v-s, Velocity v. Position

The slope of the s-t graph for each

Velocity v. Time, v-t, Graph

Engr. Mech. for ISE - 03 2016 - 40

Engr. Mech. for ISE - 03 2016 - 41

Engr. Mech. for ISE - 03 2016 - 42

Engr. Mech. for ISE - 03 2016 - 43

Engr. Mech. for ISE - 03 2016 - 45

Engr. Mech. for ISE - 03 2016 - 46

Find: (1) the v-t graph

Approach: constant acceleration followed by constant deceleration

(2) the s-t graph න 𝑑𝑠 = න 𝑣𝑑𝑡

An equation of a straight line

b = 120, v(60) = 0 m/s

The s-t graph The a-t graph

0 < t < 10 s s(t’) = 3000 m

10 < t < t′ s The s-t graph

Note: the time it takes to stop the scooter is (60-10)s = 50 s.

Therefore, when the

where C1 is the constant of integration.

Then position can be found:

where C2 is the second constant of

followed for the remaining y

where C3, C4, C5 , and C6 are constants of

Given: y(x) = (0.00l x2) m

At y = 100 m y(x) = (0.00l x2) m

Engr. Mech. for ISE - 03 2016 - 67

Engr. Mech. for ISE - 03 2016 - 69

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