Lecture 10 Engg Mech. Dyanmics

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(C) 2005 Pearson Education South Asia Pte Ltd. 1

Chapter Outline:
ë Position, Velocity and Acceleration

ë Straight-Line Motion
ë Curvilinear Motion
ë Relative Motion
ë Chapter Summary

Chapter 13: Motion of a Point
Study of motion involves describing and analyzing

the motion of a point in space (either along an
arbitrary path or trajectory) from its position,
velocity and acceleration using various coordinate
systems.

13.1 Position, Velocity and
Acceleration
A reference frame is a coordinate system
specifying the positions of points by specifying the
components of the position vector r relative to the
origin. Shown in Fig 13.1(a) and (b) are examples
for specifying positions of objects in a room and
an airplane.

Acceleration
We can describe the position of a point P relative
to a given reference frame with origin O by the
position vector r from O to P as seen in Fig
13.2(a).

Acceleration
Suppose P is in a motion relative to the chosen
reference frame, so the r is a function of time t
(see Fig 13.2(b)).
Thus, we can express this

by notation
å
O

Acceleration
The velocity of P relative to the given reference
frame at time t is defined by

O
O
å å O

where the vector r(t+ǻt) ± r(t) is the change in

position, or displacement, of P during the interval
of time ǻt (refer to Fig 13.2(c)).

Acceleration
Thus, the velocity v is the rate of change of

position of P.

Acceleration
Time derivative of the sum of two vector functions
u and w is
i i i-
ë- ë
i
i
i
Time derivative of the product of a scalar function

f and a vector function u is

å


Acceleration
The acceleration of P relative to the given
reference frame at time t is defined by

O
O
å å O

where v(t+ǻt) ± v(t) is the change in velocity of P

during the interval of time ǻt. (see Fig 13.3)

Acceleration
Acceleration is the rate of change of the velocity of

P at time t i.e.
i i i
O
i
i
i


Acceleration
Let O¶ be an arbitrary fixed point and r¶ be the
position vector from O¶ to P (refer to Fig 13.4(a)).
Velocity of P relative to O¶
is i

i
Velocity of P relative to
origin O is

å


Acceleration
To show v¶ = v, let R
be the vector from O
to O¶ (refer to Fig
13.4(b)), such that
å u

Acceleration
Since the vector R is constant, the velocity of P
relative to O¶ is
i i i i

i
i
i
i
and it is given that from definition,
i i
i
i
i

Acceleration
Therefore, v¶ = v and a¶ = a.
Thus the velocity and acceleration of a point P
relative to a given reference frame do not depend
on the location of the fixed reference point used to
specify the position of P

13.2 Straight-Line Motion
ë

Consider a straight line through the origin O
of a given reference frame. Assuming the
direction of the line relative to the reference
frame is fixed, we can specify the position of
a point P relative to O by a coordinate s
measured along the line from O to P (Fig
13.5(a)).

Since s is defined to be positive to the right, thus

1. s is positive when P is to the right of O
2. s is negative when P is to the left of O
The displacement of P during an interval of time
from to to t is the change in the position s(t) ±
s(to), where s(t) denotes the position at time t.

From Fig 13.5(b), by introducing a unit vector e

that is parallel to the line in positive s direction, the
position vector of P relative to O is
å
·ecause the magnitude and direction of e are
i
constant, such that , therefore the velocity
i
i i
of P relative to O is
i
i

Writing the velocity vector as å ^ , we can

obtain the scalar equation
i
^å
i
where the velocity ^ of point P along the straight

line is the rate of change of position s.

From Fig 13.6, ^ is equal to the slope at time t of

the line tangent to the graph of s as a function of
time. Therefore the acceleration of P relative to O
is
i i i^
^
i
i
i

Writing the acceleration vector as å a , we

obtain the scalar equation

i^ i

i
i

where acceleration a
is equal to the slope at
time t of the line
tangent to the graph of ^
as a function of time.
(Fig 13.7)
·y introducing the unit vector e, the position is

specified by the coordinate s and the velocity and
acceleration are governed by the equations
i
^ O
i
^
aå O


Applying the chain rule of differential calculus, the

derivation of velocity w.r.t time is
i^ i^ i
i
i i
An alternative expression for the acceleration is
^
aå ^ O


ë O

an some cases, the position s of a point of an
object is known as a function of time. Hence
methods such as radar and laser-Doppler
interferometry are used. an this case, we can
obtain the velocity and acceleration as
functions of time from Eqn (13.3) & (13.4) by
differentiation.

For example in Fig 13.8, the position of the truck

from t = 2 s to t = 4 s is given by the eqn

ë

Thus, the velocity and acceleration of the truck

during that interval of time are
i i^
^

i
i

Acceleration specified as a function of time

if the acceleration is a known function of time (),
we can integrate the relation
i^

O O
i
w.r.t time to determine the velocity as a function of

time such that
^ a
O
O

Given A is an integration constant, we can

integrate the relation
i
^ O
i
to determine the position as a function of time,
^ i
ë ·
where · is another integration constant.

To determine the constants A and ·, we can write

Eqn (13.6) as
i^
O i
and integrate in terms of definite integrals:

^
^ i^

O i

O
where ^ is the velocity at time t

^ is the velocity at an arbitrary time t

Evaluating the integral on the left side of Eqn

(13.8), we obtain an expression for the velocity as
a function of time:

^ ^ ë
O i
O

Writing Eqn (13.7) as i ^ i

, and integrating it to
obtain:

^

Once again, by evaluating the integral on the left

side, we obtain the position as a function of time:
ë ^
O i
O

at is recommended that straight-line motion

problems be solved by using Eqns (13.3)-(13.5).
at will be demonstrated in later examples.

From Eqns (13.9) & (13.10), we can observed that
The area defined by the acceleration graph of P
from t0 to t is equal to the change in velocity from t0
to t. (Fig 13.9(a))

The area defined by the velocity graph of P
from t0 to t is equal to the change in position
from t0 to t. (Fig 13.9(b))

Constant Acceleration
Let the acceleration be a known constant a0. From
Eqns (13.9) & (13.10), the velocity and position as
functions of time are
^ å ^ a

O O

å ^

O a

O O


Notice that s0 and v0 are the position and velocity

at time t0. af the acceleration is constant, the
velocity is a linear function of time. From Eqn
(13.5), we can write the acceleration as
^
a å ^

Rewriting as ^ ^ å a , and integrating,
^
^ ^ ^ å a


We can obtain an equation for the velocity as a
function of position:
^ ^ ë O O
Eqns (13.11) to (13.13) are suitable to be used

only when the acceleration is constant.

Example 13.1 Straight-Line Motion
with Constant Acceleration
ëU
Engineers testing a vehicle that will be
dropped by parachute estimate that the
vertical velocity of the vehicle when it reaches
the ground will be 6 m/s. af they drop the
vehicle from the test
rig in Fig 13.10, from
what height h should
they drop it to match the
impact velocity of the
parachute drop?
ë !
af only the significant force acting on an object
near the earth¶s surface is its weight, the
acceleration of the object is approximately
constant and equal to the acceleration due to
gravity at sea level. Therefore we can assume
that the vehicle¶s acceleration during its short fall
is g = 9.81 m/s2. antegrating Eqns (13.3) & (13.4)
to obtain the vehicle¶s velocity and position, and
hence its position when its velocity is 6 m/s.

ë !
let t = 0 when the vehicle is dropped, and let s
be the position of the bottom of the cushioning
material beneath the vehicle relative to its
position at t = 0 (Fig a). The vehicle¶s
acceleration is a = 9.81 m/s2.
From Eqn (13.4),
^
å a å


antegrating, we obtain
^

ë O
where A is an integration constant.

·ecause the vehicle is at rest when it is released,
v = 0 at t = 0. Therefore A = 0 and hence,
^


Substitute the result into Eqn (13.3), we have
i
^

and integrating it to obtain,

ë ·
When t = 0, s = 0 and · = 0, hence


The time necessary for the vehicle to reach 6 m/s
as it falls is
^

å å å

Hence, the required height h is

O


Example 13.2 Graphical Solution of
Straight-Line Motion
ëU
The cheetah can run as fast as 120 km/h. af
assuming the animal¶s acceleration is constant
and that it reaches top speed in 4 s, what
distance can the cheetah cover in 10 s?

ë !
the acceleration has a constant value for the
first 4 s and is then zero. We can determine
the distance traveled during each of these
³phases´ of the motion and sum them to
obtain the total distance covered, either
analytically or graphically.

ë !
the top speed in terms of feet per second is

å å

1. Analytical Method
let 0 be the acceleration during the first 4 s.
we integrate Eqn (13.4) to get

^
i^ i
l^ l

^
O
obtaining the velocity as a function of time during

the first 4 s:
^ å


When = 4 s, = 33.33 m/s and 0 = 8.33 m/s2.
since the velocity during the first 4 s is = 8.33
m/s, integrating Eqn (13.3) we have

i

i

l

O

Obtaining the position as a function of time during
the first 4 s:

At = 4 s, the position is = 4.17(4)2 = 66.7 m.

From = 4 s to = 10 s, = 33.33 m/s. Rewriting
Eqn (13.3) as
å ^
å

antegrate to determine the distance traveled during
the second phase of the motion,

å
l å l

å O
å
Hence the total distance traveled in 10 s is 66.7 m
+ 200 m = 266.7 m or 0.267 km.
2. Graphical method
·y drawing a graph of the cheetah¶s velocity
as a function of time in Fig (a), the total
distance covered is the sum of the areas
during the two phases of motion. Acceleration
is constant during the first 4 s of motion, so the
graph is linear from v = 0 at t = 0 to v = 33.33
m/s at t = 4 s. Velocity is constant during the
last 6 s.

Total distance covered by the cheetah is

å

å

Example 13.3 Acceleration that is a
Function of Time
ëU
Suppose that the acceleration of the train in Fig.
13.12 during the interval of time from = 2 s to t
= 4 s is = 2 m/s2, and at = 2 s its velocity is
= 180 km/h. what is the train¶s velocity at t = 4 s,
and what is its displacement (change in position)
from = 2 s to = 4 s?

Function of Time
ë !
We can integrate Eqns (13.3) & (13.4) to
determine the train¶s velocity and position as
functions of time.

Function of Time
ë !
The velocity at = 2 s is

Rewrite Eqn (13.4) as
^ å a
å


Function of Time
Given the condition = 50 m/s at = 2 s,
^ å

l^ ^
å l

^ å

^ å


Function of Time
Rewriting Eqn (13.3), we have
i ^ i

ë i
antegrating at = 2 s, = 0:

å
O

l å


Function of Time
Hence yielding the position as a function of time,

ë
O

ë


Function of Time
$sing our equations for the velocity and position,
the velocity at = 4 s is
^ å å
Therefore, the displacement from = 2 s to = 4 s

is
O å


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(C) 2005 Pearson Education South Asia Pte Ltd. 1

ë Position, Velocity and Acceleration

(C) 2005 Pearson Education South Asia Pte Ltd. 2

Study of motion involves describing and analyzing

(C) 2005 Pearson Education South Asia Pte Ltd. 3

(C) 2005 Pearson Education South Asia Pte Ltd. 4

(C) 2005 Pearson Education South Asia Pte Ltd. 5

Thus, we can express this

(C) 2005 Pearson Education South Asia Pte Ltd. 6

where the vector r(t+ǻt) ± r(t) is the change in

(C) 2005 Pearson Education South Asia Pte Ltd. 7

Thus, the velocity v is the rate of change of

(C) 2005 Pearson Education South Asia Pte Ltd. 8

Time derivative of the product of a scalar function

(C) 2005 Pearson Education South Asia Pte Ltd. 9

where v(t+ǻt) ± v(t) is the change in velocity of P

(C) 2005 Pearson Education South Asia Pte Ltd. 10

Acceleration is the rate of change of the velocity of

(C) 2005 Pearson Education South Asia Pte Ltd. 11

(C) 2005 Pearson Education South Asia Pte Ltd. 12

(C) 2005 Pearson Education South Asia Pte Ltd. 13

and it is given that from definition,

(C) 2005 Pearson Education South Asia Pte Ltd. 14

(C) 2005 Pearson Education South Asia Pte Ltd. 15

(C) 2005 Pearson Education South Asia Pte Ltd. 16

Since s is defined to be positive to the right, thus

(C) 2005 Pearson Education South Asia Pte Ltd. 17

From Fig 13.5(b), by introducing a unit vector e

(C) 2005 Pearson Education South Asia Pte Ltd. 18

Writing the velocity vector as å ^ , we can

where the velocity ^ of point P along the straight

(C) 2005 Pearson Education South Asia Pte Ltd. 19

From Fig 13.6, ^ is equal to the slope at time t of

(C) 2005 Pearson Education South Asia Pte Ltd. 20

Writing the acceleration vector as å a , we

·y introducing the unit vector e, the position is

(C) 2005 Pearson Education South Asia Pte Ltd. 22

Applying the chain rule of differential calculus, the

An alternative expression for the acceleration is

(C) 2005 Pearson Education South Asia Pte Ltd. 23

(C) 2005 Pearson Education South Asia Pte Ltd. 24

For example in Fig 13.8, the position of the truck

Thus, the velocity and acceleration of the truck

(C) 2005 Pearson Education South Asia Pte Ltd. 25

 Acceleration specified as a function of time

w.r.t time to determine the velocity as a function of

(C) 2005 Pearson Education South Asia Pte Ltd. 26

Given A is an integration constant, we can

to determine the position as a function of time,

(C) 2005 Pearson Education South Asia Pte Ltd. 27

To determine the constants A and ·, we can write

and integrate in terms of definite integrals:

where ^ is the velocity at time t

(C) 2005 Pearson Education South Asia Pte Ltd. 28

Evaluating the integral on the left side of Eqn

Writing Eqn (13.7) as i ^ i

(C) 2005 Pearson Education South Asia Pte Ltd. 29

Once again, by evaluating the integral on the left

at is recommended that straight-line motion

(C) 2005 Pearson Education South Asia Pte Ltd. 30

(C) 2005 Pearson Education South Asia Pte Ltd. 31

(C) 2005 Pearson Education South Asia Pte Ltd. 32

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Acceleration specified as a function of time

where ^ is the velocity at time t

Writing Eqn (13.7) as i ^ i

^ ^ ë O O

At = 4 s, the position is = 4.17(4)2 = 66.7 m.

Therefore, the displacement from = 2 s to = 4 s