Kinematics

AV411 Navigation Systems and Sensors

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Kinematics Denition (wiki)

Kinematics is the branch of classical mechanics that describes the motion of points, bodies (objects) and systems of bodies (groups of objects) without consideration of the causes of motion

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Kinematics Denition (wiki)

Kinematics is the branch of classical mechanics that describes the motion of points, bodies (objects) and systems of bodies (groups of objects) without consideration of the causes of motion Derived from Greek kinema movement, motion

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Kinematics Denition (wiki)

Kinematics is the branch of classical mechanics that describes the motion of points, bodies (objects) and systems of bodies (groups of objects) without consideration of the causes of motion Derived from Greek kinema movement, motion kinein to move

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Kinematics Denition (wiki)

Kinematics is the branch of classical mechanics that describes the motion of points, bodies (objects) and systems of bodies (groups of objects) without consideration of the causes of motion Derived from Greek kinema movement, motion kinein to move A reference frame and clock are required to keep track of a particle

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Basic Kinematics
Z replacements a r O
Pa th

v P

S Y

X A

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Basic Kinematics

Position vector of particle P: r (t ) = x (t )i + y (t )j + z (t )k

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Basic Kinematics

Position vector of particle P: r (t ) = x (t )i + y (t )j + z (t )k

Distance of P from O: |r (t )| = x2 + y2 + z2 = r (t ) r (t )

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Basic Kinematics

Position vector of particle P: r (t ) = x (t )i + y (t )j + z (t )k

Distance of P from O: |r (t )| = x2 + y2 + z2 = r (t ) r (t )

Velocity: v= dx (t ) dy (t ) dz (t ) i+ j+ k = vx (t )i + vy (t )j + vz (t )k dt dt dt

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Basic Kinematics

Position vector of particle P: r (t ) = x (t )i + y (t )j + z (t )k

Distance of P from O: |r (t )| = x2 + y2 + z2 = r (t ) r (t )

Velocity: v= dx (t ) dy (t ) dz (t ) i+ j+ k = vx (t )i + vy (t )j + vz (t )k dt dt dt

Acceleration: a= dvx (t ) dvy (t ) dvz (t ) i+ j+ k = ax (t )i + ay (t )j + az (t )k dt dt dt

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Curvilinear Path

Rectilinear motion: motion along straight line

v ut

Pa t

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Curvilinear Path

Rectilinear motion: motion along straight line Curvilinear motion: motion along curved path v ut

Pa t

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Curvilinear Path

ut is the unit tangent vector to the trajectory/path of the particle P at time t

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Curvilinear Path

ut is the unit tangent vector to the trajectory/path of the particle P at time t s is the path length at time t

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Curvilinear Path

ut is the unit tangent vector to the trajectory/path of the particle P at time t s is the path length at time t |v | =
ds dt

=s is speed/odometer reading at time t

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Curvilinear Path

ut is the unit tangent vector to the trajectory/path of the particle P at time t s is the path length at time t |v | =
ds dt

=s is speed/odometer reading at time t

v = |v |ut

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Curvilinear Path

ut is the unit tangent vector to the trajectory/path of the particle P at time t s is the path length at time t |v | = ut =
ds dt vx |v | i

=s is speed/odometer reading at time t +

vy |v | j

v = |v |ut +
vz |v | k

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Curvilinear Path

ut is the unit tangent vector to the trajectory/path of the particle P at time t s is the path length at time t |v | = ut =
d |r (t )| dt ds dt vx |v | i

=s is speed/odometer reading at time t +

vy |v | j

v = |v |ut +
vz |v | k

is rate of change of magnitude of position vector

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Curvilinear Path

ut is the unit tangent vector to the trajectory/path of the particle P at time t s is the path length at time t |v | = ut =
d |r (t )| dt ds dt vx |v | i

=s is speed/odometer reading at time t +

vy |v | j

v = |v |ut +
vz |v | k

is rate of change of magnitude of position vector

d |r (t )| dt

Note: v =

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Curvilinear Path
ut

ut ds un P

C center of curvature lies on osculating plane

ub C d

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Curvilinear Path
ut

ut

C center of curvature lies on osculating plane radius of curvature

ub un C d

ds P

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Curvilinear Path
ut

ut

C center of curvature lies on osculating plane radius of curvature ut unit tangent at P

ub un C d

ds P

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Curvilinear Path
ut

ut

C center of curvature lies on osculating plane radius of curvature ut unit tangent at P un unit principal normal orthogonal to ut points to C

ub un C d

ds

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Curvilinear Path
ut

ut

C center of curvature lies on osculating plane radius of curvature ut unit tangent at P un unit principal normal orthogonal to ut points to C Osculating plane plane formed by ut and un

ub un C d

ds

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Curvilinear Path
ut

ut

C center of curvature lies on osculating plane radius of curvature ut unit tangent at P un unit principal normal orthogonal to ut points to C Osculating plane plane formed by ut and un ub = ut un binormal vector (normal to osculating plane)

ub un C d

ds

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Curvilinear Path
ut

ut

C center of curvature lies on osculating plane radius of curvature ut unit tangent at P un unit principal normal orthogonal to ut points to C Osculating plane plane formed by ut and un ub = ut un binormal vector (normal to osculating plane) ut , un and ub forms right-handed coordinate system

ub un C d

ds

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Curvilinear path: Acceleration

= u + du ut t t

d ut ut
ut

un

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Curvilinear path: Acceleration

= u + du ut t t

d ut ut
ut

v = |v |ut

un

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Curvilinear path: Acceleration

= u + du ut t t

d ut ut
ut

v = |v |ut a=
dv dt

un

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Curvilinear path: Acceleration

= u + du ut t t

d ut ut
ut

v = |v |ut a= a=
dv dt d |v | dt ut ut + |v | ddt

un

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Curvilinear path: Acceleration

= u + du ut t t

d ut ut
ut

v = |v |ut a= a=
dv dt d |v | dt ut ut + |v | ddt

As dt 0, d ut is parallel to un

un

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Curvilinear path: Acceleration

= u + du ut t t

d ut ut
ut

v = |v |ut a= a=
dv dt d |v | dt ut ut + |v | ddt

As dt 0, d ut is parallel to un d ut = d un (arc length made by ut

un

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Curvilinear path: Acceleration

= u + du ut t t

d ut ut
ut

v = |v |ut a= a=
dv dt d |v | dt ut ut + |v | ddt

As dt 0, d ut is parallel to un d ut = d un (arc length made by ut =

d dt un

un

d ut dt

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Curvilinear path: Acceleration

= u + du ut t t

d ut ut
ut

v = |v |ut a= a=
dv dt d |v | dt ut ut + |v | ddt

As dt 0, d ut is parallel to un d ut = d un (arc length made by ut = a=

d dt un d |v | dt ut + |v | d dt un

un

d ut dt

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Curvilinear Path: Acceleration

ut

ds = d

ut ds un P

ub C d

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Curvilinear Path: Acceleration

ut

ds = d is constant for small dt

ut ds un P

ub C d

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Curvilinear Path: Acceleration

ut

ds = d is constant for small dt |v | =

ds dt = d dt

ut ds un P

ub C d

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Curvilinear Path: Acceleration

ut

ds = d is constant for small dt |v | = =

ds dt |v | = d dt

ut ds un P

d dt

ub C d

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Curvilinear Path: Acceleration

ut

ds = d is constant for small dt |v | = =

ds dt |v | = d dt

ut ds un P

d dt

ub C d

Recall a =

d |v | dt ut

+ |v | d dt un

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Curvilinear Path: Acceleration

ut

ds = d is constant for small dt |v | = =

ds dt |v | = d dt

ut ds un P

d dt

ub C d

Recall a = So a =

d |v | d dt ut + |v | dt un d |v | |v |2 dt ut + un

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Curvilinear Path: Acceleration

ut

ds = d is constant for small dt |v | = =

ds dt |v | = d dt

ut ds un P

d dt

ub C d

Recall a =

So a = a = at ut + an un

d |v | d dt ut + |v | dt un d |v | |v |2 dt ut + un

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Curvilinear Path: Acceleration

ut

ds = d is constant for small dt |v | = =

ds dt |v | = d dt

ut ds un P

d dt

ub C d

Recall a =

So a = a = at ut + an un

d |v | d dt ut + |v | dt un d |v | |v |2 dt ut + un

|v | tangential at = ddt component of acceleration

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Curvilinear Path: Acceleration

ut

ds = d is constant for small dt |v | = =

ds dt |v | = d dt

ut ds un P

d dt

ub C d

Recall a =

So a = a = at ut + an un

d |v | d dt ut + |v | dt un d |v | |v |2 dt ut + un

|v | tangential at = ddt component of acceleration

an = |v| normal component of acceleration

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Curvilinear Path: Binormal Vector

Exersise: Derive an expression for binormal vector in terms of acceleration and velocity

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Curvilinear Path: Binormal Vector

Exersise: Derive an expression for binormal vector in terms of acceleration and velocity Consider v a = |v |ut (at ut + an un )

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Curvilinear Path: Binormal Vector

Exersise: Derive an expression for binormal vector in terms of acceleration and velocity Consider v a = |v |ut (at ut + an un ) v a = |v |ut at ut + |v |ut an un

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Curvilinear Path: Binormal Vector

Exersise: Derive an expression for binormal vector in terms of acceleration and velocity Consider v a = |v |ut (at ut + an un ) v a = |v |ut at ut + |v |ut an un v a = |v |an (ut un )

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Curvilinear Path: Binormal Vector

Exersise: Derive an expression for binormal vector in terms of acceleration and velocity Consider v a = |v |ut (at ut + an un ) v a = |v |ut at ut + |v |ut an un v a = |v |an (ut un ) v a = |v |an ub

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Curvilinear Path: Binormal Vector

Exersise: Derive an expression for binormal vector in terms of acceleration and velocity Consider v a = |v |ut (at ut + an un ) v a = |v |ut at ut + |v |ut an un v a = |v |an (ut un ) v a = |v |an ub v a = |v a|ub ub = v a |v a|

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Time derivative of moving vector Rigid body motion

A(t )

A(t + dt )

t
O j i X

Y O j i X

t + dt

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Time derivative of moving vector

A(t + dt ) dA

angular velocity vector, the direction is obtained from right hand rule (of what vectors?)

A(t )

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Time derivative of moving vector

A(t + dt ) dA

angular velocity vector, the direction is obtained from right hand rule (of what vectors?) is also the instantaneous axis of rotation

A(t )

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Time derivative of moving vector

A(t + dt ) dA

angular velocity vector, the direction is obtained from right hand rule (of what vectors?) is also the instantaneous axis of rotation dA = (A(t ) + dA) A(t )

A(t )

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Time derivative of moving vector

A(t + dt ) dA

angular velocity vector, the direction is obtained from right hand rule (of what vectors?) is also the instantaneous axis of rotation dA = (A(t ) + dA) A(t ) dA = A(t + dt ) A(t )

A(t )

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Time derivative of moving vector

dA = |r | sin d n

A(t + dt ) dA

A(t )

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Time derivative of moving vector

dA = |r | sin d n |r | = |A(t )| sin

A(t + dt ) dA

A(t )

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Time derivative of moving vector

dA = |r | sin d n |r | = |A(t )| sin n is normal to plane of and A

A(t + dt ) dA

A(t )

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Time derivative of moving vector

dA = |r | sin d n |r | = |A(t )| sin n is normal to plane of and A For small dt sin d d

A(t + dt ) dA

A(t )

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Time derivative of moving vector

dA = |r | sin d n |r | = |A(t )| sin n is normal to plane of and A For small dt sin d d So dA = (|A(t )| sin d )n

A(t + dt ) dA

A(t )

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Time derivative of moving vector

dA = |r | sin d n |r | = |A(t )| sin n is normal to plane of and A For small dt sin d d So dA = (|A(t )| sin d )n |A(t )| sin d is magnitude of dA

A(t + dt ) dA

A(t )

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Time derivative of moving vector

dA = |r | sin d n |r | = |A(t )| sin n is normal to plane of and A For small dt sin d d So dA = (|A(t )| sin d )n |A(t )| sin d is magnitude of dA Now d = |w |dt

A(t + dt ) dA

A(t )

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Time derivative of moving vector

dA = |r | sin d n |r | = |A(t )| sin n is normal to plane of and A For small dt sin d d So dA = (|A(t )| sin d )n |A(t )| sin d is magnitude of dA Now d = |w |dt where |w | is magnitude of angular velocity

A(t + dt ) dA

A(t )

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Time derivative of moving vector

dA = |r | sin d n |r | = |A(t )| sin n is normal to plane of and A For small dt sin d d So dA = (|A(t )| sin d )n |A(t )| sin d is magnitude of dA Now d = |w |dt where |w | is magnitude of angular velocity Therefore, dA = |A(t )| sin |w |ndt

A(t + dt ) dA

A(t )

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Time derivative of moving vector

dA = |r | sin d n |r | = |A(t )| sin n is normal to plane of and A For small dt sin d d So dA = (|A(t )| sin d )n |A(t )| sin d is magnitude of dA Now d = |w |dt where |w | is magnitude of angular velocity Therefore, dA = |A(t )| sin |w |ndt But |A(t )| sin |w |n = A(t )

A(t + dt ) dA

A(t )

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Time derivative of moving vector

dA = |r | sin d n |r | = |A(t )| sin n is normal to plane of and A For small dt sin d d So dA = (|A(t )| sin d )n |A(t )| sin d is magnitude of dA Now d = |w |dt where |w | is magnitude of angular velocity Therefore, dA = |A(t )| sin |w |ndt But |A(t )| sin |w |n = A(t ) So
d A(t ) dt

A(t + dt ) dA

A(t )

= A(t )
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Example and Exersise

Compute

d 2 A(t ) dt 2

where is angular acceleration

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Example and Exersise

Compute

d 2 A(t ) dt 2

d d 2 A(t ) = 2 dt dt

dA(t ) dt

where is angular acceleration Exersise: Compute

d 3 A(t ) dt 3

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Example and Exersise

Compute

d 2 A(t ) dt 2

d dA(t ) d 2 A(t ) = 2 dt dt dt d = A(t ) dt

where is angular acceleration Exersise: Compute

d 3 A(t ) dt 3

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Example and Exersise

Compute

d 2 A(t ) dt 2

d dA(t ) d 2 A(t ) = 2 dt dt dt d = A(t ) dt d dA(t ) = A(t ) + dt dt

where is angular acceleration Exersise: Compute

d 3 A(t ) dt 3

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Example and Exersise

Compute

d 2 A(t ) dt 2

d dA(t ) d 2 A(t ) = 2 dt dt dt d = A(t ) dt d dA(t ) = A(t ) + dt dt = A(t ) + A(t )

where is angular acceleration Exersise: Compute

d 3 A(t ) dt 3

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