KINEMATICS OF PARTICLES

11.28 a = ksin
0 t at
0 s
0 v
T
t

,
_

(a)
dt
T
t
sin k dv
T
t
sin k
dt
dv
v
0
t
0

,
_

,
_

v =
1
]
1

,
_

1
]
1

,
_

1
T
t
cos
T
k
T
t
cos
T
k
T
0
v =
1
]
1

,
_

T
t
cos 1
kT
v =
1
]
1

,
_

T
t
cos 1
kT
dt
ds
1
]
1

,
_

dt
T
t
cos 1
kT
ds
t
0
S
0
s =
t
0
T
T
t
sin t
kT
1
]
1

,
_

s =
1
]
1

,
_

T
t
sin
T
t
kT
s = k
1
]
1

,
_

T
t
sin
T
t
T
2
2
(b) v = v
max
when
1
]
1

,
_

value imum max has

T
t
cos 1
kT
i.e. when t = T
v
max
= 2

kT
(c) S/
t=2T
=
T 2 t
2
2
T
t
sin
T
t
T
k

1
]
1

,
_

=
1
]
1

,
_

T
T 2 .
sin
T
. T 2 .
T
k
T 2
2
=

2 .
2
2
T
k
T 2 t 1
T 2 t
T
t
sin
T
t
kT
/ S

1
]
1

,
_

=
1
]
1

,
_

T
T 2
sin
T
T 2
kT
S/
t=2T
=

2
kT
2
(d) v
ave
=
T 2
0
kT 2
0 T 2
S T 2 s
t
s
2
0 t t

A small object is eleased !om est in a tank o! oil. The downwad acceleation o! the object
"s (#$kv) whee # is the constant o! the object is (#$kv) whee # is the constant acceleation
due to #avit%& k is a constant which de'ends on the viscosit% o! the oil and the sha'e o! the
object and v is the downwad velocit% o! the object. (eive ex'essions !o the velocit%& v& and
the vetical do'& %& as !unction o! the time& t& a!te elease.
a =

t
0
v
dt
kv #
dv
) kv # (
dt
dv
(se'aation o! vaiables)
)et (#$kv) = u $kd
0
v=du
S =

2
kT 2
*ave =

kT

[ ] t u ln
k
1
t
u
du
k
1
#kv
#
kv #
#

ln
kt
e
#
kv #
kt
#
kv #

,
_

v =
) + iables va o! se'aation (
dt ) e 1 (
k
#
d% ) e 1 (
k
#
dt
d%
t
o
kt
%
o
kt



% =
1
]
1

) e 1 (
k
1
t
k
#
kt
11.42
,onside o'e T,(- (assume o'e inextensible)
,onst ) . . ( . .
/ 0 ( 0
+

!ixed is /
0 . . . .
/ 0 ( 0
+

) ii ( . . 2
( 0


* = #
k
) e 1 (
kt

1=
1
]
1

) e 1 (
k
1
t
k
#
kt
x
b
x
o
e
x
A
x
/
x
(
x
0

1
T
.
2
= .
0
3
0 2
. . l



) iii ( . 2 .
2 (


(a) s / mm 456 760 .
2
8
.
2
8
2
. 2 .
.
2
2 2
A

+

(b) s / mm 900 . 2 .
2 (

(c)
s / mm 226 760 456 . . .
2 A 2 / A

(d)
s / mm 760 s / mm 760 900 760 . . . . .
( 2 ( , ,(

(etemine the elationshi' which
#ovens the velocities o! the !ou
c%lindes. /x'ess all velocities
as 'ositive down. :ow man%
de#ees o! !eedom ae thee;
Assum'tion- <o'es "& "" = """ ae inextensible
<o'e "- .
,
3 2.
/
= ,onstant(i)
<o'e ""- (.
,
$/.
/
) 3 .
,
3 2/.
>
= ,onstant (ii)
<o'e """- (.
2
$.
>
) 3.
2
3.
A
= ,onstant (iii)
Substitute (i) in (ii) 2.
,
3 2.
>
3
2
.
(
= ,onstant (iv)
Substitute (iv) in (iii) 2.
2
3 .
A
3 .
,
3 t tan ,ons
7
.
(

o 7.
A
3?.
2
37.
,
3.
(
= ,onstant (v)
(i!!eentiate (v) with es'ect to t

0 . . 7 . ? . 7
( , 2 A
+ + +

@<
@nl% 8 o! .
A
& .
2
& .
,
and .
(
in (*) can be chosen s%stem has 8 de#ees o! !eedom
7*
A
3 ?*
2
3 7*
,
3*
(
= 0
A
(
2 ,
.
,
.
>
""
.
/
"
.
(
"""
.
A
.
t
/ >
.
2
A ball is do''ed veticall% onto a 20A incline at AB the diection o! ebound !oms an
an#le o! 70A with the vetical. Cnowin# that the ball next stikes the incline at 2&
detemine
a) the velocit% o! ebound at A& (b) the time eDuied !o the ball to tavel !om A to 2
Eotion in the x$diection
) i ( 60 cos
*
8
t m 8 . but
t . 60 cos * ,onst . 0 .
0
0



Eotion in the 1$diection
) iii (
2
t
# t . 60 sin * 1 1
) ii ( #t 60 sin * * #t 1 1 # 1
2
0 0
0 0



Feomet% -

m Y
V
t t
X Y
X
Y
092 . 1 &
60 cos
8
20 tan 8 20 tan 20 tan
0

(iii) then becomes- $1.092 = *

0
sin60A.
2
0
0
60 ,os *
8
2
9
60 cos *
8

,
_

$1.092 = 8 tan 60A $ 7.6 2

2
2
0
2 2
0
s
m
?9 . 22 *
60 cos *
) ?1 . 9 (

(a) (b)
*
0
= 7.5?6
s
m
T = 0.956secs
1
8m
70
o
A
2
.
20
o
,alculate the minimum 'ossible ma#nitude o! the muGGle velocit%& u& which a 'ojectile
must have when !ixed !om 'oint A to each a ta#et 2 on the same hoiGontal 'lane 12
km awa%.
Eotion in the .=diection
t . cos H . . cos H ,onst * 0 .
0 .



12000 = ucos.t (i)
Eotion in the 1$diection
) ii ( #t sin H * #t * *
dt
dv
# 1
1 0 1 1
%


At maximum hei#ht& *
1
= 0 0 usin$#t
1
t
1=
#
sin u
(iii)
2ecause o! s%mmet%& time taken& t& to tavel !om A to is twice t
1
(t = 2t
1
)
>om (ii) 12000 = ucos
#
cos sin u 2
#
sin u
2 .
2

u
2
=
) 90 2 when . e . i ( imum max is 2 sin when u u
2 sin
# 12000
min

The vetical slot moves to the i#ht with a constant s'eed v

0
in
metes 'e second !o an inteval o! motion and causes the 'in
P to move alon# the 'aabolic slot x = y
2
/8 whee x and y ae
in metes. ,alculate the adius o! cuvatue to the 'ath !o
the 'osition whee y = 2 m and calculate the tan#ential
acceleation a
t
o! the 'in when it 'asses this 'osition. Ans. =
4.97 m& a
t
= $0.149v
0
2
m/s
2
Hmin = t s / m 1 . 878 ) ?1 . 9 ( 12000 (ne#ative value !o u not
'h%sicall% 'ossible)
12 km

A
1
2
.
1 1
8
2
.


1
2
/ 1 1


6
7
sin
>o y = 2m& x = 7/8 m (since x = y2/8)
) const . ce (sin 0 ) 1 1 1 (
8
2
.
2
+


At 1 = 2m& . =
0
*
7
8
1 1
8
7
. m
8
7


2
0
2
0
*
82
9
2
*
14
9
1

*
2
=
0
2
0
2
0
2
0
2 2
*
7
6
* *
14
26
*
14
9
* 1 . + +

a
n
=
sin *
82
9
sin 1 cos .
2
0

8
7
7 / 8
tan
0
0
V
V
Y
X

2
0
2
0 n
*
70
9
6
7
*
82
9
a

84
260
* 9
70
*
14
26 *
a
2
0
2
0
2
n
4.97 m/s
2

+
2
0
2
0 t
*
140
25
6
8
*
82
9
cos 1 sin . a

2
0
* 149 . 0 m/s
2
A noGGle discha#es a steam o! wate in the
diection shown with an initial velocit% o! 26 m/s.
(etemine the adius o! cuvatue o! the steam (a)
as it leaves the noGGle& (b) at the maximum hei#ht o!
the steam.
8
7

6
t
. = 7/8m
1

*

% = 1m

x
% = 2m
x = v
0
n
a
n

At A
?6 . 5
) 26 (
a
* *
a but
s / m ?6 . 5 ) ?1 . 9 (
6
7
#los a
2
n
2
A
A
A
2
A
n
2
n
A
A
A

At 2
*
2
= (*
A
)
.
(Since a
x
= 0 and 2 is at the maximum)
:ei#ht o! the steam
*
2
= *
A
cos = 26 (7/6) = 20 m/s
2
n
s / m ?1 . 9 # a
2

As the h%daulic c%linde otates about 0 the len#th& l& o!
the 'iston od 0 is contolled b% the action o! oil 'essue
in the c%linde. "! the c%linde otates at the constant ate

= 40 de#/sec and is deceasin# at the constant ate o!

162.7 mm/sec& calculate the ma#nitudes o! the velocit%
and acceleation o! end 2 when l = 125 ma#.
Solution
= 8?1 3 125 = 60? mm
0 t tan cons sec / mm 7 . 162

0 t tan cons sec / ad

8
2 x
840
40
sec
de#
40

*
t
=
sec / m 682 . 0
8
x 60? * sec& / m 1627 . 0

sec / m 668 . 0 ) 682 . 0 ( ) 01627 ( * *

2 2 2
+

@

1
T

1
2
T
1
m 4 . 59
A

m ? . 70
?1 . 9
) 20 (
a
*
2
n
2
2
2
2

g
t

a
t
a
n
a
n

=
2
2
2
sec / m 665 . 0
9 x 1000
x 60?
0

a
2
=
2
sec / m 819 . 0
8
x ) 1627 . 0 ( 2 0 x 60? 2

+ +

The slotted am is 'ivoted at O and caies the slide C. The
'osition o! C in the slot is #ovened b% the cod which is
!astened at D and emains taut. The am tuns
counteclockwise with a constant an#ula ate = 7ad/sec
duin# an inteval o! its motion. The len#th DBC o! the cod
eDuals R& which makes r = 0 when = 0. (etemine the
ma#nitude o! the acceleation o! the slide at the 'osition !o
which = 80
o
. The distance R is 16 in. Ans. A = 7?9 in./sec
2
Solution
Feomet%- 2(
< 2( 2,
< 2,

+
+
>om tian#le @2(&
2
sin < 2
2
sin <
2
2(

Cinematics- a
c
= t
1
( )
2



3 2
1
) 2 ( +

= 2<sin
2
sin
2
<
2
cos < &
2
cos <
2
2

a
c
= ( )
2
2
2
) 2 ( T T + +

2

= 80A 2/2 = 16A& < = 16I&
0
t tan cons
sec
ad
7

2 2 2 2 2

sec / m 472 . 0 ) 819 . 0 ( ) 665 . 0 ( a a a + +

,
2

(
@
<

1
t
1
<
= 80 sin 16A = 5.54I
sec / I 44 . 81 16 sin ) 7 (
2
16
0 sec& / I 94 . 65 ) 7 ( 16 cos 16
2

A 'olice ca P is tavelin# at velocit% v
0

= 20j km/h when its ada #ives the
!ollowin# data about ca A - = 100 m&
r = $40 km/h ( deceasin#)& r 0& =
0.6 ad&

= $10
$8
ad/s ( deceasin#)&
and

0. (etemine the velocit% v
A
.
Solution-
<elationshi' between the unit vectos i& j = r
1
&
1
r
1
= i sin 3 j cos

1
= I cos $ j sin
*elocit% ca A elative to the 0oliceca -
[ ] [ ]
s m j i V
j i j i r r r V
P A
o o o o
P A
/ ) 69 . 17 05 . ? (
46 . 2? sin 46 . 2? cos ) 10 ( 100 46 . 2? cos 46 . 2? sin
4 . 8
40
8
1 1

+ +

Absolute velocit% o! ca A -
j j i V V V
p P A A
4 . 8
20
69 . 17 05 . ? + +
s m j i V
A
/ ) 08 . 9 05 . ? (
Geometry of a space curve
,onside the !ollowin# s'ace cuve alon# which a 'aticle moves !om A to 2
] [ ]
2 2
2
2
c
sec / I 7?9 0 ) 94 . 65 )( 7 )( 2 ( ) 7 ( 54 . 5 04 . 81 a + +

@
2
A
T!s"
I
s
t
1
n
1
m
1
T(s3s)

*
0
0
r
A

r
1
%& j
x& i

Jote- 1 is 'ositive in
the diection o!
inceasin#
.
,
x

A
.
0
<
K

1
Hnit vecto tan#ent to the cuve at A is t
1
t
1
= lim
s 0
Hnit vecto 'e'endicula to t
1
and 'ointin# towad cente o! cuvatue o! the cuve is
the 'inci'al nomal n
1
2inotmal unit vecto m
1
= = t
1
x n
1
$0lane o! t
1
= n
1
- @S,H)AT"JF 0)AJ/
$0lane o! m
1
= n
1-
J@<EA) 0)AJ/
$0lane o! m
1
= t
1-
</,T">1"JF 0)AJ/
,onside se#ment A2 o! cuve is moe detail
The oientation o! n
1
(i.e. 'inci'al nomal) is detemined !om the !ollowin#-
(i) n
1
1 t
1
(ii) n
1
lies in the osculatin# 'lane (iii) 1n
1
1 = 1
t
1
.t
1
= 1 0
ds
dt
t 2 ) t t (
ds
d
1
1 1 1

t
1
1
ds
dt
1
The vecto
ds
t d
1
)im
s 0
t
1
=t
1
=t
1
(S 3 )S) $t
1
(S) lies in the same 'lane. Thee!oe& the vecto
ds
dt
1
satis!ies
conditions (i) and (iii) aboveB hence
ds / t d
ds / t d n
1
1 1

@sculatin# 0lane
,- ,ente o! cuvatue
- adius o! cuvatue
0- @sculatin# 'lane
ds
dv
s
v

s
t
1

)ies in the osculatin# 'lane since

@sculatin# 'lane
t
1
(s3s)
T
1
(s)
A
t
1
2
t
1
(s3s)
*
,onside the s'ace cuvilinea motion o! a 'aticle alon# the 'ath shown. The motion at
'osition A ma% be consideed to be takin# 'lace in the 'lane 0 which contains the 'ath at
this 'osition. This 'lane& o!ten called the @S,H)AT"JF 0)AJ/& ma% be de!ined b%
'oint A and two adjacent 'oints& one on eithe side o! A& on the 'ath cuve. As these
'oints ae bou#ht close to A& the 'lane containin# the thee 'oints a''oaches the
limitin# 'lane 0.
The osculatin# 'lane is& b% de!inition& the 'lane containin# the unit tan#ential (t
1
) and unit
nomal (n1) vectos. The 'ath coodinates t and n& ae used !o solvin# most o! the
'oblems o! 'lana motion. The osculatin# 'lane thus emains !ixed in the 'lane o!
motion. Althou#h it is 'ossible to obtain the 'inci'al nomal n and the diection o! the
osculatin# 'lane !o s'atial motion& it is #eneall% easie to de!ine the s'atial motion o! a
'aticle usin# othe coodinate s%stems& e.#. .&1&K o T& & K.