EBT 212/3: Dynamics

1-Kinematics of Particles
CO 1: Ability to evaluate
the kinematics and
kinetics of particle
problems
Dr Nur Farhana Diyana
Mohd Yunos
farhanadiyana@unimap.edu.my
B. E. Metallurgical Eng. (UniMAP)
Ph.D Materials Sc & Eng. (UNSW,
Sydney)
 Chapter Outline: Kinematics of Particles
1) Introduction to Dynamics
2) Motion of a Projectile
3) Curvilinear Motion: Rectangular, Normal and
Tangential, Cylindrical Components
4) Constrained Motion of Connected Particles
1) Introduction
Mechanics the state of rest of motion of bodies
subjected to the action of forces
Static equilibrium of a body that is either at rest
or moves with constant velocity
Dynamics deals with accelerated motion of a
body

1) Kinematics treats with geometric aspects of

the motion
2) Kinetics analysis of the forces causing the
motion
2) Rectilinear Kinematics: Continuous
Motion
Rectilinear Kinematics specifying at any instant, the particles
position, velocity, and acceleration
Position Displacement
2) Rectilinear Kinematics: Continuous
Motion
Velocity
s
Average velocity, vavg
t

s
vavg
t

Instantaneous velocity is defined as,

speed
dr ds
vins lim (r / t ) vins v (m / s)
t 0 dt dt
 2) Rectilinear Kinematics: Continuous
Motion
Acceleration velocity of particle is known at points P and P during
time interval t, average acceleration is
v
aavg
t
Instantaneous acceleration:

dv
a (m / s 2 )
dt
 Example 1:
The car moves in a straight line such that for a short time its velocity is defined by v =
(0.9t2 + 0.6t) m/s where t is in sec. Determine it position and acceleration when t = 3s.
When t = 0, s = 0.

Ans: s=10.8 m, a=6m/s2

Solution:

ds dv
v (m / s) a (m / s 2 )
dt dt
 2) Rectilinear Kinematics: Continuous
Motion
Velocity as a Position as a Velocity as a
Function of Time Function of Time Function of Position
Integrate Integrate Integrate
ac = dv/dt, v = ds/dt = v0 + act, v dv = ac ds, assuming
assuming that assuming that initially that initially v = v0 at
initially v= v0 when t s = s0 when t = 0 s = s0
= 0.
v t s t v s

dv a dt c ds (v 0 act )dt vdv a ds

v0 s0
c
0 0 0 0
1
v v0 act s s0 v0t ac t 2 v 2 v02 2ac ( s s0 )
2
Constant acceleration Constant acceleration Constant acceleration
 Example 2:
A rocket travel upward at 75 m/s. When it is 40 m from the ground, the engine fails.
Determine max height sB reached by the rocket and its speed just before it hits the
ground.

Solution: Rocket traveling upward, vA = +75m/s when t = 0. s = sB

when vB = 0 at max ht. For entire motion, acceleration aC = -9.81m/s2
(negative since it act opposite sense to positive velocity or positive
displacement)
v 2 v02 2ac ( s s0 )

vB2 v A2 2aC ( sB s A )
0 (75m / s) 2 2(9.81m / s 2 )( sB 40m)
sB 327m

v2 v2 2aC (sC sB )
C B
0 2(9.81m / s 2)(0 327m)
v 80.1m / s
C
 3) Motion of Projectile
Projectiles acceleration always act vertically
Projectile launched at (x0, y0) and path is defined in the x-y plane
Air resistance is neglected
Only force is its
weight downwards
ac = g = -9.81 m/s2
3) Motion of Projectile
Horizontal Motion Since ax = 0,

v v0 ac t ;

v x (v0 ) x
1 2


x x0 v0t ac t ; x x0 (v0 ) x t
2
v x (v0 ) x

v 2 v02 2ac ( s s0 );
*Horizontal component of velocity remain constant during the motion

Vertical. Positive y axis is directed upward, then ay = - g

v v0 act ; v y (v0 ) y gt
1 2 1 2
y y0 v0t ac t ; y y0 (v0 ) y t gt
2 2
v 2
v0 2 ac ( y y0 );
2
v x (v0 ) 2y 2 g ( y y0 )
3) Motion of Projectile
Example 4:
A sack slides off the ramp with a horizontal velocity of
12 m/s. If the height of the ramp is 6 m from the floor,
determine the time needed for the sack to strike the
floor and the range R where the sacks begin to pile up.

Coordinate System. Origin of the coordinates is established at the beginning of the

path, point A. Initial velocity of a sack has components (vA)x = 12 m/s and (vA)y = 0
Acceleration between point A and B ay = -9.81 m/s2 Since (vB)x = (vA)x = 12 m/s, the
three unknown are (vB)y, R and the time of flight tAB
Horizontal Motion.
Vertical Motion. Vertical distance from A
x x A (v A ) x t AB
to B is known
yB y A (v A ) y t AB 2 act AB
1 2
t AB 1.11s R 0 1211.1
R 13.3m
 4) General Curvilinear Motion
Curvilinear motion
occurs when the particle moves
along a curved path
Position
measured from a fixed point O, by
the position vector r = r(t)
Displacement
For a particle travel a distance s along the
curve to a new position P`, within a small
time interval t, it is defined by r` = r + r
The displacement r represents the change in
the particles position
4) General Curvilinear Motion
Velocity
r
Average velocity of the vavg
particle is defined as t
Instantaneous velocity is
found from letting dr
t0, vins
dt
Acceleration
The average acceleration during the time interval t is
v dv d 2 r
aavg a 2
t dt dt
a acts tangent to the hodograph and is not tangent to the
path
4) Curvilinear Motion: Rectangular Components
Position
Position vector is defined by r = xi + yj + zk
The magnitude of r is always positive and
defined as
r x y z
2 2 2

The direction of r is specified by the

components of the unit vector ur = r/r
Velocity dr
v vx i v y j vz k
We have dt
where vx x , v y y , vz z
The velocity has a magnitude defined as the
positive value of v v 2
x v 2
y v 2
z

Unit vector uv=v/v and is always tangent to the

path
4) Curvilinear Motion: Rectangular Components
Acceleration
We have
dv
a ax i a y j az k
dt
where a x vx x , a y v y y , a z vz z
The acceleration has a magnitude defined as the positive
value of a a2 a2 a2
x y z

PROCEDURE FOR ANALYSIS

Coordinate System
Rectangular coordinate system can be expressed in terms of its x, y and z
components
Kinematic Quantities
Rectilinear motion is found using
v = ds/dt, a = dv/dt or a ds = v dv
Magnitudes of vectors are found from Pythagorean theorem
4) Curvilinear Motion: Rectangular Components

Example 5:
At any instant the horizontal position of the weather
balloon is defined by x = (9t) m, where t is in second.
If the equation of the path is y = x2/30, determine the
distance of the balloon from the station at A, the
magnitude and direction of the both the velocity and
acceleration when t = 2 s.

Solution
Position
When t = 2 x = 9(2)= 18 m, y = (18)2/30 = 10.8m The straight-line distance
from A to B is

Velocity v x x
d
9t 9m / s
We have dt
v y y
d 2
dt

x / 30 10.8m / s
Cont..Eg. 5
Solution
Velocity
When t = 2 s, the magnitude of velocity is

v 92 10.82 14.1m / s
The x is tangent to the path is vy
v tan 1
50.2
vx
Acceleration
We have ax vx 0 and a y vy 5.4m / s 2 thus,

a 02 5.42 5.4m / s 2
5.4
a tan 1 90
0
4) Curvilinear Motion: Normal and Tangential
Components
Path of motion of a particle is describe
using n and t coordinates which act
normal and tangent to the path
At the instant considered have their
origin located at the particle
Planar Motion
Origin happen to coincide
with the location of the particle
Planar Motion
Curve can be constructed from a
series of differential arc segments ds
Plane contains n and t axes is referred
to as osculating plane and is fixed in
the plane of motion
4) Curvilinear Motion: Normal and Tangential
Components
Velocity
When particle is moving, s is a function of time
Particles velocity v has direction that is always
tangent to the path
Magnitude is determined by taking the time
derivative of the path function s = s(t)

v vut where v s
4) Curvilinear Motion: Normal and Tangential
Components
Acceleration
Acceleration of the particle is the time
rate of change of velocity

a v vut vut

a can be written as
dv
a ax i a y j az k
dt
where a x vx x , a y v y y , a z vz z
Magnitude is a a 2 a 2 a 2
x y z
4) Curvilinear Motion: Normal and Tangential
Components
PROCEDURE FOR ANALYSIS
Coordinate System
When path of the particle is known, establish a set of n and t coordinates
with a fixed origin
Positive tangent axis acts in the direction of the motion
n and t axes are used for studying the velocity and acceleration of the particle
Velocity
Particles velocity is always tangent to the path v s
Magnitude of the velocity is found from the derivative of the path function
Tangential Acceleration
For rectilinear motion, at v and at ds vdv
If at is constant, 1
s s0 v0t (ac ) c t 2
2
v v0 (ac ) c t
v 2 v02 2(ac ) c ( s s0 )
4) Curvilinear Motion: Normal and Tangential
Components
PROCEDURE FOR ANALYSIS
Normal Acceleration
For magnitude of the normal component,
v2
an

When path is expressed as y = f(x), radius of
curvature at any point on the path is determined
from
[1 (dy / dx) 2 ]3 / 2

d 2 y / dx2
4) Curvilinear Motion: Normal and Tangential
Components
Example 6:
When the skier reaches the point A along the
parabolic path, he has a speed of 6m/s which is
increasing at 2m/s2. Determine the direction of
his velocity and the direction and magnitude of
this acceleration at this instant. Neglect the size
of the skier in the calculation.
Coordinate System. Establish the origin of the n, t
axes at the fixed point A on the path and
determine the components of v and a along these
axes.

Velocity. The velocity is directed tangent to the v make an angle of = tan-1 =

path. 45 with the x axis
y
1 2
x ,
dy
1 v A 6m / s
20 dx x 10
Cont..Eg. 6
Acceleration
[1 ( dy / dx) 2 3/ 2
]
Since d y 1 , the radius of curvature is: 28.28m
2
2 2
dx 2 10 d y / dx

v2
The acceleration becomes a A vut un


{2ut 1.273un }m / s 2
Acceleration
The magnitude and angle is: a 2 1.237 2.37m / s 2
2 2

2
tan 1 57.5
1.237
Thus, 57.5 45 = 12.5
a = 2.37 m/s2
4)Curvilinear Motion: Cylindrical Components
Polar Coordinates
Location of P use both the radial coordinate r and a traverse coordinate
which is counterclockwise angle
Angle measured in deg or rad
where 1 rad = 180
Position

At any instant, position r rur
defined by position vector

Velocity
Instantaneous velocity v isobtained by the
time derivative of r

v r rur rur
A change in will cause ur to become ur where ur = ur + ur
For small angles ,
ur
ur lim lim u
t 0 t t 0 t

ur u
4)Curvilinear Motion: Cylindrical Components
Velocity
We have v v u v u v r v r
r r r
Since vr and v are mutually perpendicular,
Direction of v is tangent
v r r
to the path at P 2 2
Acceleration
Taking the time derivatives, we have
a v rur rur ru ru ru
Acceleration
For small angles, u= - ur
We write the acceleration in component form as

a ar ur a u , ar r r 2 , a r 2r
Since ar and a are always perpendicular
Acceleration is not

tangent to the path a r r
2 2

r 2r
2
4)Curvilinear Motion: Cylindrical Components
Cylindrical Coordinates
When P moves along a space, location is specified by
the three cylindrical coordinates
r, , z
Position, velocity, acceleration of the particle is written
as
rp rur zu z

v rur ru zu z


a (r r 2 )ur (r 2r)u zu z
Time Derivatives
2 common problems:
a. When coordinates are specified as r = r(t) and = (t), time derivative can
be formed directly
b. When time parametric equations are not given, need to specify r = f() and
relationship between the time derivatives using the chain rule of calculus
4)Curvilinear Motion: Cylindrical Components
PROCEDURE FOR ANALYSIS
Coordinate System
Polar coordinate solve angular motion of
radial coordinate r
Origin at a fixed point and the
radial line r is directed to the particle
Transverse coordinate is measured from a
fixed
reference line to radial line
Velocity and Acceleration
r and the 4 time derivatives can be used to
obtain the radial and transverse
components of v and a
Use chain rule of calculus to find the time
derivatives of r = f()
 4)Curvilinear Motion: Cylindrical Components
Example 7:
The rob OA is rotating in the horizontal plane such
that = (t3) rad. At the same time, the collar B is
sliding outwards along OA so that r = (100 t2)mm.
If in both cases, t is in seconds, determine the
velocity and acceleration of the collar when t = 1s.
1) Velocity and acceleration:
r 100t 2 t 1s 100 mm t 3
t 1 s
1rad 57.3

r 200t t 1 s
200mm / s 3t 2 t 1 s
3rad / s
r 200 t 1 s
200mm / s 2 6t t 1 s
6 rad / s 2

2) Magnitude v is: v 2002 3002 361mm / s

v rur ru
tan 1
300
56.3
{200ur 300u }mm / s 200
57.3 114
Cont. Eg. 7:

Velocity and Acceleration

As shown in the figure,
2
a (r r )ur (r 2r )u


{700ur 1800u }mm / s 2

The magnitude of a is

a 7002 18002 1930mm / s 2

1 1800
tan 68. 7
700
(180 ) 57.3 169
5)Constrained Motion of Connected 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 lT, the position coordinate is
s A lCD sB lT
For velocity, negative sign indicates A has a velocity downward

ds A dsB
0 or vB v A
dt dt
 5)Constrained Motion of Connected Particles
Time differentiation of
the velocities yields the
relation between
accelerations: aB = - aA
A is specified by sA, and
the position of the end
of the cord which block B
is suspended, sB
Position coordinate is
2 sB h 2 s A l
Since l and h are
constant
2vB vA , 2aB aA
during the motion,
 5)Constrained Motion of Connected Particles
Example 8:
Determine the speed of block A if block B has an upward speed
of 2m/s.
Solution
Position Coordinate System
Positions of A and B are defined using sA and sB.
For the remaining cord length,
s A 2sC l1 sB ( sB sC ) l2
Eliminating sC yields
s A 4sB 2l2 l1
Time Derivative
The time derivative gives v A 4vB 0

so that vB = -2m/s and v A 8m / s 8m / s