Kinematics of Particles
Nur Farhana Diyana Mohd Yunos
nurfarhanamyunos@yahoo.com
Chapter Outline: Kinematics of Particles
1) Introduction
2) Rectilinear Kinematics: Continuous Motion
3) Rectilinear Kinematics: Erratic Motion
4) Curvilinear Motion: Rectangular Components
5) Motion of a Projectile
6) Curvilinear Motion: Normal and Tangential
Components
7) Curvilinear Motion: Cylindrical Components
8) Constrained Coordinates and Cylindrical
Coordinates
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
1) Single coordinate axis, s
2) Origin, O
3) Position vector, r specific location of particle P at any
instant
4) Algebraic Scalar s in metres
Note : - Magnitude of s = Dist from O to P
- The sense (arrowhead dir of r) is defined by
algebraic sign on s
=> +ve = right of origin, -ve = left of origin
Displacement change in its position, vector quantity
If particle moves from P to P
r = r-r
s = s-s
Velocity
Average velocity,
Instantaneous velocity is defined as,
speed
2) Rectilinear Kinematics: Continuous
Motion
t
r
v
avg
A
A
=
) / (
lim
0
t r v
t
ins
A A =
A
dt
dr
v
ins
=
) / ( s m
dt
ds
v =
Average speed is defined as total distance traveled by a
particle, sT, divided by the elapsed time t.
The particle travels along the path of length sT in time
2) Rectilinear Kinematics: Continuous
Motion
t
s
v
T
avg sp
A
= ) (
t
s
v
avg
A
A
=
Acceleration velocity of particle is known at points P and P
during time interval t, average acceleration is
Instantaneous acceleration at time t is found by taking smaller
and smaller values of t and corresponding smaller and smaller
values of v,
t
v
a
avg
A
A
=
2) Rectilinear Kinematics: Continuous
Motion
) / (
2
s m
dt
dv
a =
) / (
2
2
2
s m
dt
v d
a =
a ds = v dv
Particle is slowing down, its speed is decreasing =>
decelerating =>will be negative.
Consequently, a will also be negative, therefore it will
act to the left, in the opposite sense to v
If velocity is constant, acceleration is zero
Velocity as a
Function of Time
Integrate
ac = dv/dt,
assuming that
initially v= v0
when t = 0.
Constant acceleration
2) Rectilinear Kinematics: Continuous
Motion
dt a dv
v t
c
} }
=
0 0
t a v v
c
+ =
0
Position as a
Function of Time
Integrate
v = ds/dt = v0 + act,
assuming that
initially s = s0 when t
= 0
Constant acceleration
dt t a v ds
s t
c
) (
0 0
0
} }
+ =
2
0 0
2
1
t a t v s s
c
+ + =
Velocity as a
Function of
Position
Integrate
v dv = ac ds,
assuming that
initially v = v0 at
s = s0
Constant acceleration
ds a vdv
v
v
s
s
c
} }
=
0 0
) ( 2
0
2
0
2
s s a
v
v
c
+ =
The car moves in a straight line such that for a short time its velocity is defined
by v = (0.9t
2
+ 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/s
2
Example 1:
Example 2:
A small projectile is forced downward into a fluid medium with an initial
velocity of 60m/s. Due to the resistance of the fluid the projectile
experiences a deceleration equal to a = (-0.4v
2
)m/s
2
, where v is in m/s
2
.
Determine the projectiles velocity and position 4s after it is fired.
3
4 . 0 v
dt
dv
a = =
s m t v
t
v
dt
v
dt
v
dv
t
v
v
s m
t
/ 8 . 0
) 60 (
1
) 60 (
1 1
8 . 0
1
1
2
1
4 . 0
1
4 . 0
2
2
2 2
0 60
/ 60 0
3
2
+ =
=
(
=
|
.
|
\
|
=
}
} }
When t=4s, v=0.599 m/s
m t s
t s
dt t ds
t
dt
ds
v
t
s t
|
|
.
|
\
|
+
|
.
|
\
|
=
|
|
.
|
\
|
+
|
.
|
\
|
=
|
|
.
|
\
|
+ =
)
`
+ =
} }
60
1
8 . 0
) 60 (
1
4 . 0
1
8 . 0
) 60 (
1
8 . 0
2
8 . 0
) 60 (
1
8 . 0
) 60 (
1
2 / 1
2
0
2 / 1
2
2 / 1
0 0
2
2 / 1
2
When t=4s, s=4.43 m/s
Example 3:
A rocket travel upward at 75 m/s. When it is 40m from the ground, the engine
fails. Determine max height s
B
reached by the rocket and its speed just
before it hits the ground.
Solution: Rocket traveling upward, v
A
= +75m/s when t = 0. s = s
B
when
v
B
= 0 at max ht. For entire motion, acceleration a
C
= -9.81m/s
2
(negative since it act opposite sense to positive velocity or positive
displacement)
m s
m s s m s m
s s a v v
B
B
A B C A B
327
) 40 )( / 81 . 9 ( 2 ) / 75 ( 0
) ( 2
2 2
2 2
=
+ =
+ =
s m s
m s m
s s a v v
B
B C C B C
/ 1 . 80
) 327 0 )( / 81 . 9 ( 2 0
) ( 2
2
2 2
=
+ =
+ =
When particles motion is erratic, it is best described
graphically using a series of curves that can be generated
experimentally from computer output.
a graph can be established describing the relationship with any
two of the variables, a, v, s, t
using the kinematics equations a = dv/dt, v = ds/dt, a ds = v dv
3) Rectilinear Kinematics: Erratic Motion
Given the s-t Graph, construct the v-t Graph
The s-t graph can be plotted if the position of the particle can be
determined experimentally during a period of time t.
To determine the particles velocity as a function of time, the v-t
Graph, use v = ds/dt
Velocity as any instant is determined by measuring the slope of
the s-t graph
3) Rectilinear Kinematics: Erratic Motion
v
dt
ds
=
Slope of s-t graph=velocity
3) Rectilinear Kinematics: Erratic Motion
Example 4:
A bicycle moves along a straight road such that it
position is described by the graph as shown.
Construct the v-t and a-t graphs for 0 t 30s.
v-t Graph. The v-t graph can be determined by
differentiating the eqns defining the s-t graph
a-t Graph. The a-t graph can be determined by
differentiating the eqns defining the lines of the
v-t graph.
3) Rectilinear Kinematics: Erratic Motion
Given the a-t Graph, construct the v-t Graph
When the a-t graph is known, the v-t graph may be constructed
using a = dv/dt
Knowing particles initial velocity v0, and add to
this small increments of area (v)
Successive points v1 = v0 + v, for the v-t graph
Each eqn for each segment of the a-t graph may
be integrated to yield eqns for corresponding
segments of the v-t graph
Example 5:
3) Rectilinear Kinematics: Erratic Motion
v-t Graph. The v-t graph can be determined by
integrating the straight-line segments of the a-t graph.
Using initial condition v = 0 when t = 0,
A test car starts from rest and travels along a straight track
such that it accelerates at a constant rate for 10 s and then
decelerates at a constant rate. Draw the v-t and s-t graphs
and determine the time t needed to stop the car. How far
has the car traveled?
When t = 10s, v = 100m/s, using this as initial condition
for the next time period, we have
When t = t we require v = 0. This yield t = 60 s
s-t Graph. Integrating the eqns of the v-t graph yields the corresponding
eqns of the s-t graph. Using the initial conditions s = 0 when t = 0,
3) Rectilinear Kinematics: Erratic Motion
When t = 10s, s = 500m. Using this initial condition,
When t = 60s, the position is s = 3000m
3) Rectilinear Kinematics: Erratic Motion
Given the a-s Graph, construct the v-s Graph
v-s graph can be determined by using v dv = a ds, integrating
this eqn between the limit v = v0 at s = s0 and v = v1 at s = s1
determine the eqns which define the segments
of the a-s graph
corresponding eqns defining the segments of the
v-s graph can be obtained from integration,
using v dv = a ds
Given the v-s Graph, construct the a-s Graph
v-s graph is known, the acceleration a at any
position s can be determined using a ds = v dv
3) Rectilinear Kinematics: Erratic Motion
At any point (s,v), the slope dv/ds of the v-s graph is
measured
Since v and dv/ds are known, the value of a can be
calculated
Example 6:
3) Rectilinear Kinematics: Erratic Motion
The v-s graph describing the motion of a
motorcycle is shown in Fig 12-15a. Construct the a-s
graph of the motion and determine the time needed
for the motorcycle to reach the position s = 120 m.
Ans: At s=60m, t=8.05 s
Ans: At s=120m, t=12.0 s
Curvilinear motion occurs when the particle moves along a
curved path.
Occasionally the motion of particle represent using a fixed x, y,
z frame of reference.
4) Curvilinear Motion: Rectangular Components
Position. Position vector is defined by
The magnitude of r is always positive and defined as
The direction of r is specified by
the components of the unit
vector ur = r/r
4) Curvilinear Motion: Rectangular Components
The velocity has a magnitude
defined as the positive value of
Velocity.
where
and a direction that is specified by the components of the unit
vector uv=v/v and is always tangent to the path.
Acceleration.
where
4) Curvilinear Motion: Rectangular Components
The acceleration has a magnitude defined as the positive
value of
The acceleration has a direction specified by the components of
the unit vector ua = a/a.
Since a represents the time rate of change in velocity, a
will not be tangent to the path.
Example 7:
4) Curvilinear Motion: Rectangular Components
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 = x
2
/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
We have
( )
( ) | = = =
= = =
s m x
dt
d
y v
s m t
dt
d
x v
y
x
/ 8 . 10 30 /
/ 9 9
2
\
|
+ =
+
m h h
y y a v v
A C c A c
y y
28 . 3 ] 0 ) 1 )[( 81 . 9 ( 2 ) 30 sin 38 . 13 ( ) 0 (
] [ 2 ) ( ) (
2 2
2 2
= + =
+ =
r r r r a + + =
7)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
z r
z r
z r p
u z u r r u r r a
u z u r u r v
u z u r r
+ + + =
+ + =
+ =
u
u
u u u
u
) 2 ( ) (
2
7)Curvilinear Motion: Cylindrical Components
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
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 = (100t2)mm. If
in both cases, t is in seconds, determine the
velocity and acceleration of the collar when t = 1s.
7)Curvilinear Motion: Cylindrical Components
Example 11:
7)Curvilinear Motion: Cylindrical Components
Cont. Example 11:
Degrees of freedom?
Degrees of freedom are translations and/or rotations that specify
the position and/or orientation of a system
Constrains?
Constraints are restrictions on translations and/or rotations that
limit the position and/or orientation of a system
8)Constrained Motion of Connected Particles
One Degree of Freedom
Simple system of two interconnected
particles
With L, r
2
,r
1
, and bare constant
Horizontal motion (x) of A is twice
the vertical motion (y) of B
Only one variable (x or y) is needed
to specify the positions of all parts of
the system
8)Constrained Motion of Connected Particles
In the pulley configuration below,
cylinder A has a downward velocity of
0.3 m/s. Determine the velocity of B.
Solve in two ways.
8)Constrained Motion of Connected Particles
Example 12:
Two Degree of Freedom
Position of lower cylinder depends on
two variables (y
A
and y
B
)
8)Constrained Motion of Connected Particles