DYNAMICS

BDA 20103 – LECTURE 5

a) Dependent Motion Analysis of Two

Particles
b) Relative motion of Two Particles
using Translating Axes
r – θ coordinate system
v  vr er  v e
 motion path r
dr d
e vr   r v  r  r  r
er dt dt
P
r a  ar er  a e

ar  r  r 2 a  2r  r
 
r  r 2  2r  r

Remember:
Circular motion with r variable
Positive direction of r is outward from the center of the curved motion

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New Topics to Discuss

 Relative Motions
 Moving particles
 Constrained (dependent) particles

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Moving Particles

rB/A B
path of
flying jet A

rA
rB path of flying
jet B

Ground
controller

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Application example

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Application example

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Vector relations of moving particles

A rB/A : Vector B relative to A

rB/A Vector B with respect to A
B Vector B observed from A

rA rB rB : Vector absolute position of B

rA : Vector absolute position of A

rB  rA  rB / A vB  v A  vB / A aB  a A  aB / A

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Relative motion analysis
rB  rA  (rB / A )
A
-rB/A rB / A  rA / B
B
rB  rA  rA / B
rA rB

From the previous vector equation

rB  rA  rB / A
O

conclusion rB / A  rA / B

B observed from A = A observed from B

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 EXAMPLE 1

Plane A is flying along a straight-line path, while

plane B is flying along a circular path having a
radius of curvature of ρB = 400 km. Determine the
velocity and acceleration of B as measured by the
pilot of A.

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 EXAMPLE 1
Velocity. The x, y axes are located at an
arbitrary fixed point. Since the motion relative to
plane A is to be determined, the translating frame
of reference x’. y’ is attached to it. Applying the
relative-velocity equation in scalar form since the
velocity vectors of both plane are parallel at the
instant shown,
(  ) v B  v A  v B / A
600  700  vB / A
vB / A  100km / h  100km / h 

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 EXAMPLE 1

Acceleration. Plane B has both tangential

and normal components of acceleration, since it is
flying along a curved path. Magnitude of normal
acceleration,
vB2
aB n   900km / h 2

Applying the relative-acceleration equation,
aB  a A  a B / A
~ ~ ~
900 i  100 j  50 j  a B/ A
aB / A ~ ~
 900 i  150 j km / h 2

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 EXAMPLE 1

From the figure shown, the magnitude and direction

of aB / A
1 150
aB / A  912km / h 2
  tan  9.46
900

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Constrained (dependant) Motion

 In certain cases, the motion of a particle

will depend on the corresponding motion
of another particle.
 The particles are interrelated because of
the constraints imposed by
interconnecting each other

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Connecting particles

B A

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Motion analysis

a b

SB

SA

B A B A a, b, c = constant

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connecting particles: velocity and acceleration

L = a  SB  c  SB  b  S A

a b d d d d d d d
L = a  SB  c  SB  b  S A
dt dt dt dt dt dt dt

SB 0  0  SB  0  SB  0  S A
SA 0  0  vB  0  vB  0  v A
c
2vB  vA
d d
B A 2 vB  v A
dt dt
2vB  vA
2aB  a A

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 EXAMPLE 2

Determine the speed of block A if block B has an

upward speed of 2 m/s.

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 EXAMPLE 2

Position Coordinate System. There is one cord in

this system having segments which are changing
length. Position coordinates sA and sB will be used
since each is measured from a fixed point (C or D)
and extends along each block’s path of motion. In
particular, sB is directed to point E since motion of
B and E is the same. The red colored segments of
the cords remain at a constant length and do not
have to be considered as the block move.

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 EXAMPLE 2

The remaining length of the cord, l, is also

considered and is related to the changing position
coordinates sA and sB by the equation
s A  3s B  l
Time Derivative. Taking the time derivative
yields
v A  3vB  0

so that when vB = -2m/s (upward)

vA = 6m/s ↓
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PROBLEM 1

If block A is moving downward with a speed of

4 m/s while C is moving up at 2 m/s,
determine the speed of block B.

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PROBLEM 2

Determine the speed of B if A is moving

downwards with a speed of vA = 4 m/s at the
instant shown.

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See you again in
Lecture 6 – CHAPTER 3

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