Chapter 7: motion of a particle in a plane

I. Introduction:
The motion of a body is relative (it can be in motion with respect to an
observer while at the same time it is at rest with respect to another observer).
To describe the motion of a body we need a reference.
In this year we want to describe the motion of a particle in a plane so our frame
of reference will be (x’ox, y’oy):

II. Kinematics:
Mechanics is divide into to branch:
 Dynamics: branch in mechanics which study the motion by
studying its causes (forces).
 Kinematics: branch in physics which study the motion without
studying its causes.
In this chapter we interest just to kinematics:
We want to study the position of a particle, its trajectory, its
velocity, its acceleration.
III. Instant and duration:
The instant t at which an event occurs is determined relative to a certain initial
time (t =0).
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Duration (Δt) is how long something lasts from beginning to end:
Δt = tfinal – tinitial

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IV. Position vector:
The position of a moving particle is characterized
by a vector known as position vector.
A particle A is moving along a curved path.
In the Cartesian coordinate system, the position of
A is determined by the position vector 𝐎𝐀⃗⃗⃗⃗⃗⃗ = 𝐫
such that 𝐫 = 𝐱⃗𝐢 + 𝐲 𝐣
x and y are the Cartesian coordinates of A.
During the motion of the particle, x and y vary
with time.
x (t) and y (t) are called the parametric equations
of the motion.

Application 1:
Let A be a particle in motion in a plan; its position vector is given by:
⃗⃗⃗⃗⃗ = (3𝑡 − 1)𝑖⃗ + (5𝑡 + 2)𝑗⃗
𝑟⃗⃗ = 𝑂𝐴 (SI units)
Determine the position of A at 𝑡0 = 0, 𝑡1 = 1𝑠 𝑎𝑛𝑑 𝑡2 = 2𝑠.
Answer:
We replace t in the previous position vector by its value so we get:

 At 𝑡0 = 0: ⃗⃗⃗⃗⃗ 0 = −𝑖⃗ + 2𝑗⃗

𝑟0 = 𝑂𝐴
 At 𝑡1 = 1𝑠: ⃗⃗⃗⃗⃗ 1 = 2𝑖⃗ + 7𝑗⃗
𝑟1 = 𝑂𝐴
 At 𝑡2 = 2𝑠: ⃗⃗⃗⃗⃗ 2 = 5𝑖⃗ + 12𝑗⃗
𝑟2 = 𝑂𝐴

Remark: the magnitude of a position vector is given by: ‖𝒓 ̅̅̅̅ = √𝒙𝟐 + 𝒚𝟐

⃗ ‖ = 𝑶𝑨

⃗ 𝟎 ‖ = ̅̅̅̅
For example, At 𝑡0 = 0: ‖𝒓 𝑶𝑨𝟎 = √(−𝟏)𝟐 + (𝟐)𝟐 = √𝟓 𝒎

V. trajectory:
The trajectory of a moving particle is the path described by this particle during its
motion. A particle can move along a straight line, a
circle and a curve.
 If the trajectory of a moving particle is a:
straight line, the motion is rectilinear.

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  If the trajectory of a moving particle is a:
circle path, the motion is circular.

 If the trajectory of a moving particle is a:

curved line (like a parabola), the motion is
curvilinear.

Equation of the trajectory

The trajectory equation is a relation between Y and X independent of time.
The form of the trajectory equation decides the shape of the trajectory of the
moving particle.

VI. Displacement vector:

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Displacement is the change in position vector; a vector joining initial to final
positions.
A particle M is moving along a curvilinear path.
At an instant t the particle is at a position A having a position vector ⃗⃗⃗
𝑟1 ,and at
1
instant t , the particle is at a position B having a position vector 𝑟⃗⃗⃗2.
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The displacement vector ⃗⃗⃗⃗
∆𝒓 of a moving particle, between t and t , is a vector
1 2
that joins the positions of the particle at t and t .
1 2

Referring to the adjacent

𝑟1 + ⃗⃗⃗⃗
figure: ⃗⃗⃗ ∆𝑟 = 𝑟⃗⃗⃗2
so the displacement vector
between t and t is:
1 2

⃗⃗⃗⃗
∆𝒓 = ⃗⃗⃗⃗ 𝒓𝟏 = ⃗⃗⃗⃗⃗⃗
𝒓𝟐 - ⃗⃗⃗⃗ 𝑨𝑩

Application 2:
The position vector of a moving particle A is:

𝐫 = 2t 𝐢 + 4𝐭 𝟐 𝐣 SI
1. Write the parametric equations of the motion of A.
2. Write the expressions of the position vector of at t0=0 and t1=0.5 s.
3. Deduce the displacement vector between t0 and t1.
4. Prove that A passes by the point whose coordinates are: (8 m, 64 m).
5. Determine the shape of the trajectory of the moving particle A.

Application 3:
The position vector of a moving particle B is:

𝐫 = 2t 𝐢 + (4𝒕 − 𝟑) 𝐣 SI
1. Write the parametric equations of the motion of B.

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 2. Write the expressions of the position vector of at t =1s and t =1.5 s.
1 2
3. Determine the shape of the trajectory of the moving particle B.

Application 4:
The position vector of a moving particle M is:

𝐫 = 3 cos t 𝐢 + 3 sin t 𝐣 SI
1. Write the parametric equations of motion.
2. Determine the shape of the trajectory.

VII. Average velocity vector:

Velocity:
Velocity is the change of position with respect to time. Velocity represents how
fast an object moves in a given direction.
Average Velocity:
The average velocity of a particle,
between points A and B during the
interval Δt
where Δt = t - t ,is defined as:
2 1

⃗⃗⃗⃗ ⃗⃗⃗⃗ ⃗⃗⃗⃗

⃗Vav = ∆𝐫 = ∆𝑟2−∆𝑟1
Δt 𝑡2 −𝑡1

 Remark :
The average velocity vector of a particle, moving from point A to point B in time
Δt, would be the same whatever the shape of the path followed by the particle
between these two points is.

Application 5:
The position vector of a moving particle A is:

𝐫 = 2t 𝐢 + (2𝐭 𝟐 + 𝐭) 𝐣 SI
Determine the average velocity vector between t1 = 1s and t2 =2 s.

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VIII. Instantaneous velocity vector:
The instantaneous velocity vector is the limit of the
average velocity vector as the time interval Δt
approaches zero. As Δt decreases, B comes closer and
closer to A. When Δt becomes very small (Δt0), the
average velocity approaches the real velocity of the
particle at point A, which is called the instantaneous
velocity ⃗Vins at A.

As Δt0, ⃗Vav V
⃗ ins = ⃗V (Instantaneous
velocity)
⃗⃗⃗⃗
∆r dr⃗
⃗V = lim = = ⃗⃗r′
∆t→0 ∆t dt

⃗ ins = ⃗⃗r′ (V
So V ⃗ ins is the derivative of r
with respect to time.)
⃗⃗ is the derivative of r with
(r′
respect to time.)

𝐼𝑛 𝑡ℎ𝑒 𝑐𝑎𝑠𝑒 𝑜𝑓 𝑝𝑙𝑎𝑛𝑒 𝑚𝑜𝑡𝑖𝑜𝑛: r = x i + y j then ⃗V= ⃗⃗r′ = x’ i + y’ j

⃗V = ⃗⃗r′ = Vx i + Vy j

Where Vx and Vy are the x and y components of the velocity vector

⃗ ‖ = V= √𝐕𝐱𝟐 + 𝐕𝐲𝟐
Speed: the speed is the magnitude of velocity:‖𝐕

Mathematics session:
Derivative: symbol: (……)’
 (𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡)′ = 0
 (𝑡 𝑚 )′ = 𝑚𝑡 𝑚−1 examples: (𝑡)′ = (𝑡 1 )′ = 1𝑡 1−1 = 𝑡 0 = 1
(3𝑡)′ = (3𝑡 1 )′ = 3 × 1𝑡 1−1 = 3𝑡 0 = 3
(𝑡 2 )′ = 2𝑡 2−1 = 2𝑡 1 = 2𝑡
(𝑡 3 )′ = 3𝑡 3−1 = 3𝑡 2
(2𝑡 5 )′ = 2 × 5𝑡 5−1 = 10𝑡 4
 Derivative of summation = summation of derivatives:
(−5𝑡 3 + 𝑡 2 + 4𝑡 − 3)′ = −15𝑡 2 + 2𝑡 + 4
′ 1
 (√𝑡 ) =
2√𝑡

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 ′ 𝑢′ ′ 5
 (√𝑢) = examples: (√5𝑡 + 2) =
2√ 𝑢 2√5𝑡+2

′ −6𝑡 + 2 −3𝑡 + 1
(√−3𝑡 2 + 2𝑡) = =
2√−3𝑡 2 + 2𝑡 √−3𝑡 2 + 2𝑡

 (sin 𝑢)′ = 𝑢′cos 𝑢 example: (sin 5𝑡)′ = 5cos 5𝑡

 (cos 𝑢)′ = −𝑢′sin 𝑢 example: (cos 3𝑡)′ = −3sin 3𝑡

Application 6:
The position vector of a moving particle A is:

𝐫 = 3t 𝐢 + (5𝐭 𝟐 + 𝐭) 𝐣 SI
Determine the instantaneous velocity vector and the speed at t=1 s.

Application 7:
The position vector of a moving particle A is:

𝐫 = (3𝐭 𝟐 + 2t) 𝐢 + (2𝐭 𝟑 + 𝐭 + 𝟏) 𝐣 SI

Determine the velocity vector and its magnitude at t = 1 s.

Application 8:
The position vector of a moving particle M is:

𝐫 = 2cos 3t 𝐢 + 2 sin 3t 𝐣 SI

Determine the velocity vector and its magnitude at any time.

IX. Acceleration:
Whenever the velocity of a moving object varies, there is an involved acceleration.
Average Acceleration Vector
The velocity vectors of a moving particle are ⃗⃗⃗
V1 and ⃗⃗⃗⃗
V2 at two instants t and t
1 2
respectively.
The average acceleration vector between t and t :
1 2
⃗⃗⃗⃗⃗
∆𝐕 ⃗𝑽𝟐 −𝑽
⃗𝟏
a⃗av = =
Δt 𝒕𝟐 −𝒕𝟏

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 ⃗⃗⃗⃗⃗ have the same direction.
⃗ 𝒂𝒗 and ∆𝑽
Note that 𝒂

Application 9:
The position vector of a moving particle A is:

𝐫 = 3t 𝐢 + (2𝐭 𝟐 + 𝐭) 𝐣 SI
Determine the average acceleration between t1 = 1s and t2 =2 s.

Instantaneous Acceleration Vector

As Δt0 , the average acceleration approaches the instantaneous acceleration at
the given point .
⃗⃗⃗⃗⃗
∆V ⃗⃗
dV
a⃗ = a⃗Inst = lim =
∆t→0 ∆t dt
So a⃗= ⃗⃗⃗
V′ ( a⃗ is the derivative of v
⃗ with respect to time.)
⃗ = Vx i + Vy j then
Since V a⃗ = ⃗⃗⃗
V′= V′x i + V′y j

a⃗ = ⃗⃗⃗
V’ = ax i + ay j
In an (O,i , j) frame of reference, the components of the acceleration vector are:
⃗⃗⃗ = ⃗⃗⃗
a⃗ = V’ r’′= V′x i + V′y j = x ′′ i + y ′′ j = ax i + ay j
And the magnitude of the acceleration vector at any time is:

Magnitude:‖𝐚⃗‖ = 𝐚 = √𝐚𝟐𝐱 + 𝐚𝟐𝐲 ( SI Unit of 𝐚 is m/𝐬𝟐 )

Where ax and ay are the x and y components of the acceleration vector

Application 10:
The position vector of a moving particle A is:

𝐫 = (3𝐭 𝟐 + 2t) 𝐢 + (2𝐭 𝟑 + 𝐭 + 𝟏) 𝐣 SI

1. Determine the velocity vector and its magnitude at t = 1 s.
2. Determine the acceleration vector and its magnitude at t = 1 s.

X. Tangential and normal accelerations:

At a certain point A, acceleration can be resolved in two perpendicular
components: normal acceleration and tangential acceleration.

Tangential Acceleration ⃗⃗⃗⃗ 𝒂𝒕

Tangential acceleration is the rate of the variation of the speed with respect to time.
𝑎𝑡 is tangent to the trajectory of the motion.

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 The magnitude of the tangential acceleration is at =V’

The tangential acceleration

vector and the velocity vector
are collinear.

𝑎𝑡 = ⃗0 only if the speed is constant (uniform motion), so⃗⃗⃗𝑎𝑡 exists only

when the speed varies.

Normal Acceleration 𝐚⃗𝐧

Normal acceleration a⃗n is the variation in the direction of the velocity vector as a
function of time.
The normal acceleration is normal to the trajectory of the motion (a⃗na⃗t) and
directed to the inside of the curve.

The magnitude of the normal

V2
acceleration is 𝑎𝑛 = where R
R
is the radius of curvature of the
trajectory at any time.

⃗an exists only in curvilinear

motion, where the direction of the
velocity of the object is
continuously varying.

Exercise 1:
The position of a particle M is defined by its position vector in the plane [x'ox,
y'oy] as:
  
r  ( t 2  1) i  ( t  1) j [r in m and t in s]
a) Determine the positions Mo and M2 corresponding to t = 0 and t = 2s
respectively.
b) Determine the average velocity vector between 0 s and 2 s
c) Determine the equation of its trajectory.
d) Determine its velocity vector and its speed at any time.
e) Determine its acceleration vector and its tangential acceleration.

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 f) Determine its normal acceleration at t = 2 s and deduce its radius of
curvature at this instant

Exercise 2: Motion of A Particle In A plane (15 pts):

The position vector of a particle moving in a plane in a given reference frame (𝑂, 𝑖, 𝑗)
is given by:
𝑟(𝑡) = 3𝑡𝑖 + (−𝑡 2 + 2𝑡 + 1)𝑗 (SI units)
1. Determine the equation of the trajectory.
2. Find the position of the particle at instants t1= 1s and t2= 2s. Deduce the
displacement vector between t1 and t2.
3. Deduce the average velocity vector between t1 and t2.
4. Draw a figure which shows the points M0, M1, M2 and M3 then draw the trajectory
of the particle using these points.
5. 5.1 Find the velocity vector of M at any time. Deduce that its speed is equal to
𝑉 = √4𝑡 2 − 8𝑡 + 13
5.2 Draw the velocity at point M1.
6. Find the acceleration vector of M and its magnitude. Draw the acceleration vector
at point M2
7. Determine the tangential acceleration of M at any time.
8. Calculate the magnitude of the normal acceleration of M.
9. Determine the radius of curvature at instant t=2s.

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