KIG 2002: Dynamics

Lecture 2: Kinematic of Particles – Rectilinear Motion

2.1 Introduction

i) Dynamics includes:
- Kinematics: Study of the geometry of motion. Kinematics is used to relate displacement, velocity,
acceleration, and time without reference to the cause of motion.

- Kinetics: Study of the relations existing between the forces acting on a body, the mass of the body, and the
motion of the body. Kinetics is used to predict the motion caused by given forces or to determine the forces
required to produce a given motion.

ii) Two types of motion: Rectilinear and Curvilinear motion

2.2 Rectilinear Motion: Position, Velocity & Acceleration

i) Particle moving along a straight line is said to be in rectilinear motion.

ii) Position coordinate of a particle is defined by positive or negative distance of particle from a fixed origin on
the line.

iii) The motion of a particle is known if the position coordinate for particle is known for every value of time t.
Motion of the particle may be expressed in the form of a function, e.g.,
x  f (t )
x  6t 2  t 3

iv) From the definition of a derivative,

x dx
v  lim 
t 0 t dt

So,
x  6t 2  t 3
dx
v  12t  3t 2
dt

Lecture 2 Page 1
 v) From the definition of a derivative,
v dv d 2 x
a  lim  
t 0 t dt dt 2

So,
v  12t  3t 2
dv
a  12  6t
dt

2.3 Determination of the Motion of a Particle

i) Recall, motion of a particle is known if position is known for all time t.

ii) Typically, conditions of motion are specified by the type of acceleration experienced by the particle.
Determination of velocity and position requires two successive integrations.

iii) Three classes of motion may be defined for:

a. Acceleration given as a function of time, a = f(t)

v t  t t
 a  f t  dv  f t  dt  dv   f t dt vt   v0   f t  dt
dv
dt v0 0 0
x t  t t
 vt  dx  vt  dt  dx   vt dt xt   x0   vt  dt
dx
dt x0 0 0

b. Acceleration given as a function of position, a = f(x)

or a  v  f x 
dx dx dv dv
v or dt  a
dt v dt dx
vx  x x
v dv  f x dx  v dv   f x dx vx   12 v02   f x dx
1 2
2
v0 x0 x0

c. Acceleration given as a function of velocity, a = f(v)

v t  t v t 

 a  f v 
dv dv dv dv
dt f v 
 dt 
v0
f v  0
 dt  f v   t
v0
x t  v t  v t 

 a  f v  xt   x0 
dv v dv v dv v dv
v
dx
dx 
f v   dx 
x0

v0
f v   f v 
v0

Lecture 2 Page 2
2.4 Sample Problem 11.2

A ball tossed with 10 m/s vertical velocity from a window 20 m above ground.
Determine:
a) Velocity and elevation above ground at time t, highest elevation reached by ball.
b) Corresponding time, and time when ball will hit the ground.
c) Corresponding velocity.

Solution

a) Integrate twice to find v(t) and y(t).

dv
 a  9.81
dt
v t  t

 dv   9.81dt
v0 0
v  v0  9.81t

v  10  9.81t

dy
 v  10  9.81t
dt
y t  t

 dy   10  9.81t dt

y0 0
y  y0  10t  12 9.81t 2

y  20  10 t  4.905 t 2

Solve for t at which velocity equals zero (time for maximum elevation) and evaluate corresponding altitude.
v  10  9.81t  0
t  1.019 s

Solve for t at which altitude equals zero and evaluate corresponding velocity.
y  20  10 t  4.905 t 2
y  20  10 1.019   4.905 1.019 2
y  25.1m

b) Solve for t at which altitude equals zero (time for ground impact) and evaluate corresponding velocity.
y  20  10 t  4.905 t 2  0
t  1.243s meaningles s 
t  3.28 s
c) Find the velocity,
vt   10  9.81t
v  10  9.813.28 
v  22.2 m / s

Lecture 2 Page 3
2.5 Sample Problem 11.2

Brake mechanism used to reduce gun recoil consists of piston attached to barrel moving in fixed cylinder filled with oil.
As barrel recoils with initial velocity v0, piston moves and oil is forced through orifices in piston, causing piston and cylinder
to decelerate at rate proportional to their velocity. Determine v(t), x(t), and v(x).

Lecture 2 Page 4
2.6 Uniformly Accelerated Rectilinear-Motion

For particle in uniformly accelerated rectilinear motion, the acceleration of the particle is constant.
v t
dv
dt
 a  constant  dv  a  dt
v0 0
v  v0  at

v  v0  at
x t

 dx   v0  at dt
dx
 v0  at x  x0  v0t  12 at 2
dt x0 0

x  x0  v0t  at 1
2
2

v 
v x
 v02  ax  x0 
dv
 a  constant  v dv  a  dx 1 2
v 2
dx v0 x0

v  v  2ax  x0 
2 2
0

2.7 Motion of Several Particles: Relative Motion

For particles moving along the same line, time should be recorded from the same starting instant and displacements
should be measured from the same origin in the same direction.

x B  x A  xB A
vB  v A  vB A
a B  a A  aB A

2.8 Sample Problem 11.4

A ball is thrown vertically from 12 m level in an elevator shaft with an initial velocity of 18 m/s. At same instant, open-
platform elevator passes 5 m level moving at a constant speed upward at 2 m/s. Determine,
(a) When and where ball hits elevator and
(b) Relative velocity of ball and elevator at contact.

Solution:

a) Substitute initial position and velocity and constant acceleration of ball into general equations for uniformly
accelerated rectilinear motion.
vB  v0  at  18  9.81t
y B  y0  v0t  12 at 2  12  18 t  4.905 t 2

Lecture 2 Page 5
 Substitute initial position and constant velocity of elevator into equation for uniform rectilinear motion.
vE  2
yE  y0  vE t  5  2t

Write equation for relative position of ball with respect to elevator and solve for zero relative position, i.e., impact.
 
yB E  12  18t  4.905t 2  5  2t   0
t   0.39s
t  3.65 s

Substitute impact time into equation for position of elevator and relative velocity of ball with respect to elevator.
yE  5  23.65
yE  12.3 m

b) Relative velocity

vB E  18  9.81t   2
 16  9.813.65
vB E  19.81 m / s

2.9 Motion of Several Particles: Dependent Motion

• Position of a particle may depend on position of one or more other particles.

• Position of block B depends on position of block A. Since rope is of constant length, it follows that sum of lengths
of segments must be constant.

• Positions of three blocks are dependent.

• For linearly related positions, similar relations hold between velocities and accelerations.
dx dx dx
2 A  2 B  C  0 or 2v A  2v B  vC  0
dt dt dt
dv dv dv
2 A  2 B  C  0 or 2a A  2a B  aC  0
dt dt dt

Lecture 2 Page 6
2.10 Sample Problem 11.5
Pulley D is attached to a collar which is pulled down at 3 cm/s. At t = 0, collar A starts moving down from K with constant
acceleration and zero initial velocity. Knowing that velocity of collar A is 12 cm/s as it passes L, determine the change in
elevation, velocity, and acceleration of block B when block A is at L.

• Define origin at upper horizontal surface with positive displacement downward.

• Collar A has uniformly accelerated rectilinear motion. Solve for acceleration and time t to reach L.
v A2  u A2  2a A s v A  u A  a At
12  2a A  8 
2
12  0  9 t
aA  9 t  4/3

• Pulley D has uniform rectilinear motion. Calculate change of position at time t.

xD   xD  0  vD t
xD   xD 0   3 4 / 3  4 cm

• Block B motion is dependent on motions of collar A and pulley D. Write motion relationship and solve for change
of block B position at time t.
Total length of cable remains constant,
x A  2 xD  x B   x A  0  2  x D  0   x B  0
 xA   xA 0   2  xD   xD 0    xB   xB 0   0

8  2  4    xB   xB 0   0
x B   x B 0  16 cm

• Differentiate motion relation twice to develop equations for velocity and acceleration of block B.
x A  2 xD  xB  constant
a A  2 aD  a B  0
v A  2vD  vB  0
9  aB  0
12  2  3  vB  0
aB  9 cm / s 2
vB  18 cm / s

Lecture 2 Page 7