Slide Ch12 Kinematics of Particles

Engineering Mechanics:
Dynamics in SI Units, 12e

Chapter 12
Kinematics of a Particle
Copyright 2010 Pearson Education South Asia Pte Ltd
Chapter Objectives
Concepts of position, displacement, velocity,

and acceleration
Study particle motion along a straight line
Investigate particle motion along a curved path
Analysis of dependent motion of two particles
Principles of relative motion of two particles
using translating axes
Chapter Outline
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
Introduction
Rectilinear Kinematics: Continuous Motion
Rectilinear Kinematics: Erratic Motion
General Curvilinear Motion
Curvilinear Motion: Rectangular Components
Motion of a Projectile
Curvilinear Motion: Normal and Tangential
Components
Curvilinear Motion: Cylindrical Components
Absolute Dependent Motion Analysis of Two
Particles
Relative Motion Analysis of Two Particles Using
Translating Axes
12.1 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 geometric aspects of a motion
2) Kinetics analysis of the forces causing the
motion
12.2 Rectilinear Kinematics: Continuous Motion
Rectilinear Kinematics specifying the particles

position, velocity, and acceleration at any instant
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 meters
Note : - Magnitude of s = Dist from O to P

- Direction 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
When s is +ve / -ve, particles position
is right / left of its initial position

Velocity
r
Average velocity, vavg
t
Instantaneous velocity is defined as

vins lim r / t
t 0
dr
vins
dt

Velocity
Representing
vins
as an algebraic scalar,
ds
v
dt
+ve = particle moving to the right
ve = Particle moving to the left
Magnitude of velocity is the speed (m/s)

Velocity
Average speed is total distance traveled by a
particle, sT, divided by the elapsed time t .
sT
vsp avg
t
The particle travels along the path of length sT in

time
sT
=> vsp avg
vavg
t
s

Acceleration
Average acceleration is
aavg
v
t
v represents difference in the velocity during

the time interval t, ie v v'v
v / t
Instantaneous acceleration is a lim
t 0
dv
d 2s
Thus we have a 2 and a dt
dt

Acceleration
When particle is slowing down, its speed is
decreasing => decelerating => v v'v will be
negative.
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.
v
v0
dv a dt v v
c
ac t

Constant Acceleration
Velocity as a Function of Position

Integrate v dv = ac ds, assuming that initially
v = v0 at s = s0
v0 vdv s0 ac ds v v 2ac s s0
v
2
0
Constant Acceleration

PROCEDURE FOR ANALYSIS
1) Coordinate System
Establish a position coordinate s along the path
The particles position, velocity, and acceleration,
can be represented as s, v and a respectively
and their direction
The positive sense can be indicated by an arrow

2) Kinematic Equation
When relationship is known between any two of
the four variables a, v, s and t, third variable can
be obtained
When integration is performed, the constant of
integration need to be known
Three kinematics equations can only be applied
to situation where the acceleration of the particle
is constant
Example 12.1
The car moves in a straight line such that for a short
time its velocity is defined by v = (0.9t2 + 0.6t) m/s
where t is in sec. Determine it position and
acceleration when t = 3s. When t = 0, s = 0.
Example 12.1
Solution
Coordinate System
Positive is to the right.
Position
When s = 0 when t = 0, we have
ds
v
0.9t 2 0.6t
dt
t
ds 0.9t 0.6t dt s 0.3t 0.3t

0
t
0
When t = 3s, s = 10.8m

0.3t 3 0.3t 2
Example 12.1
Solution
Acceleration
Knowing v = f(t), the acceleration is determined
from a = dv/dt, since this equation relates a, v
and t.
dv d
2
a 0.9t 0.6t 1.8t 0.6
dt dt
When t = 3s, a = 6m/s2
Example 12.2
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 = (-0.4v3)m/s2, where v is in
m/s2. Determine the projectiles velocity and position
4s after it is fired.
Example 12.2
Solution
Coordinate System
Since the motion is downward, the position
coordinate is downwards positive, with the origin
located at O.
Velocity
Here a = f(v), velocity is a function of time using a =
dv/dt, since this equation relates v, a and t.
dv
a
0.4v 3
dt
Example 12.2
Solution
Velocity
t
dv
60m / s 0.4v 3 0 dt
1 1 1 v
2 t 0
0.4 2 v 60
1 1
1
t
2
2
0.8 v 60
v
1
0.8t
2
60
1/ 2
m/s
When t = 4s, v = 0.559 m/s

Example 12.2
Solution
Position
Since v = f(t), projectiles position can be determined
from v = ds/dt. When s = 0 and t = 0, we have
ds 1
0.8t
2
dt 60
1 / 2
1 / 2
1
0.8t
2
0
60
1 1
s
0.8t

2
0.4 60
ds
When t = 4s, s = 4.43m
dt
1 / 2
1
m
60
Example 12.3
A rocket travel upward at 75m/s. When it is 40m
from the ground, the engine fails. Determine max
height sB reached by the rocket and its speed just
before it hits the ground.
Example 12.3
Solution
Coordinate System
Origin O with positive upward.
Maximum Height
We have:
t = 0 vA = +75m/s, s = sB vB = 0, aC = -9.81m/s2
v v 2aC ( s B s A ) sB 327 m
2
B
2
A
Example 12.3
Solution
Velocity
The negative root was chosen since the rocket is
moving downward.
vC2 vB2 2aC ( sC sB )
vC2 80.1 m / s 80.1 m / s
Example 12.4
A metallic particle travels downward through a fluid
that extends from plate A and plate B under the
influence of magnetic field. If particle is released
from rest at midpoint C, s = 100 mm, and
acceleration, a = (4s) m/s2, where s in meters,
determine velocity when it reaches plate B and time
need to travel from C to B.
Example 12.4
Solution
Coordinate System
S is taken positive downward from plate A.
Velocity
Since a = f(s), we have v = 0 at s = 100mm = 0.1m
1
1 2v 4 2S
2
v dv a ds v dv 4 s ds v s
v 2 s 0.01 2
0
0.1
2 0 2 0.1
v
At s = 200mm = 0.2m, vB 0.346 m / s 346 mm / s

Example 12.4
Solution
Time ds v dt
2 s 0.01 dt
s
t
ds
0.1 s 2 0.01 0.5 0 2 dt
2
ln
0.5
2t
0.01 s 2.33 2t
ln s 0.01 s
2
s2
0.1
At s = 200mm = 0.2m, t = 0.658s

Example 12.5
A particle moves along a horizontal path with a
velocity of v = (3t2 6t) m/s. if it is initially located at
the origin O, determine the distance traveled in 3.5s
and the particles average velocity and speed during
the time interval.
Example 12.5
Solution
Coordinate System
Assuming positive motion to the right from O
Distance traveled
Since v = f(t), the position as a function of time is
ds vdt 3t 2 6t dt
ds 3 t dt 6 tdt s t
s
3t m
2
Example 12.5
Solution
Distance traveled
For 0 t < 2 s -ve velocity, particle move to left.
For t > 2a +ve velocity, particle move to right.
Thus,
s 0
s
4.0m s
6.125m
t 0
t 2 s
t 3.5 s
The distance traveled in 3.5s is

sT = 4.0 + 4.0 + 6.125 = 14.125m
Example 12.5
Solution
Velocity
From t = 0 to 3.5s, s = 6.125 0 = 6.125m
And so the average velocity is
aavg
s 6.125
1.75m / s
t 3.5 0
Average velocity is vsp avg
sT 14.125
4.04m / s
t 3.5 0
12.3 Rectilinear Kinematics: Erratic Motion
When particles motion is erratic, it is described

graphically using a series of curves
A graph is used to described the relationship with
any 2 of the variables: a, v, s, t
We use a = dv/dt, v = ds/dt and a ds = v dv

The s-t, v-t and a-t Graphs
s-t graph can be plotted when position of the
particle can be determined experimentally during
a period of time t.
To find the particles velocity as a function of
time, we use v = ds/dt
Velocity as any instant is found by measuring the
slope of the s-t graph
ds
v
dt
Slope of s-t graph = velocity

When the particles v-t graph is known, the
acceleration as a function of time, the a-t graph
can be determined using a = dv/dt
Acceleration as any instant is determined by
measuring the slope of the v-t graph
dv
a
dt
Slope of v-t graph = acceleration

When at graph is given, vt can
be written as
v adt
Change in velocity = area under a-t graph
When vt graph is given, st can

be written as
s vdt
Displacement = area under v-t graph

The v-s and a-s Graphs
As graph can be constructed with
1
2
2
1
s1
v02 ads
s0
area under a-s graph
When vs graph is known, a at any s

can be written as
dv
a v
ds
Acceleration = velocity * slope of v-s graph
Example 12.6
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.
Example 12.6
Solution
v-t Graph
By differentiating the eqns that defining the s-t graph,
we have
0 t 10 s;
s 0.3t 2
10 s t 30 s; s 6t 30
ds
0.6t
dt
ds
v
6
dt
v
By measuring the slope of the s-t graph at a given

time instant,
t 20s;
s 150 30
v
6m / s
t 30 10
Example 12.6
Solution
a-t Graph
By differentiating the eqns defining the lines of the vt graph,
dv
0 t 10 s; v 0.6t a
0.6
dt
dv
10 t 30 s; v 6
a
0
dt
Example 12.7
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?
Example 12.7
Solution
v-t Graph
Using initial condition v = 0 when t = 0,
0 t 10s a 10;
dv 10 dt , v 10t
0
When t = 10s, v = 100m/s,

10s t t ; a 2;
100
dv 2 dt , v 2t 120
10
When t = t, v = 0 t = 60 s
Example 12.7
Solution
s-t Graph.
Using initial conditions s = 0 when t = 0,
0 t 10s; v 10t ;
ds 10t dt , s 5t 2
0
When t = 10s, s = 500m,

10 s t 60 s; v 2t 120;
ds 2t 120 dt
s
500
10
s t 2 120t 600
When t = 60s, s = 3000m
Example 12.8
The v-s graph describing the motion of a motorcycle
as shown. Construct the a-s graph of the motion and
determine the time needed for the motorcycle to
reach the position s = 120 m.
Example 12.8
Solution
a-s Graph
a-s graph can be determined using a ds = v dv,
0 s 60m; v 0.2 s 3
dv
av
0.04 s 0.6
ds
60m s 120m; v 15;
dv
av
0
ds
Example 12.8
Solution
Time
When s = 0 at t = 0,
0 s 60m; v 0.2 s 3; dt
ds
ds
v 0.2 3
ds
t 5 ln(0.2 s 3) 5 ln 3
o
0 0.2 s 3
At s 60 m, t 8.05 s
t
dt
For second segment of motion,

60 s 120m; v 15; dt
ds ds
v 15
ds
s
4.05
8.05
60 15
15
At s 120 m, t 12.05 s
t
dt
12.4 General Curvilinear Motion

Curvilinear motion
occurs when the particle moves along a curved
path
Position
measured from a fixed point O, by the position
vector r = r(t)

Displacement
For a particle travel a distance s along the
curve to a new position P`, within a small time
interval t, it is defined by r` = r + r
The displacement r represents the change in
the particles position

Velocity
Average velocity of the particle is defined as
vavg
Instantaneous velocity is found from letting

t0,
dr
vins
dt

Acceleration
The average acceleration during the time interval
t is
v
dv d 2 r
aavg
dt
dt 2
a acts tangent to the hodograph and is not

tangent to the path
12.5 Curvilinear Motion: Rectangular Components

Position
Position vector is defined by r = xi + yj + zk
The magnitude of r is always positive and
defined as
r x2 y2 z 2
The direction of r is specified by the components

of the unit vector ur = r/r

Velocity
We have
dr
v
vx i v y j vz k
dt
where v x x , v y y , v z z
The velocity has a magnitude defined as the

positive value of
v v x2 v y2 v z2
Unit vector uv=v/v and is always tangent to the

path

Acceleration
We have
dv
a
axi a y j az k
dt
where a x v x x , a y v y y , a z v z z
The acceleration has a magnitude defined as the

positive value of
a a x2 a y2 a z2

Coordinate System
Rectangular coordinate system can be
expressed in terms of its x, y and z components
Kinematic Quantities
Rectilinear motion is found using
v = ds/dt, a = dv/dt or a ds = v ds
Magnitudes of vectors are found from
Pythagorean theorem
Example 12.9
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 = x2/30, 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.
Example 12.9
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
r
Velocity
We have
18 2 10.8 2
21 m
d
v x x 9t 9m / s
dt
d 2
vy y
x / 30 10.8m / s
dt
Example 12.9
Solution
Velocity
When t = 2 s, the magnitude of velocity is
v
9 2 10.8 2
14.1m / s
The x is tangent to the path is

Acceleration
We have a x v x 0
a
v tan
and a y v y 5.4m / s 2
0 2 5.4 2
a tan 1
vy
vx
50.2
thus,
5.4m / s 2
5.4
90
0
Example 12.10
For a short time, the path of the plane in the figure is
described by y = (0.001x2)m. If the plane is rising
with a constant velocity of 10m/s , determine the
magnitudes of the velocity and acceleration of the
plane when it is at
Example 12.10
Solution
When y = 100m x = 316.2m
When vy = 10m/s t = 10s
Velocity
Using the chain rule,
d
0.001x 2 0.002 xvx
dt
10 0.002 316.2 v x v x 15.81 m/s
v y y
2
2
The magnitude is v vx v y 18.7 m/s
Example 12.10
Solution
Acceleration
Using the chain rule,
a v y 0.002 x v x 0.002 xv x 0.002 v x2 xa x
When x = 316.2m, vx = 15.81m/s,

v y a y 0
0 0.002 15.812 316.2a x a x 0.791 m/s 2
Magnitude of the planes acceleration is

a a x2 a y2 0.791 m/s 2
12.6 Motion of Projectile
Projectiles acceleration always act vertically

Projectile launched at (x0, y0) and path is defined
in the x-y plane
Air resistance is neglected
Only force is its
weight downwards
ac = g = 9.81 m/s2

Horizontal Motion
Since ax = 0,
v v0 ac t ;
v x (v0 ) x
1 2
x x0 v0t ac t ;
2
v 2 v02 2ac ( s s0 );
x x0 (v0 ) x t
v x (v0 ) x
Horizontal component of velocity remain

constant during the motion

Vertical Motion
Positive y axis is upward, thus ay = - g
v v0 ac t ;
v y (v0 ) y gt
1 2
y y0 v0t ac t ;
2
v 2 v02 2ac ( y y0 );
1 2
y y0 (v0 ) y t gt
2
v x (v0 ) 2y 2 g ( y y0 )

Coordinate System
Establish the fixed x, y, z axes
Sketch the trajectory of the particle
Specify 3 unknowns and data between any two points on

the path
Acceleration of gravity always acts downwards
Express the particle initial and final velocities in the x, y

components
Positive and negative position, velocity and acceleration

components always act in accordance with their
associated coordinate directions

Kinematics Equations
Decide on the equations to be applied between
the two points on the path for the most direct
solution
Horizontal motion
x = xo + (vo)x t
Vertical motion
1 2
v y (v0 ) y ac t ; y y0 (v0 ) y t ac t ; v y2 (v0 ) 2y 2ac ( y y0 )
2
Example 12.11
A sack slides off the ramp with a horizontal velocity
of 12 m/s. If the height of the ramp is 6 m from the
floor, determine the time needed for the sack to
strike the floor and the range R where the sacks
begin to pile up.
Example 12.11
Solution
Coordinate System
Origin at point A.
Initial velocity is (vA)x = 12 m/s and (vA)y = 0m/s
Acceleration between A and B is ay = -9.81 m/s2.
Since (vB)x = (vA)x = 12 m/s, the 3 unknown are
(vB)y, R and tAB
Example 12.11
Solution
Vertical Motion
Vertical distance from A to B is known,
1 2
y B y A (v A ) y t AB ac t AB t AB 1.11s
2
Horizontal Motion
x x A (v A ) x t AB
R 0 1211.1
R 13.3m
Example 12.12
The chipping machine is designed to eject wood at
chips vO = 7.5 m/s. If the tube is oriented at 30 from
the horizontal, determine how high, h, the chips
strike the pile if they land on the pile 6 m from the
tube.
Example 12.12
Solution
Coordinate System
3 unknown h, tOA and (vB)y.
Taking origin at O, for initial velocity of a chip,
(vO ) x (7.5 cos 30 ) 6.5m / s
(vO ) y (7.5 sin 30 ) 3.75m / s
Also,
(vA)x = (vO)x = 6.5 m/s and ay = -9.81 m/s2
Example 12.12
Solution
Horizontal Motion
x A x0 (v0 ) x tOA
tOA 0.9231s
Vertical Motion
Relating tOA to initial and final elevation of the chips,
1 2
y A h 2.1 yO (v0 ) y tOA ac tOA
2
h 1.38m
Example 12.13
The track for this racing event was designed so that
the riders jump off the slope at 30, from a height of
1m. During the race, it was observed that the rider
remained in mid air for 1.5 s. Determine the speed at
which he was traveling off the slope, the horizontal
distance he travels before striking the ground, and
the maximum height he attains. Neglect the size of
the bike and rider.
Example 12.13
Solution
Coordinate System
Origin is at point A.
3 unknown are vA, R and vB.
Vertical Motion
Since time of flight and the vertical distance between
the ends of the paths are known,
1
2
y B y A (v A ) y t AB aC t AB
v A 13.4m / s
2
Example 12.13
Solution
Horizontal Motion
The range R can be determined as
xB x A (v A ) x t AB
R 0 13.38 cos 30 (1.5) 17.4m
We can determine h directly without considering tAC

(vc ) 2y (v A ) 2y 2ac [ yC y A ]
(0) 2 (13.38 sin 30 ) 2 2(9.81)[(h 1) 0] h 3.28m
12.7 Curvilinear Motion: Normal and Tangential Components
Path of motion of a particle is describe using n

and t coordinates which act normal and tangent
to the path
At the instant considered have their origin
located at the particle
Planar Motion
Origin happen to coincide
with the location of the particle
Planar Motion
Curve can be constructed from a series of
differential arc segments ds
Plane contains n and t axes is referred to as
osculating plane and is fixed in the plane of
motion
Velocity
When particle is moving, s is a function of time
Particles velocity v has direction that is always
tangent to the path
Magnitude is determined by taking the time
derivative of the path function s = s(t)

v vut where v s
Acceleration
Acceleration of the particle is the time rate of
change of velocity
a v v ut vu t
a can be written as
a at ut an un
v2
where at v or at ds vdv and an
2
2
a
a
t
n
Magnitude is

Coordinate System
When path of the particle is known, establish a
set of n and t coordinates with a fixed origin
Positive tangent axis acts in the direction of the
motion
n and t axes are used for studying the velocity
and acceleration of the particle

Velocity
Particles velocity is always tangent to the path
Magnitude of the velocity is found from the
derivative of the path function
v s
Tangential Acceleration
For rectilinear motion, at v and at ds vdv
1
s
v
t
(a ) t
If at is constant,
2
2
c c
v v0 (ac ) c t
v 2 v02 2(ac ) c ( s s0 )

Normal Acceleration
For magnitude of the normal component,
v2
an
When path is expressed as y = f(x), radius of

curvature at any point on the path is
determined from
[1 (dy / dx) 2 ]3 / 2
d 2 y / dx 2
Example 12.14
When the skier reaches the point A along the
parabolic path, he has a speed of 6m/s which is
increasing at 2m/s2. Determine the direction of his
velocity and the direction and magnitude of this
acceleration at this instant. Neglect the size of the
skier in the calculation.
Example 12.14
Solution
Coordinate System
Establish n, t axes at the fixed point A.
Determine the components of v and a.
Velocity
The velocity is directed tangent to the path where
y
1 2
x ,
20
dy
dx
1
x 10
V make an angle of = tan-1 = 45 with the x axis

v A 6m / s
Example 12.14
Solution
Acceleration
Since
d2y 1
2
dx
10
, the radius of curvature is
[1 (dy / dx) 2 ]3 / 2
2
d y / dx
28.28m
The acceleration becomes
v2
a A v ut un
{2ut 1.273un }m / s 2
Example 12.14
Solution
Acceleration
The magnitude and angle is
a
2 2 1.237 2
2.37 m / s 2
2
tan
57.5
1.237
1
Thus, 57.5 45 = 12.5

a = 2.37 m/s2
Example 12.15
Race car C travels round the horizontal circular track
that has a radius of 90 m. If the car increases its
speed at a constant rate of 2.1 m/s 2, starting from
rest, determine the time needed for it to reach an
acceleration of 2.4 m/s2. What is its speed at this
instant?
Example 12.15
Solution
Coordinate System
The origin of the n and t axes is coincident with the
car at the instant.
Acceleration
The magnitude of acceleration can be related to its
components using a at2 an2 , thus at 2.1 m/s
The velocity is
v v0 (at )c t 2.1t
v2
2
2
We have an 0.049t m / s
Example 12.15
Solution
Acceleration
The time needed for the acceleration to reach
2.4m/s2 is
a at2 an2
2.4
2.4
0.049t
2 2
t 4.87 s
The speed at time t = 4.87s is

v 2.1t 10.2m / s
Example 12.16
The boxes travels alone the industrial conveyor. If a
box starts from rest at A and increases its speed
such that at = (0.2t) m/s2, determine the magnitude
of its acceleration when it arrives at point B.
Example 12.16
Solution
Coordinate System
The position of the box at any instant is defined by s,
from the fixed point A.
Acceleration
Since vA when t = 0
at v& 0.2t
dv 0.2t dt v 0.1t
0
Example 12.16
Solution
Acceleration
Position of B is sB = 3 + 2(2)/4 = 6.142 m
Since sA = 0 when t = 0,
ds
v
0.1t 2
dt
6.142
tB
ds 0.1t 2 dt
0
t B 5.69s
Example 12.16
Solution
Acceleration
Substituting into eqn (1) and (2),
(aB )t v B 0.2(5.690) 1.138m / s 2
vB 0.1(5.69) 2 3.238m / s
vB2
2
(
a
)
5
.
242
m
/
s
At B, B = 2 m, B n
B
Q aB (1.138) 2 (5.242) 2 5.36m / s 2
12.8 Curvilinear Motion: Cylindrical Components

Polar Coordinates
Location of P use both the radial coordinate r
and a traverse coordinate which is
counterclockwise angle
Angle measured in deg or rad
where 1 rad = 180
Position
At any instant, position

defined by position vector

r ru r

Velocity
Instantaneous velocity v is obtained by the time
derivative of r
v r rur ru r
A change in will cause ur to become ur where

ur = ur + ur
For small angles ,
ur

u r lim
lim
u
t 0 t
t 0 t
u r u

Velocity
r
r
r
We have v vr ur v u vr r& v r&
Since vr and v are mutually perpendicular,
v
r 2 r 2
Direction of v is tangent
to the path at P
Acceleration
Taking the time derivatives, we have
a v rur ru r ru ru ru

Acceleration
For small angles, u= - ur
We write the acceleration in component form as
& 2r&
& r&2 , a r&
a ar ur a u , ar r&
&
Since ar and a are always perpendicular

a
r r 2
2
r 2r
Acceleration is not
tangent to the path

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
rp ru r z u z

v rur ru z u z
a (r r )ur (r 2r )u zu z

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

Coordinate System
Polar coordinate solve angular motion of radial
coordinate r
Origin at a fixed point and the
radial line r is directed to
the particle
Transverse coordinate is
measured from a fixed
reference line to radial line

Velocity and Acceleration
r and the 4 time derivatives can be used to
obtain the radial and transverse components of v
and a
Use chain rule of calculus to find the time

derivatives of r = f()
Example 12.17
The amusement park consists of a chair that is
rotating in a horizontal circular path of radius r such
that the arm OB has an angular velocity and angular
acceleration. Determine the radial and transverse
components of velocity and acceleration of the
passenger.
Example 12.17
Solution
Coordinate System
is not related to r, since radius is constant for all .
r& 0
Since r is constant, r r , r& 0 , &
Thus vr r 0
v r
ar r r 2 r 2
a r 2r r
Example 12.18
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.
Example 12.18
Solution
Coordinate System
Since time-parametric equations of the particle is
given, it is not necessary to relate r to .
We have
r 100t 2
r 200t
r 200
100
mm
t
t 1s
t 1 s
t 1 s
t 1 s
200mm / s 3t 2
200mm / s 2 6t
1rad 57.3
t 1 s
3rad / s
6
rad
/
s
t 1 s
Example 12.18
Solution
As shown in the figure,

v rur ru
{200ur 300u }mm / s
The magnitude of v is
v 2002 3002 361mm / s
300
56.3
200
tan 1
57.3 114
Example 12.18
Solution
a (r r )ur (r 2r )u
{700ur 1800u }mm / s 2
The magnitude of a is
a 7002 18002 1930mm / s 2
1800
68.7
700
tan 1
(180 ) 57.3 169

Example 12.19
The searchlight casts a spot of light along the face of
a wall that is located 100m from the searchlight.
Determine the magnitudes of the velocity and
acceleration at which the spot appears to travel
across the wall at the instant = 45. The
searchlight is rotating at a constant rate of 4 rad/s.
Example 12.19
Solution
Coordinate System
To find the time derivatives, we relate r to .
r = 100/cos = 100sec
We have
r 100(sec tan )
2
2
r 100 sec tan 2 100 sec3 100(sec tan )
Example 12.19
Solution
Since = 4 rad/s = constant, = 0, when = 45,
r 141.4 , r& 565.7 , &
r& 6788.2

v rur ru
{565.7ur 565.7u }m / s
v 800m / s
Example 12.19
Solution
For acceleration,
a (r r )ur (r 2r )u
{4525.5ur 4525.5u }mm / s 2

a 6400mm / s 2
Example 12.20
Due to the rotation of the forked rod, ball A travels
across the slotted path, a portion of which is in the
shape of a cardioids, r = 0.15(1 cos )m where is
in radians. If the balls velocity is v = 1.2m/s and its
acceleration is 9m/s2 at instant = 180, determine
the angular velocity and angular acceleration of the
fork.
Example 12.20
Solution
Coordinate System
For this unusual path, use polar coordinates.
We have r 0.15(1 cos )
r 0.15(sin )
r 0.15(cos ) ( ) 0.15(sin )
Evaluating these results at = 180 ,

r 0.3m r 0 r 0.15 2
Example 12.20
Solution
Since v = 1.2 m/s, we have
2
v r
4rad / s
2
a (r r 2 ) 2 (r 2r ) 2
18rad / s 2
12.9 Absolute Dependent Motion Analysis of Two Particles
Motion of one particle depend on the

corresponding motion of another particle
Movement of A downward will cause a
movement of B up the other incline
If total cord length is lT, the position coordinate is
s A lCD sB lT
For velocity, negative sign indicates A has a
velocity downward
ds A dsB
0
dt
dt
or
vB v A
Time differentiation of the velocities yields the

relation between accelerations: aB = - aA
A is specified by sA, and the position of the end of
the cord which block B is suspended, sB
Position coordinate is
2 sB h 2 s A l
Since l and h are constant

during the motion,
2vB v A , 2aB a A

Position-Coordinate Equation
Establish position coordinates

with origin located at a
fixed point or datum
Coordinates are along the
path of motion
Each coordinate axis is directed
along the path of motion

Time Derivatives
2 time derivatives of the position-coordinates
equations required for velocity and acceleration
equations
The signs will be positive and negative sense of
the position coordinates
Example 12.22
Determine the speed of block A if block B has an
upward speed of 2m/s.
Example 12.22
Solution
Position Coordinate System
Positions of A and B are defined using sA and sB.
For the remaining cord length,
s A 2 sC l1
sB ( sB sC ) l2
Eliminating sC yields s A 4 sB 2l2 l1
Time Derivative
The time derivative gives v A 4vB 0
so that vB = -2m/s and v A 8m / s 8m / s
Example 12.23
Determine the speed with which block B rises if the
end of the cord at A is pulled down with a speed of
2m/s.
Example 12.23
Solution
sA and sB are measured from a horizontal datum
passing through the fixed pin at pulley D.
The remaining constant cord lengths l1 and l2 are
sC sB l1
s A sC sB sC sB l2
Eliminating sC yields sC 4sB l2 2l1
Time Derivative
The time derivative give vA 4vB 0
When vA = 2m/s, vB 0.5m / s 0.5m / s
Example 12.24
A man at A s hoisting a safe S by walking to the right
with a constant velocity vA = 0.5m/s. Determine the
velocity and acceleration of the safe when it reaches
the elevation at E. The rope is 30m long and passes
over a small pulley at D.
Example 12.24
Solution
Rope segment DA changes both direction and
magnitude.
2
2
I
15
Using Pythagorean Theorem, DA x , I CD 15 y
l lDA lCD
30
15 2 x 2 15 y
y 225 x 2 15
Time Derivative
Using chain rule,
dy 1
2 x dx
x
vS
vA
2
2
dt 2 225 x dt
225 x
Example 12.24
Solution
Time Derivative
At y = 10 m, x = 20 m, vA = 0.5 m/s, vS = 400mm/s
The acceleration is determined by taking the time
derivative of eqn (2),
aS
d2y
dt 2
xv A
2 3/ 2
(225 x )
dx
v
2 dt A
225 x
1
dv A
225v 2A
x
3/ 2
2
225 x dt
225 x 2
1
x(dx / dt )
2
a
3
.
6
mm
/
s
At x = 20 m, with vA = 0.5 m/s, S
12.10 Relative Motion Analysis of Two Particles Using Translating Axes
There are cases where the path of the motion for

a particle is complicated
Feasible to analyze the motions in parts by using
two or more frames of reference
Position
Absolute position rA and rB
is measured from O of fixed
x, y, z reference frame

rB rA rB / A
Velocity

By time derivatives, vB v A vB / A
vB drB / dt and v A drA / dt refer to absolute
velocities, as they are observed from the fixed

frame
Relative velocity vB / A drB / A / dt is observed

from the translating frame
Acceleration
The time derivative also yields aB a A aB / A


When applying the relative position equations,
necessary to specify the location and translating
x, y and z
As vector addition forms a triangle, there can be
at most two unknowns
Unknowns can be solved by graphically,
trigonometry or resolving into
rectangular or
Cartesian components
Example 12.25
A train, traveling at a constant speed of 90km/h,
crosses over a road. If automobile A is traveling t
67.5km/h along the road, determine the magnitude
and direction of relative velocity of the train with
respect to the automobile.
Example 12.25
Solution
Vector Analysis
Relative velocity is measured from the translating x,
y axes attached to the automobile.
vT and vA are known and the unknowns are x and y
components of vT/A.
Using the x, y axes and a Cartesian vector analysis,

vT v A vT / A
~
~
~
90 i (67.5 cos 45 i 67.5 sin 45 j ) v
vT / A {42.3~
i 47.7 ~j )km / h
T/A
Example 12.25
Solution
Vector Analysis
The magnitude of vT/A is
vT / A (42.32 47.7 2 ) 2 63.8km / h

The direction of vT/A defined from the x axis is
vT / A y 47.7
tan
vT / A x 42.3
48.40
Example 12.26
Plane A is flying along a straight-line path, while
plane B is flying along a circular path having a radius
of curvature of B = 400 km. Determine the velocity
and acceleration of B as measured by the pilot of A.
Example 12.26
Solution
Velocity
The x, y axes are located at an arbitrary fixed point.
The translating frame of reference x. y is attached
to it.
Applying the relative-velocity equation in scalar form,
( )
vB v A vB / A
600 700 vB / A
vB / A 100km / h 100km / h
Example 12.26
Solution
Acceleration
Plane B has both tangential and normal components
of acceleration,
vB2
2
aB n
900km / h
Applying the relative-acceleration equation,

aB a A aB / A
900~
i 100 ~j 50 ~j a
B/ A
aB / A 900~i 150 ~j km / h 2
Magnitude and direction is
aB / A 912km / h 2 and tan 1
150
9.46o
900
Example 12.27
At the instant, car A and B are traveling with the
speed of 18 m/s and 12 m/s respectively. Also at this
instant, A has a decrease in speed of 2 m/s2, and B
has an increase in speed of 3 m/s2. Determine the
velocity and acceleration of B with respect to A.
Example 12.27
Solution
Velocity
Using Cartesian vector analysis,
v B v A vB / A
12 %
j 18cos 60oi% 18sin 60o %
j vB / A
vB / A 9i% 3.588 %
j m / s
Thus vB / A 92 3.5882 9.69m / s
vB / A y
Its direction is tan v
B/ A x
3.588
21.7o
9
Example 12.27
Solution
Acceleration
Applying the equation for relative acceleration yields
aB a A aB / A
1.440~i 3~j 2 cos 60 ~i 2 sin 60 ~j aB / A
a
2.440~
i 4.732 ~j m / s 2
B/ A
Magnitude and direction is

aB / A 5.32m / s 2
62.7

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Engineering Mechanics:

Dynamics in SI Units, 12e

Concepts of position, displacement, velocity,

Copyright 2010 Pearson Education South Asia Pte Ltd

Mechanics the state of rest of motion of bodies

Copyright 2010 Pearson Education South Asia Pte Ltd

12.2 Rectilinear Kinematics: Continuous Motion

Rectilinear Kinematics specifying the particles

Copyright 2010 Pearson Education South Asia Pte Ltd

12.2 Rectilinear Kinematics: Continuous Motion

Note : - Magnitude of s = Dist from O to P

Copyright 2010 Pearson Education South Asia Pte Ltd

12.2 Rectilinear Kinematics: Continuous Motion

If particle moves from P to P,

12.2 Rectilinear Kinematics: Continuous Motion

Instantaneous velocity is defined as

Copyright 2010 Pearson Education South Asia Pte Ltd

12.2 Rectilinear Kinematics: Continuous Motion

Copyright 2010 Pearson Education South Asia Pte Ltd

12.2 Rectilinear Kinematics: Continuous Motion

The particle travels along the path of length sT in

Copyright 2010 Pearson Education South Asia Pte Ltd

12.2 Rectilinear Kinematics: Continuous Motion

v represents difference in the velocity during

12.2 Rectilinear Kinematics: Continuous Motion

It will act to the left, in the opposite sense to v

Copyright 2010 Pearson Education South Asia Pte Ltd

12.2 Rectilinear Kinematics: Continuous Motion

Velocity as a Function of Position

Copyright 2010 Pearson Education South Asia Pte Ltd

12.2 Rectilinear Kinematics: Continuous Motion

Copyright 2010 Pearson Education South Asia Pte Ltd

12.2 Rectilinear Kinematics: Continuous Motion

Copyright 2010 Pearson Education South Asia Pte Ltd

ds 0.9t 0.6t dt s 0.3t 0.3t

When t = 3s, s = 10.8m

When t = 3s, a = 6m/s2

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

When t = 4s, v = 0.559 m/s

When t = 4s, s = 4.43m

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

At s = 200mm = 0.2m, vB 0.346 m / s 346 mm / s

At s = 200mm = 0.2m, t = 0.658s

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Copyright 2010 Pearson Education South Asia Pte Ltd

The distance traveled in 3.5s is

Average velocity is vsp avg

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12.3 Rectilinear Kinematics: Erratic Motion

When particles motion is erratic, it is described

Copyright 2010 Pearson Education South Asia Pte Ltd

12.3 Rectilinear Kinematics: Erratic Motion

12.3 Rectilinear Kinematics: Erratic Motion

Copyright 2010 Pearson Education South Asia Pte Ltd

12.3 Rectilinear Kinematics: Erratic Motion