Engineering Mechanics:

Dynamics in SI Units, 12e

Chapter 12-5
Kinematics of a Particle
12.9 Absolute Dependent Motion Analysis of Two Particles
Motion of one particle depend on the
corresponding motion of another particle
Movement of A downward will cause a
movement of B up the other incline
If total cord length is l
T
, the position coordinate is

For velocity, negative sign indicates A has a
velocity downward(increasing direction)
T B CD A
l s l s = + +
0 or
A B
B A
ds ds
v v
dt dt
+ = =
2
12.9 Absolute Dependent Motion Analysis of Two Particles
Time differentiation of the velocities yields the
relation between accelerations: a
B
= - a
A
A is specified by s
A
, and the position of the end
of the cord which block B is suspended, s
B
Position coordinate is



Since l and h are constant
during the motion,


l s h s
A B
= + + 2
2 , 2
B A B A
v v a a = =
3
12.9 Absolute Dependent Motion Analysis of Two Particles
PROCEDURE FOR ANALYSIS
Position-Coordinate Equation

Establish position coordinates
with origin located at a
fixed point or datum
Coordinates are along the
path of motion
Each coordinate axis is directed
along the path of motion

4
12.9 Absolute Dependent Motion Analysis of Two Particles
PROCEDURE FOR ANALYSIS
Time Derivatives
2 time derivatives of the position-coordinates
equations required for velocity and acceleration
equations
The signs will be positive and negative sense of
the position coordinates
5
Determine the speed of block A if block B has an
upward speed of 2m/s.


Example 12.22
6
Solution
Position Coordinate System
Positions of A and B are defined using s
A
and s
B
.
For the remaining cord length,

Eliminating s
C
yields

Time Derivative
The time derivative gives
so that v
B
= -2m/s and
Example 12.22
2 1
) ( 2 l s s s l s s
C B B C A
= + = +
1 2
2 4 l l s s
B A
+ = +
0 4 = +
B A
v v
+ = + = s m s m v
A
/ 8 / 8
7
Determine the speed of block B if the end of the cord
at A is pulled down with a speed of 2m/s.


Example 12.23
8
Solution
Position Coordinate System
s
A
and s
B
are measured from a horizontal datum
passing through the fixed pin at pulley D.
The remaining constant cord lengths l
1
and l
2
are


Eliminating s
C
yields
Time Derivative
The time derivative give
When v
A
= 2m/s,
Example 12.23
1 2
2 4 l l s s
B A
+ = +
( ) ( )
2
1
l s s s s s
l s s
B C B C A
B C
= + +
= +
4 0
A B
v v + =
0.5 / 0.5 /
B
v m s m s = = |
9
A man at A is hoisting a safe S by walking to the
right with a constant velocity v
A
= 0.5m/s. Determine
the velocity and acceleration of the safe when it
reaches the elevation at E. The rope is 30m long
and passes over a small pulley at D.

Example 12.24
10
S
A
dy
v
dt
dx
v
dt
=
=
Solution
Position Coordinate System
Rope segment DA changes both direction and
magnitude.
Using Pythagorean Theorem,



Time Derivative
Using chain rule,
Example 12.24
( ) ( )
2
2
15 , 15
DA CD
l x l y = + =
( ) ( )
15 225
15 15 30
2
2 2
+ =
+ + =
+ =
x y
y x
l l l
CD DA
2 2
1 2
2
225 225
S A
dy x dx x
v v
dt dt
x x
(
= = =
(
+ +

11
Solution
Time Derivative
At y = 10 m, x = 20 m, v
A
= 0.5 m/s, v
S
= 400mm/s
The acceleration is determined by taking the time
derivative of eqn (2),





At x = 20 m, with vA = 0.5 m/s,
Example 12.24
( )
2 / 3
2
2
2
2
2 / 3 2 2
2
225
225
225
1
225
1
) 225 (
) / (
x
v
dt
dv
x
x
v
dt
dx
x
xv
x
dt dx x
dt
y d
a
A A
A A S
+
=
(

+
+
|
.
|

\
|
(

+
+
(

= =
| =
2
/ 6 . 3 s mm a
S
12
12.10 Relative Motion Analysis of Two Particles Using Translating Axes
There are cases where the path of the motion for
a particle is complicated
Feasible to analyze the motions in parts by using
two or more frames of reference
Position
Absolute position r
A
and r
B

is measured from O of fixed
x, y, z reference frame

A B A B
r r r
/

+ =
13
12.10 Relative Motion Analysis of Two Particles Using Translating Axes
Velocity
By time derivatives,
refer to absolute
velocities, as they are observed from the fixed
frame
Relative velocity is observed
from the translating frame

Acceleration
The time derivative also yields

A B A B
v v v
/

+ =
dt r d v and dt r d v
A A B B
/ /

= =
dt r d v
A B A B
/
/ /

=
A B A B
a a a
/

+ =
14
12.10 Relative Motion Analysis of Two Particles Using Translating Axes
PROCEDURE FOR ANALYSIS
When applying the relative position equations,
necessary to specify the location and translating
x, y and z
As vector addition forms a triangle, there can be
at most two unknowns
Unknowns can be solved by graphically,
trigonometry or resolving into
rectangular or
Cartesian components
15
A train, traveling at a constant speed of 90km/h,
crosses over a road. If automobile A is traveling t
67.5km/h along the road, determine the magnitude
and direction of relative velocity of the train with
respect to the automobile.

Example 12.25
16
A T A T
v v v

=
/
A T A T
v v v
/

+ =
Solution
Vector Analysis
Relative velocity is measured from the translating x,
y axes attached to the automobile.
v
T
and v
A
are known and the unknowns are x and y
components of v
T/A
.
Using the x, y axes and a Cartesian vector analysis,
Example 12.25
h km j i v
v j i i
v v v
A T
A T
A T A T
/ )
~
7 . 47
~
3 . 42 {
)
~
45 sin 5 . 67
~
45 cos 5 . 67 (
~
90
/
/
/
=
+ + =
+ =

17
Solution
Vector Analysis
The magnitude of v
T/A
is


The direction of v
T/A
defined from the x axis is

Example 12.25
h km v
A T
/ 8 . 63 ) 7 . 47 3 . 42 (
2 2 2
/
= + =
( )
( )

40 . 48
3 . 42
7 . 47
tan
/
/
=
= =
u
u
x
A T
y
A T
v
v
18
Plane A is flying along a straight-line path, while
plane B is flying along a circular path having a radius
of curvature of
B
= 400 km. Determine the velocity
and acceleration of B as measured by the pilot of A.
Example 12.26
19
A B A B
v v v =
/
Solution
Velocity
The x, y axes are located at an arbitrary fixed point.
The translating frame of reference x, y is attached
to it.
Applying the relative-velocity equation in scalar form,
Example 12.26
+ = =
+ =
+ =
h km h km v
v
v v v
A B
A B
A B A B
/ 100 / 100
700 600
/
/
/
) ( | +
20
Solution
Acceleration
Plane B has both tangential and normal components
of acceleration,

Applying the relative-acceleration equation,




Magnitude and direction is
Example 12.26
( )
2
2
/ 900 h km
v
a
B
n
B
= =

{ }
2
/
/
/
/
~
150
~
900
~
50
~
100
~
900
h km j i a
a j j i
a a a
A B
A B
A B A B
=
+ =
+ =
2 1
/
150
912 / and tan 9.46
900
B A
a km h u

= = =
21
At the instant, car A and B are traveling with the
speed of 18 m/s and 12 m/s, respectively. Also at
this instant, A has a decrease in speed of 2 m/s
2
,
and B has an increase in speed of 3 m/s
2
. Determine
the velocity and acceleration of B with respect to A.
Example 12.27
22
A B A B
v v v =
/
Solution
Velocity
Using Cartesian vector analysis,





Its direction is
Example 12.27
( )
{ }
/
/
/
2 2
/
12 18cos 60 18sin 60
9 3.588 /
Thus 9 3.588 9.69 /
B A B A
B A
B A
B A
v v v
j i j v
v i j m s
v m s
= +
= +
= +
= + =
( )
( )
/
/
3.588
tan 21.7
9
B A
y
B A
x
v
v
u u = = =
23
Solution
Acceleration
Applying the equation for relative acceleration yields



Magnitude and direction is

Example 12.27
( ) ( )
2
/
/
/
/ )
~
732 . 4
~
440 . 2 (
~
60 sin 2
~
60 cos 2
~
3
~
440 . 1
s m j i a
a j i j i
a a a
A B
A B
A B A B
=
+ + =
+ =

7 . 62
/ 32 . 5
2
/
=
=
|
s m a
A B
24