Beruflich Dokumente
Kultur Dokumente
11 - 3
Rectilinear Motion: Position, Velocity & Acceleration
• Particle moving along a straight line is said
to be in rectilinear motion.
• Position coordinate of a particle is defined by
positive or negative distance of particle from
a fixed origin on the line.
• The motion of a particle is known if the
position coordinate for particle is known for
every value of time t. Motion of the particle
may be expressed in the form of a function,
e.g.,
x 6t 2 t 3
or in the form of a graph x vs. t.
11 - 4
Rectilinear Motion: Position, Velocity & Acceleration
• Consider particle which occupies position P
at time t and P’ at t+Dt,
Dx
Average velocity
Dt
Dx
Instantaneous velocity v lim
Dt 0 Dt
• at t = 0, x = 0, v = 0, a = 12 m/s2
• at t = 2 s, x = 16 m, v = vmax = 12 m/s, a = 0
11 - 8
Determination of the Motion of a Particle
• Acceleration given as a function of time, a = f(t):
v t t t
dv
a f t dv f t dt dv f t dt vt v0 f t dt
dt v 0 0
0
x t t t
dx
vt dx vt dt dx vt dt xt x0 vt dt
dt x0 0 0
dx dx dv dv
v or dt a or a v f x
dt v dt dx
v x x x
v dv f x dx v dv f x dx 1 v x 2
2
12 v02 f x dx
v0 x0 x0
11 - 9
Determination of the Motion of a Particle
• Acceleration given as a function of velocity, a = f(v):
v t t
dv dv dv
a f v dt f v dt
dt f v v0 0
v t
dv
f v t
v0
x t v t
dv v dv v dv
v a f v dx dx f v
dx f v x0 v0
v t
v dv
xt x0 f v
v0
11 - 10
Sample Problem 11.2
SOLUTION:
• Integrate twice to find v(t) and y(t).
m m
vt 10 9.81 2 t
s s
dy
v 10 9.81t
dt
y t t
dy 10 9.81t dt y t y0 10t 12 9.81t 2
y0 0
m m
yt 20 m 10 t 4.905 2 t 2
s s
11 - 12
Sample Problem 11.2
• Solve for t at which velocity equals zero and evaluate
corresponding altitude.
m m
vt 10 9.81 2 t 0
s s
t 1.019 s
m m
y t 20 m 10 t 4.905 2 t 2
s s
m m
y 20 m 10 1.019 s 4.905 2 1.019 s 2
s s
y 25.1 m
11 - 13
Sample Problem 11.2
• Solve for t at which altitude equals zero and
evaluate corresponding velocity.
m m
yt 20 m 10 t 4.905 2 t 2 0
s s
t 1.243 s meaningles s
t 3.28 s
m m
vt 10 9.81 2 t
s s
m m
v3.28 s 10 9.81 2 3.28 s
s s
m
v 22.2
s
11 - 14
Sample Problem 11.3
SOLUTION:
11 - 15
Sample Problem 11.3
SOLUTION:
• Integrate a = dv/dt = -kv to find v(t).
v t
dv dv t
vt
a kv k dt ln kt
dt v v 0 v0
0
vt v0 e kt
v
xt 0 1 e kt
k
11 - 16
Sample Problem 11.3
• Integrate a = v dv/dx = -kv to find v(x).
v x
dv
a v kv dv k dx dv k dx
dx v0 0
v v0 kx
v v0 kx
• Alternatively,
with
v
xt 0 1 e kt
k
vt
and vt v0 e kt or e kt
v0
v vt
then xt 0 1
k v0
v v0 kx
11 - 17
Uniform Rectilinear Motion
For particle in uniform rectilinear motion, the acceleration is zero and
the velocity is constant.
dx
v constant
dt
x t
dx v dt
x0 0
x x0 vt
x x0 vt
11 - 18
Uniformly Accelerated Rectilinear Motion
For particle in uniformly accelerated rectilinear motion, the acceleration of
the particle is constant.
v t
dv
a constant dv a dt v v0 at
dt v0 0
v v0 at
x t
dx
dt
v0 at dx v0 at dt x x0 v0t 12 at 2
x0 0
x x0 v0t 12 at 2
v 2 v02 ax x0
v x
dv
v a constant v dv a dx 1
2
dx v0 x0
v 2 v02 2a x x0
11 - 19
Motion of Several Particles: Relative Motion
• For particles moving along the same line, time
should be recorded from the same starting
instant and displacements should be measured
from the same origin in the same direction.
xB x B x A relative position of B
A
with respect to A
xB x A xB A
vB v B v A relative velocity of B
A
with respect to A
vB v A vB A
aB a B a A relative acceleration of B
A
with respect to A
aB a A aB A
11 - 20
Sample Problem 11.4
SOLUTION:
• Substitute initial position and velocity
and constant acceleration of ball into
general equations for uniformly
accelerated rectilinear motion.
yB E
12 18t 4.905t 2 5 2t 0
t 0.39 s meaningles s
t 3.65 s
v B E 18 9.81t 2
16 9.813.65
m
v B E 19.81
s
11 - 23
Motion of Several Particles: Dependent Motion
• Position of a particle may depend on position of one
or more other particles.
• Position of block B depends on position of block A.
Since rope is of constant length, it follows that sum of
lengths of segments must be constant.
x A 2 x B constant (one degree of freedom)
• Positions of three blocks are dependent.
2 x A 2 x B xC constant (two degrees of freedom)
v 2A v A 02 2a A x A x A 0
2
in. in.
12 2a A 8 in. aA 9
s s2
v A v A 0 a At
in. in.
12 9 2t t 1.333 s
s s
11 - 26
Sample Problem 11.5
• Pulley D has uniform rectilinear motion. Calculate
change of position at time t.
x D x D 0 v D t
in.
x D x D 0 3 1.333 s 4 in.
s
• Block B motion is dependent on motions of collar
A and pulley D. Write motion relationship and
solve for change of block B position at time t.
Total length of cable remains constant,
x A 2 x D x B x A 0 2 x D 0 x B 0
x A x A 0 2xD xD 0 xB xB 0 0
8 in. 24 in. x B x B 0 0
x B x B 0 16 in.
11 - 27
Sample Problem 11.5
• Differentiate motion relation twice to develop
equations for velocity and acceleration of block B.
x A 2 x D x B constant
v A 2v D v B 0
a A 2a D a B 0
in. in.
a B 9 2
9 2 vB 0
s s
11 - 28
Graphical Solution of Rectilinear-Motion Problems
11 - 29
Graphical Solution of Rectilinear-Motion
Problems
11 - 30
Other Graphical Methods
• Moment-area method to determine particle position at
time t directly from the a-t curve:
x1 x0 area under v t curve
v1
v0t1 t1 t dv
v0
using dv = a dt ,
v1
x1 x0 v0t1 t1 t a dt
v0
v1
t1 t a dt first moment of area under a-t curve
v0 with respect to t = t1 line.
11 - 31
Other Graphical Methods
• Method to determine particle acceleration
from v-x curve:
dv
av
dx
AB tan
BC subnormal to v-x curve
11 - 32
Curvilinear Motion: Position, Velocity & Acceleration
• Particle moving along a curve other than a straight line
is in curvilinear motion.
11 - 34
Derivatives of Vector Functions
• Let Pu be a vector function of scalar variable u,
dP DP Pu Du Pu
lim lim
du Du 0 Du Du 0 Du
• Derivative of vector sum,
d P Q dP dQ
du du du
• Derivative of product of scalar and vector functions,
d f P df dP
P f
du du du
• Derivative of scalar product and vector product,
d P Q dP dQ
Q P
du du du
d P Q dP dQ
Q P
du du du
11 - 35
Rectangular Components of Velocity & Acceleration
• When position vector of particle P is given by its
rectangular components,
r xi y j zk
• Velocity vector,
dx dy dz
v i j k xi y j zk
dt dt dt
vx i v y j vz k
• Acceleration vector,
d 2 x d 2 y d 2 z
a 2 i 2 j 2 k xi y j zk
dt dt dt
ax i a y j az k
11 - 36
Rectangular Components of Velocity & Acceleration
• Rectangular components particularly effective
when component accelerations can be integrated
independently, e.g., motion of a projectile,
a x x 0 a y y g a z z 0
with initial conditions,
x0 y0 z0 0 v x 0 , v y , v z 0 0
0
Det 2 sinD 2
Det sinD 2
lim lim en en
D 0 D D 0 D 2
det
en
d
11 - 39
Tangential and Normal Components
• With the velocity vector expressed as v vet
the particle acceleration may be written as
dv dv de dv de d ds
a et v et v
dt dt dt dt d ds dt
but
det ds
en d ds v
d dt
After substituting,
dv v 2 dv v2
a et en at an
dt dt
• Tangential component of acceleration reflects
change of speed and normal component reflects
change of direction.
• Tangential component may be positive or
negative. Normal component always points
toward center of path curvature.
11 - 40
Tangential and Normal
Components
• Relations for tangential and normal acceleration
also apply for particle moving along space curve.
dv v 2 dv v2
a et en at an
dt dt
11 - 41
Radial and Transverse Components
• When particle position is given in polar coordinates,
it is convenient to express velocity and acceleration
with components parallel and perpendicular to OP.
• Position vector,
r R e R z k
• Velocity vector,
dr
v R eR R e z k
dt
• Acceleration vector,
dv
a
dt
R 2
R eR R 2 R e z k
11 - 43
Sample Problem 11.10
SOLUTION:
• Calculate tangential and normal
components of acceleration.
1 an 3.10
tan tan 1 48.4
at 2.75
11 - 45
Sample Problem 11.12
SOLUTION:
• Evaluate time t for = 30o.
• Evaluate radial and angular positions,
and first and second derivatives at
time t.
Rotation of the arm about O is defined • Calculate velocity and acceleration in
by = 0.15t2 where is in radians and t cylindrical coordinates.
in seconds. Collar B slides along the
arm such that r = 0.9 - 0.12t2 where r is • Evaluate acceleration with respect to
in meters. arm.
a B OA r 0.240 m s 2
11 - 49