KINEMATICS OF PARTICLES

Kinematics of particles is the study about the motion of particles determine their d i sp I a c e m e nt, v e I o c ity and a c c e I e r at i o n.

specifically to

o Displacement: position relative to a reference point or coordinate. o velocity: rate of change of displacement with respect to time. o Acceleration: rate of change of velocity with respect to time.
Motion
:

The motion of a parlicle may take place in two main forms, namely rectilinear motion and c urv il ine ar mot i o n.

o c

Rectilinear motion:

The particle moves in a straight line. The particle moves at random and rotation.

Curvilinear motion:

i.e. a combination of linear

Rectilinear Motion In this motion, displacement, velocity

depending on the direction of motion
and acceleration are indicated

in terms x or !,

Motion inX-direction

Displacement:

Velocity:
Acceleration
:

v*= i ar= t

Motion in l-direction

Displacement

Velocity:
Acceleration
:

v, = j' an= !

Curvilinear Motion In this motion, displacement, velocity and acceleration are measured by means of
Cartesian coordinates (x-y) or Polar coordinates (r-0). Cartesian coordinates

The displacement of the particle is resolved into two components, i.e. one along the OX axis and the other along the OIaxis, as shown on the right.

The velocity of the particle, vo, is

resolved into two components, i.e. one along the OX axis and the other along the OY axis, as shown below.

lr= x
vv =

j'
*utr

"o='1

Likewise for the acceleratio,n of the particle

o*= i
A-.: i
yJ

o?:

o1

* al

Polar coordinates

The displacement of the particle is expressed in terms of the radius r and

the angle 0 measured from the OX axis, as shown on the right.

The velocity of the particle is expressed in terms of a rqdial comPonent and a transverse component, as shown below.

lr=f

ve=r0 ))) vi=vi

+v-e

Similarly, the acceleration of the particle is expressed in terms of a radial component

and a transverse component, as shown below.

ar= i -

'62

oe= r0 + 2i0
azp: a? +
a3

Relstionship between Cartesian and porar coordinates

Displacement:

right that

It can be seen from the figure given on the

:

xY=
Also:
f=

r.cos0
r. sin 0

*'+y'
:V tan 'zx

And

e-

Velocity:

The velocity of particle

p, (

o ),

may be resolved into

o o

eitherthe Cartesiancomponents:
the Polar components

v*

and

v, ,

or

: v, and v,
:

as shown in the figure below

From the above figure, it can be seen that

o r, : o
ve

vr.cosO + vr.sinO

*.cos0 + y.cos0

y.sinO

(1) (2)

vr.cos0

- vr.sin0 =
:

- *.sinO

Now, from displacement

x = r.cosO and

.lz

= r.sin0

* &

- r.sin0.6 (i) -tr = r.sin0 + r.cos0.6 Gi)

= r.coso (l)
and (2) above

Therefore, substituting (i) and (ii) into equations

will produce

o v, = ( r.cos0 - r.sin0.6 ).cos0 + ( r.sinO + r.cos0.O ).sinO : r.cos20-rO.sinO.cosO + r.sin2g+rO.cos0.sin0 = i : o

v0

(l)

= =

( r.sin0

r.cos0.O

r.sinO.cosO

).cosO ( r.cosO - r.sin0.0 ).sin0 + r6.cos2e r.cosO.sinO + rO.sin20 = rd

e)

Acceleration:
:

The acceleration of particle P, (ap), can be resolved into

" o

eitherthe Cartesiancomponents:
the Polar components

o,

and

a, ,

or

: a, antd au
will be identical to the diagram for the
(3) (4)

The diagram for these acceleration components velocities above. Therefore, it will be seen that :

o a, = o ao =

ar.cosO + ar.sinO

/.sin0 ar.cosO - ar.sinO = /.cos0 - x.sinO

:

i.cosO +

Now differentiating (i) and (ii) above will give

&

I = r.cosO - r.sin0.6 - r.sin0.6 - r.cos0.02 - r.sin0.6 i = r.sin0+r.cos0.6 + r.cos0.O-r.sin0.02 +r.cos0.6

(iii)
(iv)

Substituting (iii) and (iv) into equations (3) and (a) for accelerations, and simpliSing,

will produce

o o,=i;-162 o ao=16+2i6

(3)

g)

Summary
The polar components for the velocity and acceleration in curvilinear motion may be

summarised as shown below

o o

lr=r

o o

vo=,6

ar=i-162 as= 16 +2i6

Special Cases

Linear Motion:

When the motion is linear, angle 0 remains constant, giving 0 = the equations above will reduce to :

0 and 6 = 0. Hence

ovr=r o Vg=0

o o

ar=f ae=0

Circular Motion:

When the motion is circular, radius the equations above will reduce to :

remains constant, giving

= 0 and

= 0. Hence

o o

vr=0
vo

o o

o, =
ae

-'6' or - ra2
or ra

= ,6

= rd