Content Summary for the unit

• Kinematics (W1-2) Describe the motion of a particle

(acceleration/velocity/position)
• Kinetics (W2-3) Put together forces and motion (find equation
of motion)
𝑔𝑔 𝑟𝑟, ⃗ 𝑎𝑎⃗ = ℎ(𝐹𝐹⃗1 , 𝐹𝐹⃗2 , , … )
⃗ 𝑣𝑣,

• Solution of “simple” equation of motion (in Tutorials)

• Solution of complex equation of motion (W4 Lecture and from W5
in computer labs)
• Work & Energy (W5)
• Impulse and Impacts, a special case of very fast phenomena (W6-7)
• Extension to Rigid body (second part with YT)
Kinematics vs kinetics
• Kinematics: 𝑥𝑥 =?
Relationship between
motion and motion
(can be complex!)
𝑎𝑎 = 𝑔𝑔

• Kinetics:
𝐚𝐚 =?
Relationship between
𝐅𝐅
forces and motion
Kinematics: position, velocity and
acceleration
From position… From velocity… From acceleration…

…to position 𝐫𝐫 = � 𝐯𝐯 𝑑𝑑𝑑𝑑 𝐫𝐫 = � 𝐚𝐚 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑

𝑑𝑑𝐫𝐫
…to velocity 𝐯𝐯 = 𝐯𝐯 = � 𝐚𝐚 𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑

𝑑𝑑 2 𝐫𝐫 𝑑𝑑𝐯𝐯
…to acceleration 𝐚𝐚 = 2 𝐚𝐚 =
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑

Often the dot-notation is used for time-derivatives, for instance:

𝑑𝑑𝐫𝐫 𝑑𝑑 2 𝐫𝐫
𝐫𝐫̇ = and 𝐫𝐫̈ = 2
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
Quantities to be described

Position 𝐫𝐫 1.2

Vector connecting the fixed origin O to the 1

particle (need to define 𝑂𝑂) 0.8

0.6

Velocity 𝐯𝐯 0.4

m
Time-derivative of position (𝐯𝐯 = d𝐫𝐫⁄d𝑑𝑑) 0.2

Always tangent to the path 0

O

-0.2

Acceleration 𝐚𝐚 -0.4

-0.6

Time-derivative of velocity (𝐚𝐚 = d𝐯𝐯⁄d𝑑𝑑) -1 -0.5 0 0.5 1

Generally neither tangent nor normal to the m

path
Quantities to be described

Position 𝐫𝐫 1.2 t = 1.00 s

Vector connecting the fixed origin O to the 1

particle (need to define 𝑂𝑂) 0.8 v = 0.66m/s

0.6

Velocity 𝐯𝐯 0.4
a = 0.72m/s
2

m
r = 0.76m
Time-derivative of position (𝐯𝐯 = d𝐫𝐫⁄d𝑑𝑑) 0.2

Always tangent to the path 0

O

-0.2

Acceleration 𝐚𝐚 -0.4

-0.6

Time-derivative of velocity (𝐚𝐚 = d𝐯𝐯⁄d𝑑𝑑) -1 -0.5 0 0.5 1

Generally neither tangent nor normal to the m

path
Quantities to be described

Position 𝐫𝐫
Vector connecting the fixed origin O to the
particle (need to define 𝑂𝑂)

Velocity 𝐯𝐯
Time-derivative of position (𝐯𝐯 = d𝐫𝐫⁄d𝑑𝑑)
Always tangent to the path

Acceleration 𝐚𝐚
Time-derivative of velocity (𝐚𝐚 = d𝐯𝐯⁄d𝑑𝑑)
Generally neither tangent nor normal to the
path
Coordinate systems
• All quantities are defined as 2-D vectors
• The representation of these vectors can be
different and requires 2 scalar numbers
• Each representation is called:

Coordinate system
Rectangular or Cartesian coordinate
system
• 𝐢𝐢 unit vector in the
horizontal direction
• 𝐣𝐣 unit vector in the
vertical direction

𝐫𝐫 = 𝑥𝑥𝐢𝐢 + 𝑦𝑦𝐣𝐣

𝐯𝐯 = 𝑣𝑣𝑥𝑥 𝐢𝐢 + 𝑣𝑣𝑦𝑦 𝐣𝐣

𝐚𝐚 = 𝑎𝑎𝑥𝑥 𝐢𝐢 + 𝑎𝑎𝑦𝑦 𝐣𝐣
Rectangular coordinate system
• 𝐢𝐢 (or 𝐢𝐢)̂ unit vector in the
horizontal direction Graphical example for position and
acceleration
• 𝐣𝐣 (or 𝐣𝐣)̂ unit vector in the
vertical direction 𝑦𝑦
𝐚𝐚
𝐫𝐫 = 𝑥𝑥 𝐢𝐢 + 𝑦𝑦 𝐣𝐣 𝑎𝑎𝑦𝑦 𝐣𝐣
𝐯𝐯 = 𝑣𝑣𝑥𝑥 𝐢𝐢 + 𝑣𝑣𝑦𝑦 𝐣𝐣
𝐚𝐚 = 𝑎𝑎𝑥𝑥 𝐢𝐢 + 𝑎𝑎𝑦𝑦 𝐣𝐣 𝐫𝐫
𝑦𝑦𝐣𝐣 𝑎𝑎𝑥𝑥 𝐢𝐢
𝑥𝑥
𝑥𝑥𝐢𝐢
These scalar variables can be either positive or negative
(indicating left-right and up-down directions)
Rectangular coordinate system
• Numerical example
4

3
𝑃𝑃1
2

1 𝑃𝑃2 y
y x[m]

0
[m]

O x

-1

𝑃𝑃3
-2

-3

-4
-4 -3 -2 -1 0 1 2 3 4

x [m]
Rectangular coordinate system
• Numerical example
4

3
𝑃𝑃1
2

𝑃𝑃2 y 𝐫𝐫𝟏𝟏
1
𝐫𝐫𝟐𝟐
y x[m]

0
[m]

O x

-1
𝐫𝐫𝟑𝟑
𝑃𝑃3
-2

-3

-4
-4 -3 -2 -1 0 1 2 3 4

x [m]
Rectangular coordinate system
• Numerical example
4

𝐫𝐫𝟏𝟏 = 2𝐢𝐢 + 3𝐣𝐣 𝑥𝑥1 = 2 𝑚𝑚

3
𝑃𝑃1 �
𝑦𝑦1 = 3 m
2

𝑃𝑃2 y 𝐫𝐫𝟏𝟏
1
𝐫𝐫𝟐𝟐
y x[m]

0
[m]

O x

-1
𝐫𝐫𝟑𝟑
𝑃𝑃3
-2

-3

-4
-4 -3 -2 -1 0 1 2 3 4

x [m]
Rectangular coordinate system
• Numerical example
4

𝐫𝐫𝟏𝟏 = 2𝐢𝐢 + 3𝐣𝐣 𝑥𝑥1 = 2 𝑚𝑚

3
𝑃𝑃1 �
𝑦𝑦1 = 3 m
2

𝑃𝑃2 y 𝐫𝐫𝟏𝟏
1
𝐫𝐫𝟐𝟐
0
𝐫𝐫𝟐𝟐 = −2𝐢𝐢 + 1𝐣𝐣 �𝑥𝑥2 = −2𝑚𝑚
x [m]

O x

-1
𝐫𝐫𝟑𝟑 𝑦𝑦2 = 1𝑚𝑚
𝑃𝑃3
-2

-3
𝐫𝐫𝟑𝟑 = −1𝐢𝐢 − 1𝐣𝐣 �𝑥𝑥3 = −1𝑚𝑚
-4 𝑦𝑦3 = −1𝑚𝑚
-4 -3 -2 -1 0 1 2 3 4

x [m]
Rectangular coordinate system
From position… From velocity… From acceleration…
𝑥𝑥 = � 𝑣𝑣𝑥𝑥 𝑑𝑑𝑑𝑑
𝑥𝑥 = � 𝑎𝑎𝑥𝑥 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
…to position
𝑦𝑦 = � 𝑣𝑣𝑦𝑦 𝑑𝑑𝑑𝑑
𝑦𝑦 = � 𝑎𝑎𝑦𝑦 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑

𝑣𝑣𝑥𝑥 = � 𝑎𝑎𝑥𝑥 𝑑𝑑𝑑𝑑

𝑣𝑣𝑥𝑥 = 𝑥𝑥̇
…to velocity
𝑣𝑣𝑦𝑦 = 𝑦𝑦̇
𝑣𝑣𝑦𝑦 = � 𝑎𝑎𝑦𝑦 𝑑𝑑𝑑𝑑

𝑎𝑎𝑥𝑥 = 𝑥𝑥̈ 𝑎𝑎𝑥𝑥 = 𝑣𝑣̇𝑥𝑥

…to acceleration 𝑎𝑎𝑦𝑦 = 𝑦𝑦̈ 𝑎𝑎𝑦𝑦 = 𝑣𝑣̇𝑦𝑦
An important note on graphical
representation of vectors (1/2)
• When I use the proper vectorial
Cartesian vectorial notation notation, the drawing is actually
(using 𝐢𝐢 and 𝐣𝐣) just indicative and the direction of
𝑦𝑦
the vector is already in the
𝑣𝑣𝑥𝑥 𝐢𝐢
expression: e.g. 𝑣𝑣𝑦𝑦 𝐣𝐣 is obviously
vertical and the actual sign of 𝑣𝑣𝑦𝑦
𝑣𝑣𝑦𝑦 𝐣𝐣 𝐯𝐯 = 𝑣𝑣𝑥𝑥 𝐢𝐢 + 𝑣𝑣𝑦𝑦 𝐣𝐣 will tell me if it is directed upwards
or downwards

• In this case, there are 2 scalars

𝑥𝑥 called “components” per each
vector (e.g. 𝑣𝑣𝑥𝑥 and 𝑣𝑣𝑦𝑦 ) and they
can be positive or negative
An important note on graphical
representation of vectors (2/2)
• In this case the graphical
Magnitude-only notation
(𝑣𝑣)
representation of the vector is crucial
𝑦𝑦
• The term 𝑣𝑣 is a positive scalar called
𝛼𝛼 magnitude which only tells me about
𝑣𝑣 the magnitude of the vector

𝑣𝑣 = 𝑣𝑣𝑥𝑥2 + 𝑣𝑣𝑦𝑦2

𝑥𝑥 • Even if I know an angle 𝛼𝛼 I still need

the picture to know in which
direction is the vector going
 Exercise
𝑦𝑦
m
𝐯𝐯 t = 0 = 300
s
∠ 𝐯𝐯 t = 0 = 30°
Full 𝐚𝐚 = −𝑔𝑔𝐣𝐣
vectorial A cannon is shooting a ball
notation 𝐚𝐚 = −𝑔𝑔𝐣𝐣 along flat horizontal ground.
𝑥𝑥
𝐵𝐵
The ball leaves point A
𝐴𝐴
(cannon) with an initial speed
𝑥𝑥 𝑑𝑑𝑒𝑒𝑒𝑒𝑒𝑒 =?
𝑣𝑣0 = 300 𝑚𝑚⁄𝑠𝑠 and an angle
with the ground of 𝜃𝜃 = 30°. At
𝑦𝑦 which distance from A will the
ball hit the ground, considering
Magnitude 𝑔𝑔 only gravity as acting on the
notation 𝑔𝑔
ball (no aerodynamic
resistance)?
𝜃𝜃 = 30° 𝑥𝑥
𝐵𝐵
𝐴𝐴

𝑥𝑥 𝑑𝑑𝑒𝑒𝑒𝑒𝑒𝑒 =?
Normal-Tangential CS
𝐞𝐞𝐭𝐭
𝐯𝐯
Vectors are decomposed into two 𝜌𝜌 𝐞𝐞𝐧𝐧
components:
• One tangential to the trajectory
(or path) of the particle, unit
𝑎𝑎𝑡𝑡 𝐞𝐞𝐭𝐭
vector 𝐞𝐞𝐭𝐭
• One normal to the path in the 𝑎𝑎𝑒𝑒 𝐞𝐞𝐧𝐧
𝐚𝐚
direction towards the centre of
curvature, unit vector 𝐞𝐞𝐧𝐧
Normal-Tangential CS
Vectors are decomposed into two 𝐞𝐞𝐭𝐭
components: 𝐯𝐯
𝜌𝜌 𝐞𝐞𝐧𝐧
• One tangential to the trajectory (or
path) of the particle, unit vector 𝐞𝐞𝐭𝐭
• One normal to the path in the direction
towards the centre of curvature, unit 𝑎𝑎𝑡𝑡 𝐞𝐞𝐭𝐭
vector 𝐞𝐞𝐧𝐧 𝑎𝑎𝑒𝑒 𝐞𝐞𝐧𝐧
𝐚𝐚
• The velocity is always tangential to the
trajectory, so:
𝐯𝐯 = 𝑣𝑣𝐞𝐞𝐭𝐭

• The acceleration has both components:

𝐚𝐚 = 𝑎𝑎𝑒𝑒 𝐞𝐞𝐧𝐧 + 𝑎𝑎𝑡𝑡 𝐞𝐞𝐭𝐭
(n-t) coordinate system

From position… From velocity… From acceleration…

…to position 𝑠𝑠 = �𝑣𝑣 𝑑𝑑𝑑𝑑 𝑠𝑠 = � 𝑎𝑎𝑡𝑡 𝑑𝑑𝑑𝑑

…to velocity 𝑣𝑣 = 𝑠𝑠̇ 𝑣𝑣 = �𝑎𝑎𝑡𝑡 𝑑𝑑𝑑𝑑

𝑣𝑣 2
𝑎𝑎𝑒𝑒 =
𝜌𝜌
…to acceleration
𝑎𝑎𝑡𝑡 = 𝑣𝑣̇

𝜌𝜌: radius of curvature of the path

Exercise
A car running a 1 km track at constant
speed 𝑣𝑣.
The track is composed of a series of turns
whose minimum radius of curvature is 6 m.
The car tyres allow a maximum lateral
acceleration of 30 m/s2, after which the car
would lose contact with the road.

𝜌𝜌𝑚𝑚𝑚𝑚𝑒𝑒 = 6 𝑚𝑚 Calculate:
𝑣𝑣
• the maximum speed with which the car
can undertake the narrower turn and
• how much time it will take to complete
the track.