ES 12: DYNAMICS OF RIGID BODIES

LECTURE 04:
RELATIVE & DEPENDENT
MOTION
ENGR. GIANCARLO P. VENTURA
Institute of Civil Engineering
College of Engineering
University of the Philippines Diliman
 KINEMATICS OF PARTICLES
Analysis of motion
of a particle relative
to another particle
Kinematics of
Analysis of motion of Particles
a particle according
to the path it follows

Motion of Motion of
Individual Several
Particles Particles

Rectilinear Curvilinear Independent Dependent

Motion Motion Motion Motion

Non-Uniformly Uniformly- Use of Use of Normal

Uniform
Accelerated Accelerated Rectangular and Tangential
Motion
Motion Motion Components Components

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 INTRODUCTION

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 LECTURE OBJECTIVES
After this lecture, students are expected to be able to:

• Distinguish relative motion from absolute motion,

• Relate the absolute and relative positions of two particles,

• Relate the absolute and relative velocities of two particles,

• Relate the absolute and relative accelerations of two particles, and

• Analyze the motion of several particles whose positions depend upon

the position of another particle.
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 MOTION OF SEVERAL PARTICLES: INDEPENDENT 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.
For the motion of two particles A and B along one
direction only, the relative motion of B with respect to
A (represented by double subscripts) can be
determined using the absolute motion of each
particle.
xB A  xB  x A vB A  vB  v A aB A  aB  a A
relative position of B relative velocity of B relative acceleration of B
with respect to A with respect to A with respect to A

 xB  x A  xB A  vB  v A  vB A  aB  a A  aB A
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 MOTION RELATIVE TO A FRAME IN TRANSLATION

When particles move in more than one direction,

it will be convenient to assign a reference frame
to each particle.

Designate one frame as the fixed frame of reference.

All other frames not rigidly attached to the fixed
reference frame are moving frames of reference.

For two particles A and B, their position vectors may bedrawn with respect to
the fixed frame of reference Oxyz and they are given by rA and rB .

r
The relative position vector B A joining A and B now defines the position of B
  
with respect to the moving frame Ax’y’z’ and their relationship is given by rB  rA  rB A

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 MOTION RELATIVE TO A FRAME IN TRANSLATION

Differentiating twice,

  
rB  rA  rB A rB A  position of B relative to A

   
vB  v A  vB A v B A  velocity of B relative to A

   
a B  a A  aB A a B A  acceleration of B relative to A

The absolute motion of B can be obtained by combining the motion of A

with the relative motion of B with respect to the moving reference frame
attached to A.

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Automobile A is traveling east at the constant
speed of 10 m/s. As automobile A crosses the
intersection shown, automobile B starts from
rest 35 m north of the intersection and moves
south with a constant acceleration of 1.2 m/s2.
Determine the position, velocity, and
acceleration of B relative to A 5 s after A
crosses the intersection.
EXAMPLE 4.1
SOLUTION:
• Write first all equations of motion for automobiles A
and B. Set the intersection as the origin. Set the north
and east directions as positive for the “horizontal” and
“vertical” directions respectively.
• Automobile A is in uniform motion. Take note that its
motion is directed along the “horizontal”.

aA  0

m
v A  v A 0  10
m
v A  10 
s s

 m  m
x A  x A 0  v A 0 t  10 t x A  10 (5 s)  50 m 
 s  s
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 EXAMPLE 4.1
Automobile A is traveling east at the constant SOLUTION:
speed of 10 m/s. As automobile A crosses the • Write first all equations of motion for automobiles A
intersection shown, automobile B starts from and B. Set the intersection as the origin. Set the north
rest 35 m north of the intersection and moves and east directions as positive for the “horizontal” and
south with a constant acceleration of 1.2 m/s2. “vertical” directions respectively.
Determine the position, velocity, and • Automobile B is in uniformly-accelerated motion. Take
acceleration of B relative to A 5 s after A note that its motion is directed along the “vertical”.
crosses the intersection. m m
aB  1.2 aB  1.2 2

s2 s
 m  m
vB  vB 0  aB t    1.2 2 t
m
vB    1.2 2 (5 s)  6 
 s   s  s
1 m
y B   y B 0  vB 0 t  aB t 2
1
y B  35    1.2 2 5 s 
2

2 2 s 
1 m
 35    1.2 2 t 2  20 m 
2 s 
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 EXAMPLE 4.1
Automobile A is traveling east at the constant SOLUTION:
speed of 10 m/s. As automobile A crosses the • To solve for the relative position, draw vectors with
intersection shown, automobile B starts from respect to an actual origin.
rest 35 m north of the intersection and moves
south with a constant acceleration of 1.2 m/s2. rA  50 m 
Determine the position, velocity, and
acceleration of B relative to A 5 s after A rB  20 m 
crosses the intersection.

rB / A  (50) 2  (20) 2  53.85 m

 20 
  tan 1    21.80
 50 
rB / A  53.85 m, 21.80 from the horizontal

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 EXAMPLE 4.1
Automobile A is traveling east at the constant SOLUTION:
speed of 10 m/s. As automobile A crosses the • To solve for the relative velocity, draw vectors with
intersection shown, automobile B starts from respect to the same “origin”.
rest 35 m north of the intersection and moves m
south with a constant acceleration of 1.2 m/s2. v A  10 
Determine the position, velocity, and s
m
acceleration of B relative to A 5 s after A vB  6 
crosses the intersection. s
m
vB / A  (10) 2  (6) 2  11.66
s
6
  tan 1    30.96
 10 
m
vB / A  11.66 , 30.96 from the horizontal
s
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 EXAMPLE 4.1
Automobile A is traveling east at the constant SOLUTION:
speed of 10 m/s. As automobile A crosses the • To solve for the relative acceleration, draw vectors
intersection shown, automobile B starts from with respect to the same “origin”.
rest 35 m north of the intersection and moves
south with a constant acceleration of 1.2 m/s2. aA  0
Determine the position, velocity, and
m
acceleration of B relative to A 5 s after A aB  1.2 2

crosses the intersection. s
m
aB / A  1.2  0  1.2
s2

m
aB / A  1.2 2

s

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 CONCEPT CHECK
If you are sitting in train B
looking out the window, it
which direction does it
appear that train A is
moving?

A. 25o C.
B. 25o D.
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 EXAMPLE 4.2
Car B is traveling along the curved
path with a speed of 15 m/s while
decreasing its speed at 2 m/s2. At this
same instant car C is traveling along
the straight road with a speed of 30
m/s while decelerating at 3 m/s2.

A. Determine the velocity of car B

relative to car C.
B. Determine the acceleration of car B
relative to car C.

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 EXAMPLE 4.2 – VECTOR APPROACH
vB = 15 m/s, 60o ↘ vC = 30 m/s, ↓
vB/C = vB - vC
vB = < 15cos60, -15sin60 >
vC = < 0, -30 >
vB/C = < 15cos60-0, -15sin60-(-30) >
vB/C = < 7.5, 17.01 >
vB/C = 𝟕. 𝟓𝟐 + 𝟏𝟕. 𝟎𝟏𝟐 = 18.59 m/s
𝟏𝟕.𝟎𝟏
α = 𝒕𝒂𝒏−𝟏 𝟕.𝟓
= 66.2o ↗ vB/C = 18.59 m/s, 66.2o ↗
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 EXAMPLE 4.2 – VECTOR APPROACH
152
aB_T = 2 m/s2, 60o ↖ aB_N = = 2.25 m/s2, 30o ↗
100
aB_TOT = aB_T + aB_N
aB_T = < -2cos60, 2sin60 >
aB_N = < 2.25cos30, 2.25sin30 >
aB_TOT = < -2cos60+2.25cos30, 2sin60+2.25sin30 >

aB_TOT = < 0.949, 2.857 >

aB_TOT = 𝟎. 𝟗𝟒𝟗𝟐 + 𝟐. 𝟖𝟓𝟕𝟐 = 3.01 m/s2
−𝟏 𝟐.𝟖𝟓𝟕
α= 𝒕𝒂𝒏 𝟎.𝟗𝟒𝟗
= 71.63o ↗ aB_TOT = 3.01 m/s2, 71.63o ↗
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 EXAMPLE 4.2 – VECTOR APPROACH
aB = 3.01 m/s2, 71.63o ↗ aC = 3 m/s2, ↑
aB/C = aB - aC
aB = < 3.01cos71.63, 3.01sin71.63 >
aC = < 0, 3 >
aB/C = < 3.01cos71.63-0, 3.01sin71.63-3 >
aB/C = < 0.949, -0.143 >
aB/C = 𝟎. 𝟗𝟒𝟗𝟐 + (−𝟎. 𝟏𝟒𝟑)𝟐 = 0.96 m/s2
𝟎.𝟏𝟒𝟑
α = 𝒕𝒂𝒏−𝟏 𝟎.𝟗𝟒𝟗
= 8.57o ↘ aB/C = 0.96 m/s2, 8.57o ↘
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 EXAMPLE 4.2 – GEOMETRIC APPROACH
vB = 15 m/s, 60o ↘ vC = 30 m/s, ↓
vB/C = vB - vC
60𝑜
30𝑜 vB = 15 m/s
𝑣𝐵/𝐶 = 𝑣𝐵2 + 𝑣𝐴2 − 2𝑣𝐵 𝑣𝐴 cos 𝜃

vC = 30 m/s
𝑣𝐵/𝐶 = 152 + 302 − 2 15 30 cos 30𝑜
𝒎 vB/C
𝒗𝑩/𝑪 = 𝟏𝟖. 𝟓𝟗 𝜃
𝒔
sin 𝜃 sin 30
= 𝜽 = 𝟐𝟑. 𝟖𝟎𝒐
15 18.59 vB/C = 18.59 m/s, 66.2o ↗
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 EXAMPLE 4.2 – GEOMETRIC APPROACH
Car C aC = 3 m/s2, ↑

Car B aB_T = 2 m/s2, 60o ↖

152
aB_N = = 2.25 m/s2, 30o ↗ 𝑎𝑡𝑜𝑡𝑎𝑙
100

aB_TOT = aB_T + aB_N 𝑎𝐵_𝑇

aB_TOT= 2 2 + 2.25 2 = 3.01 m/s2 𝑎𝐵_𝑁

𝜃
60𝑜 30𝑜
2
tan 𝜃 =
2.25
𝜽 = 𝟒𝟏. 𝟔𝟑𝒐 aB_TOT = 3.01 m/s2, 71.63o ↗
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 EXAMPLE 4.2 – GEOMETRIC APPROACH
aB = 3.01 m/s2, 71.63o ↗ aC = 3 m/s2, ↑
aB/C
aB/C = aB - aC

aC = 3 m/s2
𝜃
𝑎𝐵/𝐶 = 𝑎𝐵2 + 𝑎𝐶2 − 2𝑎𝐵 𝑎𝐶 cos 𝜃
aB = 3.01 m/s2
𝑎𝐵/𝐶 = 3 2 + 3.01 2 − 2 3 3.01 cos 18.37𝑜 18.37𝑜
𝒎
𝑎𝐵/𝐶 = 𝟎. 𝟗𝟔 𝟐
𝒔 71.63𝑜
sin 𝜃 sin 18.37𝑜
= 𝜽 = 𝟖𝟎. 𝟎𝟏𝒐
3 0.96 aB/C = 0.96 m/s2, 8.57o ↘
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 MOTION OF SEVERAL PARTICLES: DEPENDENT MOTION

The position of a particle may depend on the

position of one or more other particles.

For the mechanism shown, the 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. We can then relate the positions
using the equation

x A  2 x B  constant (one degree of freedom)

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 MOTION OF SEVERAL PARTICLES: DEPENDENT MOTION

Now consider the next sample mechanism

shown. The positions of three blocks are
dependent and thus, the equation relating
their positions is given by
2 x A  2 x B  xC  constant (two degrees of freedom)

For linearly related positions, similar

relations hold between velocities and
accelerations.
dx A dx dx or 2v A  2vB  vC  0
2 2 B  C 0
dt dt dt
dv dv dv or 2a A  2aB  aC  0
2 A 2 B  C 0
dt dt dt
ES 12: DYNAMICS OF RIGID BODIES 22 GPVentura

Pulley D is attached to a collar which is pulled
down at 3 in./s. At t = 0, collar A starts moving
down from K with constant acceleration and
zero initial velocity. Knowing that velocity of
collar A is 12 in./s as it passes L, determine
the change in elevation, velocity, and
acceleration of block B when block A is at L.
EXAMPLE 4.3
SOLUTION:
• Set the origin at upper horizontal surface with
positive displacement downward.
• Knowing that collar A is under uniformly-
accelerated rectilinear motion, solve for the
acceleration and time t to reach L.
v A2  v A 0  2a A x A  x A 0 
2

2
 in. 
12   2a A 8 in.
in.
aA  9
 s  s2

v A  v A 0  a At
in. in.
12  9 2 t t  1.333 s
s s
ES 12: DYNAMICS OF RIGID BODIES 23 GPVentura
 EXAMPLE 4.3
Pulley D is attached to a collar which is pulled SOLUTION:
down at 3 in./s. At t = 0, collar A starts moving • Since pulley D is under uniform rectilinear motion,
down from K with constant acceleration and calculate its change in position at time t.
xD   xD 0  vD t
zero initial velocity. Knowing that velocity of
collar A is 12 in./s as it passes L, determine
 in. 
the change in elevation, velocity, and xD  xD 0   3 1.333 s   4 in.
acceleration of block B when block A is at L.  s 
• The motion of block B is dependent on the motions
of collar A and pulley D. Take note that the length
of the cable remains constant.
x A  2 xD  xB  x A 0  2xD 0  xB 0
x  x    2x  x    x  x    0
A A 0 D D 0 B B 0

8 in.  24 in.  x  x    0

B B 0

xB   xB 0  16 in.
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 EXAMPLE 4.3
Pulley D is attached to a collar which is pulled SOLUTION:
down at 3 in./s. At t = 0, collar A starts moving • Differentiate the motion relationship twice to
down from K with constant acceleration and develop the equations for the velocity and
zero initial velocity. Knowing that velocity of acceleration of block B.
collar A is 12 in./s as it passes L, determine x A  2 xD  xB  constant
the change in elevation, velocity, and
acceleration of block B when block A is at L. v A  2vD  vB  0
 in.   in.  in.
12   2 3   vB  0 vB  18
 s   s  s

a A  2a D  a B  0
 in.  aB  9
in.
 9 2   aB  0
 s  s2
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 QUIZ
At the instant shown, cars A and B are
traveling at velocities of 40 m/s and 30
m/s, respectively. If B is increasing its
velocity by 2 m/s2, while A maintains a
constant velocity. The radius of curvature
at B is rB = 200 m.
A. Determine the relative velocity of B
with respect to A.
B. Determine the relative acceleration of
B with respect to A.
Draw vector polygons and label properly to help
simplify the problem.
ANSWERS:
A. 20.5 m/s, 43.1o ↙
B. 4.92 m/s2, 6.04o ↙
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 QUIZ (TRUE or FALSE)
Consider two particles A and B moving in two different paths.

1. The absolute acceleration of B is equal to the vector sum of the absolute

acceleration of A and the relative acceleration of B with respect to A.

2. The relative velocity of A with respect to B is equal to the relative velocity of B

with respect to A.

3. The relative velocity of B with respect to A is zero when the two particles meet at
the same point in space.

4. The relative position of A with respect to B is equal in magnitude to the relative

position of B with respect to A.
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 PRACTICE PROBLEM A
Airplanes A and B are flying at the same altitude
and are tracking the eye of hurricane C. The
relative velocity of C with respect to A is vC/A = 350
km/h, 75° ↙, and the relative velocity of C with
respect to B is vC/B = 400 km/h, 40° ↘. Determine

A. the relative velocity of B with respect to A,

B. the velocity of A if ground-based radar indicates
that the hurricane is moving at a speed of 30
km/h due north,
C. the change in position of C with respect to B
during a 15-min interval.
ANSWERS:
A. 405 km/h, 11.53o ↙
B. 379 km/h, 76.17o ↗
C. 100 km, 40o ↘
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 PRACTICE PROBLEM B

Knowing that at the instant shown

block A has a velocity of 8 cm/s and
an acceleration of 6 cm/s2 both
directed down the incline, determine

A. the velocity of block B,

B. the acceleration of block B.

ANSWERS:
A. 8.53 cm/s, 54.1o ↖
B. 6.40 cm/s2, 54.1o ↖

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 REMINDER
LONG EXAM 1ST

SEPTEMBER 9, 2017 (SAT)

6-8 PM
(Lec 1-4)
*Settle all conflicts with lab instructors
LATE EXAM: 7-9 PM

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 Engr.
GIANCARLO P. VENTURA

Institute of Civil Engineering

ES 12: DYNAMICS OF RIGID BODIES

College of Engineering
University of the Philippines
Diliman

END OF LECTURE ICE 319

gianpventura@gmail.com

Beer, F. P. et al (2013). Vector Mechanics for Engineers: Statics and Dynamics (10th ed.). New York: McGraw-Hill.
Hibbeler, R. C., & Hibbeler, R. C. (2013). Engineering Mechanics: Dynamics (12th ed.). Upper Saddle River, NJ: Pearson/Prentice Hall.
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